Parker Products OEM350 manuale d’uso

Compumotor OEM650/OEM650X OEM350/OEM350X Drive and Drive/Indexer User Guide Compumotor Division Parker Hannifin Corporation p/n 88-013157-02 A R E M O TE R E F C U R R E N T D U M P V D C + V D C - A + A - B + B - C o m p u m o to r OEM OEM s e r i e s D R I V E D R I V E D R I V E D R I V E POWER FAULT[...]

OEM650/OEM650X • OVERVIEW i Installation & Operation of Compumotor Equipment It is important that Compumotor motion control equipment is installed and operated in such a way that all applicable safety requirements are met. It is your responsibility as a user to ensure that you identify the relevant standards and comply with them. Failure to d[...]

OVERVIEW • OEM650/OEM650X ii Contents How To Use This User Guide .................................................................................. iv Assumptions ........................................................................................................ iv User Guide Contents .........................................................[...]

OEM650/OEM650X • OVERVIEW iii 3 Tuning & Specifications 33 Chapter Objectives ............................................................................................. 33 Short-Circuit Protection ........................................................................................... 33 Resonance .......................................[...]

OVERVIEW • OEM650/OEM650X iv How To Use This User Guide This user guide is designed to help you install, develop, and maintain your system. Each chapter begins with a list of specific objectives that should be met after you have read the chapter. This section will help you find and use the information in this user guide. Assumptions To use this p[...]

OEM650/OEM650X • OVERVIEW v Installation Preparation Before you install this product, complete the following steps: 1. Review this user guide. Become familiar with the user guide’s contents so that you can quickly find the information you need. 2. Develop a basic understanding of all system components, their functions, and interrelationships. 3[...]

OVERVIEW • OEM650/OEM650X vi[...]

OEM650/OEM650X • INTRODUCTION 1 1 Intr oduction Chapter Objective The information in this chapter will enable you to: ❐ Understand the product ’ s basic functions and features OEM650 Description The OEM650 Drive is intended to be a high-performance basic engine around which the original equipment manufacturer (OEM) designs his motion control [...]

INTRODUCTION • OEM650/OEM650X 2 step motors. Operation of the OEM350/OEM350X is identical to that of the OEM650/OEM650X. For clarity, instructions in this manual use only the name OEM650/OEM650X. Except where differences are specifically noted (resistor values for motor current settings, for example), OEM650 instructions also apply to the OEM350,[...]

3 OEM650/OEM650X • INSTALLATION 2 Installation Chapter Objectives The information in this chapter will enable you to: ❐ Verify that each component of your system has been delivered safely and completely ❐ Become familiar with components and their interrelationships ❐ Ensure that each component functions properly by bench testing ❐ Mount u[...]

INSTALLATION • OEM650/OEM650X 4 Option Description -DS23 Double Shaft Size 23 Motors -DS34 Double Shaft Size 34 Motors Table 2-4. Double Motor Shaft Option The following accessories are available. Accessories Part Number OEM650/OEM650X User Guide 88-013157-02 OEM Series Software Ref. Guide 88-013785-01 Low Current Heatsink OEM-HS1 High Current He[...]

5 OEM650/OEM650X • INSTALLATION WARNING The drive and motor should be mounted to a heatsink. Drive mounting does not affect the following tests, but if you operate the OEM650/OEM650X for extended periods without proper mounting, it will damage the drive and/or motor. When you complete the quick tests, remove power to the drive. Perform installati[...]

INSTALLATION • OEM650/OEM650X 6 3 . Slide the drive cover back on. 4 . Attach the motor (to A+, A-, B+, B-). Do not connect the motor to the load at this time (refer to Figure 2-2 for 23 size motors or Figure 2-3 for 34 size motors). OEM size 23 motors may be wired in a series or parallel configuration. If you are using a 75VDC power supply (OEM3[...]

7 OEM650/OEM650X • INSTALLATION OEM size 34 motors are internally wired in parallel. A 75VDC power supply (OEM300) must be used to achieve maximum perfor- mance; however, lower voltage power supplies may be used (less than 75VDC but must be greater than 24VDC). The lower voltage power supply will not adversely affect the system's low-speed p[...]

INSTALLATION • OEM650/OEM650X 8 Motor Size Current Resistor Voltage OEM57-40-MO S 2.65A 21.0 k Ω 48 - 75VDC OEM57-40-MO P 5.3A 5.76 k Ω 24 - 48VDC OEM57-51-MO S 3.3A 15.8 k Ω 48 - 75VDC OEM57-51-MO P 6.6A 2.05 k Ω 24 - 48VDC OEM57-83-MO S 3.8A 12.7 k Ω 48 - 75VDC OEM57-83-MO P 7.5A 0.00 k Ω 24 - 48VDC OEM83-62-MO* 4.4A 9.53 k Ω 24 -[...]

9 OEM650/OEM650X • INSTALLATION Jumper #1 Installed Jumper #1 Removed Current Resistance Current Resistance Current Resistance (Amps) (Ohms) (Amps) (Ohms) (Amps) (Ohms) 2.0 0 Ω 1.3 7.32 k Ω 0.7 0 Ω 1.9 787 Ω 1.2 8.87 k Ω 0.6 2.21 k Ω 1.8 1.62 k Ω 1.1 10.7 k Ω 0.5 5.36 k Ω 1.7 2.49 k Ω 1.0 13.0 k Ω 0.4 10.0 k Ω 1.6 3.57 k ?[...]

INSTALLATION • OEM650/OEM650X 10 Quick Test: OEM650 with Separate Indexer 1. Complete steps 1- 6 from the OEM650 Quick Test, but do not remove jumper #11 (Auto Test Function) . 2. To connect a Compumotor indexer to the OEM650 ’ s 25-pin D connector refer to Figure 2-6. To connect a non-Compumotor indexer to the OEM650's 25-pin D connector,[...]

11 OEM650/OEM650X • INSTALLATION OEM s e r i e s REMOTE REF CURRENT DUMP VDC+ VDC- A+ A- B+ B- POWER FAULT Power Supply + - Refer to Figures 2-2 and 2-3 for specific motor wiring instructions OEM Series Motor Compumotor Indexer Compumotor To connect the OEM650 to the Compumotor indexer, use the cable provided with the indexer. The cable should fi[...]

INSTALLATION • OEM650/OEM650X 12 Handshaking is not supported. Terminals should be set for full duplex mode. 3. Apply power. The OEM ’ s green power LED should be on. If the red FAULT LED is on, consult Chapter 4, Maintenance & Trouble- shooting . This test assumes that your indexer ’ s motor resolution is set to 25,000 steps/rev. This is[...]

13 OEM650/OEM650X • INSTALLATION OEM650/OEM650X Mounting The OEM Drive mounting is designed to minimize panel area or footprint (refer to Figure 2-9). An optional heatsink can also be used to configure the drive for minimum depth. 3.555 3.315 0.420 5.000 4.650 0.175 1.000 7.000 Mounting Clearance 1.000 2.000 Mtg Clearance 2x 0.177 Thru (Clearance[...]

INSTALLATION • OEM650/OEM650X 14 Panel Layout If you mount the OEM650/OEM650X in an enclosure, observe the following guidelines: ❏ Do not mount large, heat-producing equipment directly beneath the OEM650 or OEM650X. ❏ Do not mount the OEM650 directly below an indexer (the drive produces more heat than an indexer). ❏ Fan cooling may be neces[...]

15 OEM650/OEM650X • INSTALLATION 2345678 5 10 15 20 25 30 35 40 OEM57-51 P OEM57-40 S OEM57-40 P OEM57-51 S OEM57-83 S OEM83-62 * OEM83-93 * OEM83-135 * OEM57-83 P Power Dissipated (Watts) Drive Current (Amps) S — Series Configuration P — Parallel Configuration * — 34 size motors are internally wired in Parallel Figure 2-11. OEM650/OEM650X [...]

INSTALLATION • OEM650/OEM650X 16 Two types of optional heatsinks can be used for applications that do not have an adequate mounting surface. Mounting With OEM-HS1 The small heatsink (OEM-HS1) is intended to be used with a current setting up to 5A in still, ambient (25 ° C) air. If the drive is to be mounted in an ambient environment hotter than [...]

17 OEM650/OEM650X • INSTALLATION With the OEM-HS1, the drive may be mounted in two different configurations (refer to Figures 2-14 and 2-15). One configuration provides the maximum amount of panel or mounting space (mini- mum area). The other configuration provides minimum depth. Panel layout for minimum area is shown in Figure 2-14. OEM s e r i [...]

INSTALLATION • OEM650/OEM650X 18 Mounting With OEM-HS2 The large heatsink (OEM-HS2) is intended to be used with a current setting up to the drive maximum of 7.5A in still, ambient (25 ° C) air. If the drive is to be mounted in an ambient environment hotter than 25 ° C, active cooling (forced air) will be required to maintain the heatsink temper[...]

19 OEM650/OEM650X • INSTALLATION OEM s e r i e s REMOTE REF CURRENT DUMP VDC+ VDC- A+ A- B+ B- POWER FAULT OEM s e r i e s REMOTE REF CURRENT DUMP VDC+ VDC- A+ A- B+ B- POWER FAULT OEM s e r i e s REMOTE REF CURRENT DUMP VDC+ VDC- A+ A- B+ B- POWER FAULT OEM s e r i e s REMOTE REF CURRENT DUMP VDC+ VDC- A+ A- B+ B- POWER FAULT 1" 2.0" 6[...]

INSTALLATION • OEM650/OEM650X 20 Resolution JU2 JU3 JU4 JU5 50,800 Steps/Rev on on on off 50,000 Steps/Rev on on off on 36,000 Steps/Rev on on off off 25,600 Steps/Rev on off on on 25,400 Steps/Rev on off on off 25,000 Steps/Rev * on on on on 21,600 Steps/Rev on off off on 20,000 Steps/Rev on off off off 18,000 Steps/Rev off on on on 12,800 Steps[...]

21 OEM650/OEM650X • INSTALLATION Standby Current JU9 JU10 Full Current* on on 75% Current off on 50% Current on off 25% Current off off * Default Setting Table 2-12. Auto Standby Jumper Settings Jumper #11: Auto Test The Automatic Test function turns the motor shaft slightly less than six revolutions in Alternating mode at 1 rps. The Automatic St[...]

INSTALLATION • OEM650/OEM650X 22 Motor Mounting Rotary stepper motors should be mounted with flange bolts and positioned with the centering flange on the front face. Foot-mount or cradle configurations are not recommended because the motor's torque is not evenly distributed around the motor case and they offer poor registration. Any radial l[...]

23 OEM650/OEM650X • INSTALLATION Couplings The motor and load should be aligned as accurately as possible. Any misalignment may degrade your system ’ s performance. There are three types of shaft couplings: single-flex, double-flex, and rigid. Like a hinge, a single-flex coupling accepts angular misalignment only. A double-flex coupling accepts[...]

INSTALLATION • OEM650/OEM650X 24 OEM650 Inputs and Outputs 1 2 14 15 243 Ω 3 2 5 8 6 +5V 464 Ω 5 11 +5V Step Input Direction Input 21 9 2 1 16 15 BS170 4N35 Fault Output 23 11 16 17 Remote Input Gear Shift Input 7 8 681 Ω 10 9 3 4 ILQ2 681 Ω 14 13 +5V 10k Ω HPCL-2631 464 Ω 12 243 Ω HCPL-2601 ILQ2 ILQ2 ILQ2 +5V 464 Ω +5V 6 Internal[...]

25 OEM650/OEM650X • INSTALLATION Remote Input The Remote input is an optically isolated input that uses an ILQ2 quad OPTO isolator. The REMOTE+ terminal is connected to the anode of the OPTO lead via a 681 Ω current limiting resistor. The REMOTE- terminal is connected to the cathode of the OPTO lead. The OPTO requires a minimum of 3.5 mA ( ≈ [...]

INSTALLATION • OEM650/OEM650X 26 Gear Shift Input The Gear shift input is an optically isolated input that uses and ILQ2 quad OPTO isolator. The GS+ terminal is connected to the anode of the OPTO lead via a 681 Ω current limiting resistor. The GS- terminal is connected to the cathode of the OPTO lead. The OPTO requires a minimum of 3.5 mA (appr[...]

27 OEM650/OEM650X • INSTALLATION CW (Signal 3) & CCW (Signal 4) Limit Inputs The OEM650X has two dedicated hardware end-of-travel limits (CCW and CW ). When you power up the OEM650X, these inputs are enabled (high). To test the OEM650X without connect- ing the CCW and CW limits, you must disable the limits with the LD3 command. You can use th[...]

INSTALLATION • OEM650/OEM650X 28 typical configuration of this output. Sequence Inputs #1 - #3 (Signals 11 - 13) The OEM650X has three dedi- cated sequence inputs that allow you to control seven different sequences. Refer to the X commands for information on how to control these inputs. Sequence # Ø is not a valid sequence. Sequences are execute[...]

29 OEM650/OEM650X • INSTALLATION connect a single-ended, incremental, optical encoder to the OEM650X. When an encoder is used, the following functions will be added to the system: ❏ Encoder referenced positioning ❏ Encoder position servoing ❏ Motor stall detection ❏ Higher accuracy homing function ❏ Multi-axis stop (also available witho[...]

INSTALLATION • OEM650/OEM650X 30 Daisy Chaining You may daisy chain up to 8 OEM650Xs. Individual drive addresses are set with signals 23, 24, and 25 on the 25-pin D connector. When daisy chained, the units may be addressed individually or simulta- neously. You should establish a unique device address for each OEM650X. Refer to Figure 2-20 for OEM[...]

OEM650/OEM650X • INSTALLATION 31 Sizing Power Supply Table 2-14 contains power ratings to help system designers size a power supply. Combinations of motors and current levels other than those shown may result in power values that are not recommended. Connection OEM57 motors may be configured in parallel or series. OEM83 motors must be wired in pa[...]

INSTALLATION • OEM650/OEM650X 32 Current (Amps) Compumotor has assigned the values shown in Table 2-14 for OEM Series motors to produce the highest possible torque, while main- taining smoothness. Higher currents will produce higher static torque; but, the motor will run roughly and may overheat. Do not run the parallel rated current into a motor[...]

OEM650/OEM650X • TUNING & SPECIFICATIONS 33 3 T uning & Specifications Chapter Objectives The information in this chapter will enable you to: ❏ Tune and operate your system at maximum efficiency. ❏ Use the information to compare system performance with different motor, power, and wiring configurations (speed/torque curves). Short-Circ[...]

TUNING & SPECIFICATIONS • OEM650/OEM650X 34 results, the drive and motor should be on, connected to the load, and warmed up for 30 minutes prior to tuning. Phase B Offset Phase A Offset Top View Figure 3-1. Tuning Potentiometers Gauging Motor Resonance There are several methods that you can use to determine the level of motor resonance in you[...]

OEM650/OEM650X • TUNING & SPECIFICATIONS 35 Touch Method After you have had some experience with tuning, you should be able to locate the motor ’ s resonance speed by placing your fingertips on the motor shaft and adjusting the motor ’ s velocity. Once the reso- nance speed is located, you can tune the motor for maximum smoothness in the [...]

TUNING & SPECIFICATIONS • OEM650/OEM650X 36 Performance Specifications Accuracy ±5 arcminutes typical (unloaded, bidirectional) with OEM Series motors. Repeatability ±5 arcseconds typical (unloaded, bidirectional). Hysteresis Less than 2 arcminutes — 0.0334 ° (unloaded, bidirectional). Rotor Inertia Motor Size Rotor Inertia oz-in 2 Rotor[...]

OEM650/OEM650X • TUNING & SPECIFICATIONS 37 0 1 02 03 04 05 0 0 10 20 30 40 50 60 70 80 WATTS Shaft Power TORQUE (OZ-IN) OEM650/OEM650X with OEM57-51-MOS (75VDC @ 3.3A) SPEED (RPS) Torque 0 1 02 03 04 05 0 0 30 60 90 120 150 WATTS Shaft Power TORQUE (OZ-IN) OEM650/OEM650X with OEM57-83-MOS (75VD C @ 3.8A) SPEED (RPS) Torque[...]

TUNING & SPECIFICATIONS • OEM650/OEM650X 38 OEM57 Motors (Parallel Configuration) 0 1 02 03 04 05 0 0 5 10 15 20 25 30 35 40 WATTS Shaft Power TORQUE (OZ-IN) OEM650/OEM650X with OEM57-40-MOP (38VD C @ 5.3A) SPEED (RPS) Torque 0 1 02 03 04 05 0 0 10 20 30 40 50 60 70 80 WATTS Shaft Power TORQUE (OZ-IN) OEM650/OEM650X with OEM57-51-MOP (38VDC @[...]

OEM650/OEM650X • TUNING & SPECIFICATIONS 39 0 1 02 03 04 05 0 0 30 60 90 120 150 WATTS Shaft Power TORQUE (OZ-IN) OEM650/OEM650X with OEM57-83-MOP (38VD C @ 7.5A) SPEED (RPS) Torque OEM83 Motors 0 1 02 03 04 05 0 0 30 60 90 120 150 WATTS Shaft Power TORQUE (OZ-IN) OEM650/OEM650X with OEM83-62-MO (75VD C @ 4.4A) SPEED (RPS) Torque[...]

TUNING & SPECIFICATIONS • OEM650/OEM650X 40 0 1 02 03 04 05 0 0 50 100 150 200 250 WATTS Shaft Power TORQUE (OZ-IN) OEM650/OEM650X with OEM83-93-MO (75VD C @ 5.6A) SPEED (RPS) Torque 0 1 02 03 04 05 0 0 50 100 150 200 250 300 350 400 WATTS Shaft Power TORQUE (OZ-IN) OEM650/OEM650X with OEM83-135-MO (75VD C @ 6.9A) SPEED (RPS) Torque[...]

OEM650/OEM650X • TROUBLESHOOTING 41 4 T roub leshooting Chapter Objectives The information in this chapter will enable you to: ❏ Maintain the system to ensure smooth, efficient operation ❏ Isolate and resolve system problems Drive Maintenance Ensure that the drive's heatplate has proper thermal contact with the mounting surface. Enclosur[...]

TROUBLESHOOTING • OEM650/OEM650X 42 Determine if the problem is mechanical, electrical, or software- related. Can you repeat or re-create the problem? Random events may appear to be related, but they may not be contributing factors to your problem. Investigate the events that occur before the subse- quent system problem. You may be experiencing m[...]

OEM650/OEM650X • TROUBLESHOOTING 43 Symptoms Possible Causes Solutions Power LED is not on (illuminated) The drive is not receiving adequate DC voltage Drive screw are terminals loose Verify the VDC+ and VDC- connection Verify you power supply is producing adequate power Verify that there is DC voltage at the drive and at the VDC+ and VDC- connec[...]

TROUBLESHOOTING • OEM650/OEM650X 44 Symptoms Probable Causes Solutions The drive loses pulses at high speed Indexer is overdriving step input Indexer is underdriving step input Indexer is sending pulses too fast Motor is out of torque Verify that the step input current is not greater than 15 mA Verify that the step input current is greater than 6[...]

OEM650/OEM650X • TROUBLESHOOTING 45 Testing the Motor If the motor fails to move, you should test the motor with an ohmme- ter to examine the resistance between the motor connections. If the motor is not malfunctioning, the source of the problem is probably within the drive. If you operate a faulty drive with a reliable motor, you may damage the [...]

TROUBLESHOOTING • OEM650/OEM650X 46 2. Confirm that the host and peripheral are configured for the same baud rate, 8 data bits, 1 stop bit, and no parity. 3. Use DC common or signal ground as a reference, not earth ground. 4. Cable lengths should not exceed 50 ft. unless you are using some form of line driver, optical coupler, or shield. As with [...]

OEM650/OEM650X • TROUBLESHOOTING 47 • How many units failed? • What was happening when the unit failed (i.e., installing the unit, cycling power, starting other equipment, etc)? • How was the product configured (in detail)? • What, if any, cables were modified and how? • With what equipment is the unit interfaced? • What was the appli[...]

TROUBLESHOOTING • OEM650/OEM650X 48[...]

OEM650/OEM650X • INDEX 49 Inde x A Accessories High Current Heatsink 4 Low Current Heatsink 4 accessories 4 Accuracy 36 Attaching the Load 22 Automatic Test 5 C Closed Loop Operation 28 Common Problems and Solutions 42 Compumotor indexer 10 Couplings 23 Current (Amps) 32 D Daisy Chain Configuration 30 debugging 46 Direction Input 24 double-flexed[...]

INDEX • OEM650/OEM650X 50 power supply 9 Power Supply Sizing 31 R radial load 22 Remote Input 25 repair 46 Repeatability 36 resistor 7 Resistors 4 Resonance 33 resonance speed 34, 35 Return Material Authorization (RMA) 47 Rigid coupling 23 Rotor Inertia 36 RS-232C 11, 45 Baud Rate 11 Daisy Chaining 30 Data Bits 11 Handshaking 12 Parity 11 Stop Bi[...]

7 17 16 Tx Rx 1 2 3 4 5 6 8 9 10 11 12 13 14 15 19 18 21 20 23 22 25 24 N.C. N.C. N.O. N.C. N.C. N.C. CW Limit Step Output Direction Output CCW Limit Home Reserved GND Ref. Output #2 Fault Output Output #1 Sequence #1 Sequence #2 Sequence #3 Shutdown Encoder Channel A Encoder Channel B Encoder Channel Z N.C. N.C. N.C. Trigger Input #1 Trigger Input[...]