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HIGH PERFORMANCE SERVO DRIVES

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1. TB1 ANALOG CMD 11 31 7 cHASSIS ANAL OG CMD T GND H 5 2 END INPUT COMMON D zm 3 REGEN T ENABLE INPUT 5 E EXTERNAL INPUT 2 6 v 5 4 REGEN INPUT 3 CCWINH 7 CTRL INPUT 4 CWINH 8 SCIENTIFIC 5 20 52 VDC S ENCODER INPUT A DIR STEP CH 9 21 e 1 ENCODER INPUTA DIR STEP CW P C 3 4 0 0 D common ENCODER INPUT B STEP STEP CCW Soc Sabe ENCODER INPUTB STEP STEP CCW 1 DC POWER INPUT 7 REG 18 INPUT ERES 14 PACIFIC SCIENTIFI lt lt ENCODER OUTPUT CHANNEL A _ ps BRUSHLESS MOTOR 4C ENCODER OUTPUT CHANNEL A WE r J C ENCODER OUTPUT CHANNEL B 17 PHASE W lt ENCODER OUTPUT CHANNEL 18 E OUTPUT 3 19 2 E 3 2 PHASE V M ourpur 3 S a O OUTPUT 2 2 3 ERO x OUTPUT 2 22 TB2 4 OUTPUT 1 DRIVE OK BRAKE R 23 NA OUTPUT 1 DRIVE OK BRAKE 24 5 a i 1 gt gt A 2 1 1 95 3 gt TXD B TO HOST lt 2 4 Y Ly SET UP m 3 NE 5 OR CONTROL pu 4 O z ENCODER COMPUTER gt lt i 6 6 o 7 bo m HALL 1 8 A 8 gt gt 9 HALL 2 A 9 gt HALL 3 10 gt gt 5
2. Peak Peak Cont Cont Inertia Stall Rated Stall Rated Rated Stall Current at J Inductance Servo Servo Torque Torque Torque Torque Speed Speed Current Peak Torque kgm x 10 Line Line Motor Drive UE Tos Ton w Wu Ls ls Ib in S L Model Model Nm Ib in Nm Ib in Nm Ib in Nm Ib in rpm rpm Asus Acus x 10 mH PMA Series motors with SCE9xx Drives PMA42N SCE9X3 8 2 72 6 8 1 71 7 4 1 36 3 3 2 28 3 4 300 5 450 3 7 7 5 0 36 3 2 143 PMM2P SCE9x4 12 4 110 12 3 109 4 1 36 3 3 0 26 6 5 100 6 950 4 7 15 0 0 36 3 2 8 9 PMA43N SCE9x3 12 2 108 12 1 107 6 1 54 0 5 3 46 9 2 800 3 600 3 7 15 0 52 4 6 20 0 PMM3P SCE9x4 18 8 166 18 7 165 6 1 54 0 5 1 45 1 3 300 4 500 46 15 0 0 52 4 6 13 0 PMA43Q SCE9x4 12 5 111 12 4 110 6 1 54 0 4 0 35 4 6 000 7 100 7 2 15 0 0 52 4 6 5 3 PMA44N SCE9xX3 16 9 150 16 8 149 8 2 72 6 7 3 64 6 2 100 2 650 3 6 7 5 0 68 6 0 27 0 PMA44Q SCE9x4 16 9 150 16 7 148 8 2 72 6 4 9 43 4 4 400 5 250 7 2 15 0 0 68 6 0 74 PMA45N SCE9x3 21 0 186 20 9 185 10 2 90 3 9 5 84 0 1 600 2 100 3 6 7 5 0 84 7 4 33 0 PMA45Q 5 9 4 21 3 189 21 1 187 10 2 90 3 7 9 69 9 3 400 4 150 74 15 0 0 84 7 4 8 7 PMA53Q 5 9 4 20 7 183 20 6 182 10 5 92 9 8 2 72 6 2 900 3 900 6 8 15 0 1 92 17 0 15 0 PMA53R SCE9xX5 21 6 191 21 5 190 10 5 92 9 7 2 63 7 4 200 5 600 97 22 5 1 92 17 0 7 2
3. DN mandatory for SCE906 SC905 fan built in not optional SCE902 for operation at 240V ac max only 9 Enhanced firmware version Anus 14 www pacsci com 0 85 kW to 18 kW continuous power 1 7 kW to 27 kW peak power Performance Features All digital DSP based Standard analog and digital interfaces 10V Analog interface velocity or torque control Step Direction Digital interface position or velocity control Step Up Step Down interface position or velocity control uadrature Encoder Digital interface electronic gearing follower Removable option cards for flexibility RS 232 485 serial interface SERCOS multi axis fiber optic interface Expanded I O Field firmware upgrade Personality parameters in base drive or on removable option card EEPROM Digital auto tuning for easy set up no pots to tweak All system and application parameters are set in software and can be saved in EEPROM Single resolver feedback survives hostile environments Optional incremental encoder available for position feedback and or commutation Quadrature encoder outputs up to 16 384 PPR Digital and analog I O All connections on front easy access to clearly marked connectors Extensive protection circuits and diagnostics to ease set up Inaudible high frequency Digital PWM sine wave current control Autotuning automatically sets system parameters
4. Recommended filter not supplied by Pacific Scientific No filter is required with a single axis at designated cable lengths Filtering may be required for multi axis configurations or longer cable lengths Consult factory for more information G A 3 phase line inductor with a minimum of 1 17mH is required to comply with CE Consult Factory for more information Order these accessories to simplify installation start up and programming of your Pacific Scientific step motor and servo motor controls o B 22 E D Qo gt FA N e Ez m 22 www pacsci com 37 JL91442 01 08 10M PRINTED IN USA wu PACIFIC SCIENTIFIC MOTION For application specific assistance 1 888 APACSCI 4301 Kishwaukee Street 106 call 1 888 ACSCI 888 472 2724 Rockford Illinois 61105 0106 815 226 3100 FAX 815 226 3080 wwW pacs
5. ENCODER OUTPUT CHANNEL 45 lt 5 dz ces Hs POSITION lt ENCODER OUTPUT CHANNEL 11 PaciFic 6 L3 240 120 VAG OUTPUT ENCODER OUTPUT CHANNEL Z 13 SCIENTIFIC BUS us ENCODER OUTPUT CHANNEL Z tu 13 5 EXTERNAL PACIFIC SCIENTIFIC lt 5 VDC OUTPUT 250 mA 14 aaa Dl BRUSHLESS MOTOR A POBOO ak 5 16 gt gt lt ENCODER INPUT CHA STEP 17 10 CHASSIS GND Mp Z ENCODER INPUT CHA STEP id Sm PHASE U COMMAND S ENCODER INPUT CH B DIR 18 Ez S ENGODER INPUT CH B DIR 20 O 2 0 22 12 13 MOTOR NO CONNECT 202 NO CONNECT 29 lt 1 S1 HALL 1 RELAY OUTPUT QUT4 23 J3 5 S3 HALL 2 RELAY OUTPUT 2s Y T NO CONNECT 2 82 HALL 3 NO CONNECT 27 a 4 4 gt gt ANALOG INPUT 2 56 a ANALOG INPUT 3 29 H 5 SCORN 30 u 6 R1 EXCIT RESOLVER shy 5 INPUT 1 FAULT RESET 31 INPUT 2 CWINH 55 7 R2 EXCIT RTN gt INPUT 3 CCWINH 33 lero INPUT 4 REG1 ES LIMIT SWITCH INPUT 5 REG2 35 9 PIC RTN EXAMPLE INPUTG 36 BVDC WAN S ENABLE INPUT ar 10 P I INPUT RTN 11 1 O RTN 38 P 24 VDC OUTPUT RTN 39 45 ENCODER INPUT CHANNEL A 24 VDC 2 24 VDC OUTPUT 80mA 40 USER S oum 2 3 SUPPLY INPUT i T ENCODER INPUT CHANNEL A SUPPLY OUTI FAULT RS 232 485 ENCODER INPUT CHANNEL B lt 42 Ji 14 D OUT2 BRAKE SERIAL PORT lt 43 16 ENCODER INPUT CHANNEL B 9urs 44 128456789 P
6. RIN T 11 5 VDC q 12 a PTC m 13 PTC PTC 14 gt gt le al Schematic shown for i Intelligent model drive For information on d model Digital contact the factory or consult www pacsci com www pacsci com v p R n m EE m PC800 SERIES PC SKK 001 K Pacific Scientific Accessories Servo Drive Family Designation N No Accessories A D sub Connector Kit T Terminal Board Adapter Connector Kit F Terminal Block Adapter and D sub for Feedback Interface Designation 3 RS 232 485 10V dc Customization Code Step Dir Preset Indexing 4 SERCOS Interface 001 Standard Unit XYZ Factory Assigned Hardware Customization Power Level 2 2 7 Anus cont 25 40 C 5 9Anus Peak 3 3 6Anus cont o 25 40 10 6 4 7 1 cont o 25 40 967 21 2 NOTES Available only with PC840 models Accesories Part Number Description CA 800 D sub connector kit CA 800 FB 15 pin D sub connector for feedback CA 800 TB Terminal block adapter connector kit MA830 User manual PC830 models MA840 User manual PC840 models 830Tools 830 configuration software on 3 1 2 diskettes 830Tools CD 830 configuration software on CD ROM PFK 120 120V ac fan kit mounts remotely from drive N A for PC832 PFK 240 240V ac fan kit mounts re
7. Shown without electrical connection cable see page 10 for more information Fan kit not available for PC832 E j m 9 E ia o 2 z TO HOST SET UP OR CONTROL COMPUTER NLH 90A S NLH SERCOS model adds fiber optic connections www pacsci com 13 SC SCE900 SERIES SC9 03 N N 001 01 Servo Drive Family Designation Firmware 01 Standard base servo software Option Card Designator Customization Code Factory assigned 0 No option card installed 001 Standard Unit 3 0 930 001 00 Serial Port Option Card installed NOTE The following customization codes are 4 OC940 001 01 SERCOS Interface Option Card installed only valid when ordering an SC950 5 OC950 50X 01 Programmable Option Card installed 501 OC950 32kx8 NV RAM without PacLAN X See Customization Code below 502 OC950 128kx8 NV RAM without PacLAN 503 OC950 32kx8 NV RAM with PacLAN 504 OC950 128kx8 NV RAM with PacLAN 2 BoweriEevel Fan Kit Option 2 5 3A peak 2 7A continuous 25 3 E 3 10 6A peak 5 3A continuous 25 N NO fei asi cooled 1 120V ac fan forced air cooled 4 21 2A peak 10 6A continuous 25 22 240V ae fan forced cooled 5 42 4A peak 21 2A continuous 50 Accessories Option No accessory kit Basic connector kit manu
8. Block Type BLKTYPE 0 Analog command torque block BLKTYPE 1 Analog command velocity block BLKTYPE 2 Incremental command position block BLKTYPE 4 Digital frequency command torque block BLKTYPE 5 Digital frequency command velocity block With 0C930 N A PC800 PE 2 PE 8 3 Serial port command position block Serial port command velocity block Feedback Source EMOTEFB 0 EMOTEFB 1 EMOTEFB 2 Use motor shaft resolver for position feedback Use encoder input for position feedback Use encoder input for position and velocity feedback Encoder Output ENCOU Encoder output resolution PPR Encoder Input ENCIN Encoder input resolution PPR ENCMODE Encoder input mode quadrature step dir Up Dn Digital 1 0 BDIOMap1 6 Selects input or output function for each BDIO Analog Out DMxMAP DMxGain DMxFO Selects signal for channel x Set output volt per signal unit Low pass filter in Hz for channel x www pacsci com 23 e m gt SC SCE 900 SERIES OPTION CARDS OC OCE 930 940 950 a HOW TO ORDER SC900 Digital Drive Drive Accessories Option Cards Blank panel This is a blank panel to cover an unused option card slot 0C900 001 Firmware upgrade This option card allows easy plug in upgrading of the SC900 firmware and allows removable personality 0C900 002 01 Serial commun
9. e e e e SC9x4 0 0 0 0 SC9x5 0 e gt SCE9x3 e e SCE9x4 e e SCE9x5 e e SCE9x6 e SCE9x3 e gt SCE9x4 e e SCE9x5 T e e SCE9x6 e NS www pacsci com PC3400 SERIES PC34XXDi 001 XX Factory Pacific Scientific Preassigned Standard Options Resolver Feedback Servo Drives Controller Type Encoder Feedback d Digital RI Resolver Feedback Drive Family RMS Current Rating i Intelligent with extended 1 0 El Encoder Feedback 02 2 5Aaus cont 5ARMS peak 03 3 0A4 s cont BARMS peak input aye sel 05 5 0Aaus cont 10ARMsS peak D DC Input Voltage 06 6 0Aaus cont 12ARMS peak A AC Input Voltage 10 10 0Azws cont 20ARMS peak 20 20 0Aaus cont 40ARMS peak NOTES DC Input drives only AC Input drives only G Resolver Feedback option on AC input voltage drives only Accessories Part Number Description MA3400A MA3400D MAToolPac PRK 0160 47 PRK 0180 26 PRK 0200 10 SK 340xA SK 340xA 1 SK 34xxA SK 34xxA 1 SK 34xxD SK 34xxD 1 PTK 3MD 001 PCA MM24 006 PCA MM18 006 PCA MM20 006 PCA MM14 010 PCA MM14 025 PCA MM14 050 PDK3400 120 Hardware in
10. 3 phase only Input Current Control logic power 500 mA maximum 120V ac 250 mA maximum 240V ac Equivalent Equivalent Equivalent Equivalent Equivalent Equivalent Equivalent aus Agus Agus Aras Bus power 45 64 90 12 74 18 04 25 54 45 6 4A 9 0A 12 74 18 04 25 54 29 04 41 04 Peak Output Current 5 seconds 5 34 7 54 10 64 15 21 2 30 0 54A 7 64 10 64 15 04 21 24 30 04 42 24 59 74 Continuous Output Current 25 C convection cooling N A N A N A N A N A NA 2 75A 3 94 5 34 7 54 10 64 15 04 21 24 30 04 50 C forced air cooling NA N A NA N A N A NA 2 75A 3 94 5 34 7 54 10 64 15 04 21 24 30 04 50 C convection cooling NA N A NA N A N A NA 1 754 2 5A 3 54 50 10 04 21 24 30 04 25 40 C convection cooling 278 3 84 3 64 5 04 10 0 NA NA N A N A NA NA NA 25 40 C forced air cooling N A N A 5 34 7 54 10 64 15 04 NA NA NA N A N A NA NA NA Peak Output Power 240V ac 1 second 2 25 kW 4 5 kW 9 0 kW 2 2 KW 4 5 kW 9 0 kW 18 0 kW Continuous Output Power 240V ac three phase 25 C convection cooling N A N A N A 1 1 kW 2 2 kW 45 kW 9 0 kW 50 C forced air cooling N A N A NA 1 1 KW 2 2 KW 4 5 kW 9 0 kW 50 C convection cooling N A N A N A 0 75 kW 15kW 3 0 kW 9 0 KW 25 40 C convection cooling 1 1 KW 15 kW 3 0 kW NA NA NA NA 25 40 C forced air cooling NA 2 2 kW 4 5 kW NA 240V ac single phase 25 C convection cooling N A N A N
11. 0 68 6 0 7 600 10 400 29 8 6 0 064 0 56 5 7 S22H PC8x2 SC9x2 SCE9x2 1 6 14 6 1 6 14 3 0 90 8 0 0 59 5 2 9 100 10 400 2 65 5 3 0 064 0 56 5 7 5246 PC8x32 5 1 44 7 5 0 44 5 1 6 14 4 1 5 12 9 3 400 4 900 2 6 78 0 100 0 89 9 3 5246 PC8x2 SC9x2 SCE9x2 3 5 30 9 3 5 30 7 1 6 14 4 14 12 5 4 000 4 900 2 6 5 3 0 100 0 89 9 3 S24H PC8x42 5 0 44 1 4 9 43 6 1 6 144 0 55 4 9 8 000 9 800 54 154 0 100 0 89 22 S24H SC9x3 3 5 30 9 3 4 30 4 1 6 14 4 0 55 4 9 8 000 9 800 ol 10 6 0 100 0 89 2 2 eae ga eee ee eee OCOOi1iiuidi dim xii ee S31H PC8x3 6 6 58 8 6 6 58 5 2 3 20 0 1 9 16 6 3 500 5 200 3 3 10 6 0 18 1 58 10 3 S31H PC8x2 SC9x2 SCE9x2 3 4 29 8 3 3 29 4 1 8 16 0 14 124 4 600 5 200 2 65 53 0 18 1 58 10 3 5326 8 32 13 0 115 13 0 115 4 0 35 6 3 6 32 3 1 500 2 600 3 1 10 6 0 34 2 98 18 5326 PC8x2 SC9x2 SCE9x2 6 6 58 4 6 6 58 0 3 4 30 4 3 0 26 2 2 200 2 600 2 65 5 3 0 34 2 98 18 S32H 8 42 13 0 115 12 9 114 4 0 35 6 2 8 24 9 3 900 5 300 6 1 21 2 0 34 2 98 45 S32H SC9x3 6 6 58 4 6 5 57 6 3 5 30 9 2 2 19 5 4 800 5 300 5 3 10 6 0 34 2 98 45 S33A 8 32 15 6 138 15 6 138 5 3 47 0 47 41 3 1 500 2 200 3 5 10 6 0 48 4 28 17 5330 PC8x42 15 6 138 15 5 137 5 3 46 9 3 7 32 6 3 600 4 400 7 0 21 2 0 48 4 28 44 S33D SC9x42 15 6 138 15 5 137 5 3 46 9 3 7 32 6 3 600 4 400 7 0 21 2 0 48 4 28 44 5336 PC8x2 5 9 2 5 9 22 9 7 86 2 9 7 85 9 5 0 44 6 4 6
12. MODEL A B C D 5602 57 2 2 25 28 6 1 12 N A 312 0 12 3 p 5693 82 67 3 25 44 45 1 75 N A 312 0 12 3 A 5 CLINCHNUT SC9x4 81 4 3 20 40 6 1 60 114 8 4 52 312 0 12 3 290 0 8 66 4 SCEOX2 57 2 2 25 28 6 1 12 N A 309 4 12 2 C900 SCE9x3 84 0 3 31 45 5 1 79 85 0 3 35 309 4 12 2 2288 90 SCEQx4 84 0 3 31 45 5 1 79 116 5 4 6 309 4 12 2 SCEQx5 84 0 3 31 45 5 1 79 159 5 6 3 309 4 12 2 6 to D t 9 86 ida 5 a 5 8 2 e i 5 X st 5 o 1 y CHASSIS STUD W M5 31 7 1 25 T 27 Fig ASC902 3 4 MECHANICAL OUTLINE O SC905 SCE906 e mm inches mm inches Ez 228 6 9 00 DEPTH 270 1 10 63 o 185 5 7 3 127 0 5 DEPTH 280 11 9 5 0 38 127 0 5 00 L 50 8 2 00 7 y 31 7 1 25 i fp Sc905 SERVO MOTION TECHNOLOGY DIVISION Bl SATUS CTRL VABEGENERATION e 425 5 16 75 400 1 15 75 368 3 14 50 s A bee be rr RESOLVER ii 0 28 50 8 2 00 f 127 0 5 00 www pacsci com 17 12 7 5 18 PC3400 SERIES POWER DATA Continuous Output Current Asus 10Agms 20ARms
13. Programmable 5 24V 5kO source or sink optically isolated Digital High Speed 5 Digital Registration 1 Programmable 5V 4990 1 sec response Programmable 5V 49902 1 sec response Enable 5 30V 5kO source or sink optically isolated PC3406A PC3410A PC3403A PC3420A PC3402D PC3405D Digital 2 Programmable 30V dc maximum supply 35 mA maximum source or sink Drive OK Brake 100V dc maximum supply 1A maximum relay Foldback 30V dc maximum supply 35 mA maximum source or sink Encoder A B Z channels Protection PC3403A PC3406A PC3410A PC3420A PC3402D Short circuit phase to phase phase to common PC3405D Overvoltage undervoltage Overtemperature Feedback loss position error current foldback Input Power Main PC3403A PC3406A PC3410A PC3420A PC3402D PC3405D 90 253V ac 10 or 30 47 63 Hz Back up Control 24 48V dc isolated 18 48V dc non isolated Environmental PC3403A PC3406A PC3410A PC3420A PC3402D PC3405D Storage Temperature 40 70 recommended 25 Operating Temperature 0 40 C ambient Humidity 0 95 non condensing May be used as programmable I O www pacsci com 21 e m 77 gt gt 22 Analog Input Command PC800 PC800 SC SCE900 SERIES TECHNICAL OVERVIEW Range 13 5V velocity or torque Resolution gt 14 bits Offset Adjustable to zero Offset dri
14. o Multi Axis Stepper Indexer Card Direction Command Resolver Power SC900 SC900 w OC930 Resolver Feedback Figure 1 This multi axis application utilizes a typical multi axis motion control card The motion control card generates 10V analog commands for each axis drive These analog commands control either motor torque or motor velocity If the control card is commanding torque the systems velocity loop is closed in the motion control card If the control card is commanding velocity the drive closes the velocity loop in the system The drive generates quadrature encoder feedback signals from the motor s resolver These quadrature encoder signals are used by the motion control card to close the system s position loop and to execute the motion profiles Figure 2 This multi axis application utilizes a typical multi axis stepper indexer card The indexer generates step and direction commands for each axis drive These commands control the velocity and position of the servo systems The drive closes the current velocity and position loops Position commands are received via the step and direction interface Figure 3 This multi axis application utilizes a computer equipped with a serial port The computer generates velocity torque or position commands Because 9600 Baud serial communications are not very fast this configuration is best suited for slowly
15. or control machine sensors and other control devices For fully flexible industrial I O the OC OCE950 ports are Opto 22 compatible Features When Combined with the SC900 Family of Brushless Servo Drives Completely digital set up and tuning DSP based servo control algorithms Encoder input and encoder output Analog input and two analog outputs Two high speed registration inputs Digital fault code information Full protection and diagnostics Ability to run linear motors Exclusive Signature Current Control Patented DRDC resolver ASIC lt Full range of servo motors up to 800 lb in Local Area Network Option In addition to the standard RS 232 485 Serial interfaces the OC OCE950 can be ordered with Pacific Scientific s PacLAN interface This is ideal for networking single axis drives together It is a 2 5 Mbaud token passing communications port where all variables and real time motor information can be passed from drive to drive Connect up to 255 drives together with PacLAN and you still have serial ports left over to communicate with your Operator Interface Buy Only What You Need Like the rest of the SC SCE900 Series products the OC OCE950 can be ordered with or without options Modular ordering allows you to build up the options that suit your needs and not pay for extras you won t use Even the Windows Development Environment is a one time purchase item for the cost conscious OEM How To Or
16. 0 044 0 388 6 7 PMB23B PC3403 3 6 31 9 3 57 31 6 1 53 13 5 1 33 11 8 3 950 5 500 2 6 6 0 0 065 0 574 8 4 PMB23C PC34039 2 66 23 5 2 60 23 0 1 3 11 6 1 17 10 4 6 350 7 400 3 0 6 0 0 065 0 574 43 PMB23C 3406 3 79 33 5 3 74 33 1 1 53 13 5 1 2 10 6 5 900 7 400 34 8 59 0 065 0 574 43 I PMB31B 3403 4 6 40 7 4 57 40 4 2 03 18 0 1 95 17 3 2 900 4 300 2 64 6 0 0 137 1 21 16 0 PMB31D PC3406 4 7 41 6 4 7 41 6 2 03 18 0 1 55 13 7 6 300 8 400 si 12 0 0 137 1 21 4 2 PMB32C 3403 7 9 70 0 7 8 69 0 3 8 33 6 3 6 31 9 1 800 2 550 2 88 6 0 0 272 2 41 19 3 PMB32D PC3406 8 9 78 8 8 9 78 8 3 8 33 6 3 4 30 1 3 500 4 450 5 1 12 0 0 272 2 41 6 2 PMB32E 3410 9 8 85 0 9 5 84 1 3 1 33 6 3 1 27 4 4 650 5 850 6 7 16 89 0 272 2 41 3 6 PMB33C 3403 11 0 97 4 11 0 97 4 5 0 46 9 5 0 44 3 1 250 1 800 2 9 6 0 0 408 3 61 23 4 PMB33E PC3406 11 0 97 4 11 0 97 4 4 6 46 9 4 6 40 7 3 000 3 600 5 8 12 0 0 408 3 61 5 8 PMB33F PC34109 11 8 104 11 7 104 3 8 46 9 3 8 33 3 4 850 5 600 9 0 20 0 0 408 3 61 24 S Series motors with PC8xx and SC9xx Drives S21H PC8x32 1 4 12 5 1 4 12 3 0 51 4 5 0 32 2 8 12 500 12 500 3 1 93 0 042 0 38 3 7 S21H PC8x2 SC9x2 SCE9x2 0 82 7 3 0 80 7 1 0 43 3 8 0 27 2 4 12 500 12 500 2 65 5 3 0 042 0 38 3 7 S22H PC8x32 2 6 23 1 2 6 22 9 1 0 8 8
17. 01 Mini D sub 15 Pin for PC800 02 Molex Crimp Connector for PC3400 Series Cable Type 01 Standard 4 Conductor for Resolver Only 02 Flexible 9 Conductor for Resolver Only 03 Standard 17 Conductor for Commcoder 04 Flexible 17 Conductor for Commcoder 05 Standard 14 Conductor for PC3400 Drives Only www pacsci com CABLING AND ACCESSORIES THE ADVANTAGES OF FACTORY CABLING The most common and easily preventable SC SCE900 drives are equipped one feedback cable are necessary for cause of startup problems is cabling with appropriate connectors for system connection between motor and drive That s why we offer factory tested fully interconnection The PMA and S Series terminated connecting cables for PacSci motors described in this system selection brushless servo systems Factory cabling guide are equipped with Interconnectron saves you time as well as troubleshooting connectors One power cable and POWER CABLE SC SCE900 CE P X X XXX E 90 ten CE compliant cable Flexible cable Power Cable Power Level 2 through 6 A PMA Motors E Sentry Motors with Interconnectron connectors 900 Series High Voltage Drives 1 1 frame Leave Blank for low voltage 2 2 frame SC900 series including SCE902 3 3 frame pears els EUM 6 6 frame 1 foot inc
18. 22 5 4 21 37 3 12 5 PMAG5R SCE9xX5 55 9 495 55 7 493 30 0 266 25 0 221 1 600 2 250 11 3 22 5 i 9 70 0 20 0 PMA65S SCE9x6 46 1 408 45 6 404 30 0 266 19 0 169 3 300 4 200 20 9 33 7 9 70 0 5 9 PMAG6R 9 5 67 1 594 66 9 592 36 0 319 31 4 278 1 350 1 850 22 5 4 83 3 240 PMA66S SCE9K6 55 8 494 55 4 490 36 0 319 22 3 197 2 750 3 500 20 7 33 7 9 4 83 0 70 PMA67S SCE9xX6 65 1 576 64 7 573 42 0 372 32 8 283 2 350 2 950 20 7 33 7 10 9 96 5 8 2 PMA69S SCE9xX6 84 1 744 83 7 741 54 0 478 43 8 388 1 800 2 300 20 6 33 7 13 9 123 10 4 S Series motors with SCE9xx Drives S33A SCE9x3 11 1 98 4 11 0 97 4 5 3 47 0 3 9 34 5 3 300 3 900 35 75 0 48 4 28 17 0 S34A SCE9x3 12 4 110 12 3 109 6 4 56 5 4 3 37 9 3 000 3 500 3 8 75 0 64 5 68 14 7 D See page 30 for definitions of ratings Includes resolver feedback inertia Peak torque ratings are for 5 seconds Each system requires one feedback and one motor power cable Rated speed is provided for operation on 480V ac 3 phase line 34 www pacsci com SYSTEMS PERFORMANCE PEAK STALL TORQUE Tps Tor PEAK RATED TORQUE CONT STALL TORQUE Tes CONT RATED TORQUE DATA SYSTEM VOLTAGE LINE ila continuous duty intermittent duty gt Speed rpm Wr Wa R RATED SPEED NO LOAD RECOMMENDED MOTOR DRIVE SYSTEMS 480V ac 640V dc bus
19. 3 6 10 6 0 68 6 0 27 0 PMA44P PC8x32 15 9 141 15 9 140 8 0 71 3 7 4 65 5 1 750 2 250 5 3 10 6 0 68 6 0 124 gt PMAMQ PC8x42 23 2 205 23 1 205 8 1 71 6 7 3 64 4 2 100 3 000 7A 21 2 0 68 6 0 74 PMAMR 509042 17 0 150 16 9 149 8 2 72 6 6 7 59 3 3 450 4 200 10 1 21 2 0 68 6 0 3 6 PMA45N PC8x39 29 0 256 28 9 256 10 2 90 3 9 9 87 6 600 1 200 3 6 10 6 0 84 7 4 33 0 PMM5Q PC8x42 29 3 259 29 2 258 10 2 90 3 9 4 83 2 1 650 2 350 74 212 0 84 7 4 8 7 PMA45R 509042 21 3 189 21 2 188 10 2 90 3 8 9 78 8 2 700 3 300 10 0 21 2 0 84 7 3 4 4 PMA53Q PC8x42 26 9 238 26 8 237 10 5 92 9 9 6 85 0 1 300 2 250 6 8 21 2 1 92 17 0 15 0 PMA53R SC9042 20 6 182 20 5 181 10 5 92 9 8 8 77 9 2 350 3 200 9 7 21 2 1 92 17 0 7 2 PMA54Q 8 42 34 1 302 34 1 301 13 5 120 12 4 110 1 200 1 800 74 21 2 2 49 22 0 16 0 PMA54R 509042 24 7 219 24 6 218 13 5 120 11 6 103 2 100 2 700 10 6 21 2 2 49 22 0 71 D See page 30 for definitions of ratings Peak torque ratings are for 5 second Includes resolver feedback inertia Q Peak torque ratings are for 5 seconds Rated speed is provided for operation on 240V ac 3 phase line Each system requires one feedback and one motor power cable Reduce to approximately 8596 for 240V ac 1 phase line operation and to 40 for 120V ac 1 phase line operation O Characteristics shown with drive default parameters limited to 2 5x the motor s continuo
20. 5 3 47 0 7 33 2 3 100 3 600 5 6 12 0 0 48 4 28 6 3 S34A 3403 9 9 87 4 9 8 86 9 5 1 45 1 4 9 43 4 1 700 2 000 3 0 6 0 0 64 5 68 14 7 34G PC34039 12 4 110 12 4 109 6 4 56 5 5 0 44 5 1 200 1 600 3 0 6 0 0 64 5 68 23 7 S34H PC34069 12 6 112 12 5 111 6 4 56 5 4 1 36 3 2 600 3 100 6 0 12 0 0 64 5 68 59 See page 30 for definitions of ratings Peak torque ratings are for 5 second Includes resolver feedback inertia Peak torque ratings are for 5 seconds O Rated speed is provided operation on 240V ac 3 phase line Each system requires one feedback and one motor power cable Peak torque ratings are for 2 seconds Characteristics shown with drive default parameters limited to 2 5x the motor s continuous rating Higher peak system performance Peak i for 1 sek torque ratings are tor 1 second available Contact the factory RECOMMENDED MOTOR DRIVE SYSTEMS 400V ac 560V dc bus Peak Peak Cont Cont Inertia Stall Rated Stall Rated Rated No Load Cont Stall Current at J Inductance Servo Servo Torque Torque Torque Torque Speed Speed Current Peak Torque kgm x 102 Line Line Motor Drive Ta Tox Ue Wy les los Ib in S L Model Model Nm Ib in Nm Ib in Nm Ib in Nm Ib in rpm rpm A x 10 PMA Series motors with SCE9xx Drives PMA42N
21. 7 1 6 14 6 3 600 4 700 27 5 3 0 055 0 49 6 8 PMA23C PC8x32 5 9 52 4 5 9 52 2 2 0 17 7 1 6 14 2 4 200 5 850 3 4 10 6 0 055 0 49 10 6 PMA23D 8 4 7 3 64 6 7 3 64 3 2 0 17 7 1 4 12 3 6 400 8 750 5 0 20 0 0 055 0 49 3 0 PMA23D SC9x32 4 2 36 8 4 1 36 6 2 0 17 7 1 3 11 5 7 400 8 750 50 10 6 0 055 0 49 3 0 PMA240 8 3 7 9 70 2 7 9 70 9 2 6 23 0 2 2 19 5 3 000 4 350 3 3 10 6 0 072 0 64 8 9 PMA24D PC8x42 9 5 84 1 9 5 83 8 2 6 23 0 1 9 17 2 4 950 6 950 21 2 0 072 0 64 3 5 PMA24D 5 9 3 5 1 45 3 5 1 45 0 2 6 23 0 1 8 16 1 5 850 6 950 59 10 6 0 072 0 64 3 5 PMA42M PC8X2 SCOX2 SCEOX2 7 7 67 9 7 6 67 7 4 1 36 3 3 9 34 5 1 600 2 350 28 5 3 0 36 3 2 26 0 PMM2N 8 11 3 99 9 11 2 99 6 4 0 35 4 3 8 33 6 1 950 3 100 3 6 10 6 0 36 3 2 143 PMM2P 509032 9 1 80 4 9 0 79 9 4 1 36 3 3 6 31 9 2 950 4 000 4 7 10 6 0 36 3 2 8 9 PMM2Q PC8x42 12 6 111 12 5 111 4 1 36 3 3 4 30 1 3 800 5 450 6 5 21 2 0 36 3 2 47 e PMA43N PC8x39 16 9 149 16 8 149 5 9 52 2 5 8 51 3 1 250 2 050 3 6 10 6 0 52 4 6 20 0 lt PMM3P 509032 13 8 122 13 8 122 6 1 54 0 5 6 49 6 1 850 2 600 4 6 10 6 0 52 4 6 13 0 PMA43Q 8 4 17 3 153 17 2 152 6 0 53 2 5 2 46 0 3 000 4 050 74 212 0 52 4 6 53 m PMA43R SC9049 12 6 112 12 5 111 6 1 54 0 4 5 39 8 4 700 5 650 10 1 21 2 0 52 4 6 27 s PMA44N PC8x3 23 3 206 23 2 206 8 2 72 6 7 9 70 0 850 1 550
22. A 0 80 kW 1 6 kW 2 3 kW N A 50 C forced air cooling N A N A N A 0 80 kW 1 6 kW 2 3 KW N A 50 C convection cooling N A N A N A 0 55 kW 14 kW 1 5 kW N A 25 40 C convection cooling 1 1 kW 1 1 kW 2 0 kW N A N A N A N A 25 40 C forced air cooling N A 1 6 kW 2 0 kW N A N A NA NA Power Stage Efficiency PCONT 98 98 98 95 96 97 97 Shunt Regulator Power Peak power 300 mSec 12 8 kW 12 8 kW 12 8 kW 3 0 kW 6 0 kW 12 0 kW 20 0 kW Continuous power 25 C convection cooling 200W 200W 200W 20W 40W 100W 200W 50 C forced air cooling N A N A N A 25W 50W 125W 200W 50 C convection cooling N A N A N A 20W 40W 100W 200W Maximum external regen duty cycle 6 6 6 16 12 6 10 2 Bus capacitance energy absorption from 320V nominal bus 240 ac 20 Joules 30 Joules 40 Joules 15 Joules 15 Joules 30 Joules 50 Joules 2 Output Current Ripple Frequency fs 20kHz 20 kHz 16 kHz 20 kHz 20 kHz 20 kHz 20 kHz 77 Minimum Motor Inductance 1 1 9 240V 4mH 2 mH 1 25 mH 4mH 2mH 1 mH 0 5 mH Maximum Motor Power Cable length 50m 164 ft 50m 164 ft 50m 164 ft 50m 164 ft 50m 164 ft 50m 164 ft 50m 164 ft www pacsci com 19 SCE900 SERIES HIGH VOLTAGE POWER DATA SCE9x3 SCE9x4 SCE9x5 Input Voltage Control logic power 90 264V ac 47 63 Hz single phase Bus power 180 528V ac 3 phase Input Cur
23. Acus Acus x 10 mH PMB31D 509032 4 2 37 2 4 1 36 3 2 03 18 0 1 53 13 5 6 550 8 400 10 6 0 137 1 21 4 2 PMB32C 8 2 SC9x2 SCE9x22 6 9 61 0 6 9 61 0 3 56 31 5 3 6 31 9 1 900 2 550 27 5 3 0 272 2 41 19 3 2 PC8x3 SC9x3 11 4 101 11 3 100 3 8 33 6 3 7 32 7 1 450 2 550 2 88 8 64 0 272 2 41 19 3 PMB32D SC9x32 7 9 70 0 7 8 69 4 3 8 33 6 3 4 30 1 3 600 4 450 Bul 10 6 0 272 2 41 6 2 PMB32D PC8x4 SC9x4 11 4 101 0 11 4 101 0 3 8 33 6 3 5 31 0 3 200 4 450 bul 153 0 272 2 41 6 2 PMB32E PC8x4 SC9x42 11 4 101 0 11 4 101 0 3 8 33 6 3 2 28 3 4 400 5 850 6 7 20 1 0 272 2 41 3 6 PMB33C PC8x2 SC9x2 SCE9x2 9 8 86 8 9 7 86 0 4 9 43 3 4 9 43 3 1 350 1 800 2 7 5 3 0 408 3 61 23 4 PMB33C PC8x3 SC9x32 15 9 141 15 8 140 5 3 46 9 5 1 45 1 1 050 1 800 2 9 8 6 0 408 3 61 23 4 PMB33E 5 9 3 9 7 85 8 9 7 85 8 4 8 42 5 4 6 40 7 3 050 3 600 5 3 10 6 0 408 3 61 5 8 PMB33E PC8x4 SC9x42 15 9 141 15 9 141 5 3 46 9 4 7 41 6 2 700 3 600 5 8 17 3 0 408 3 61 5 8 PMB33F SC9x42 12 5 111 12 4 110 5 3 46 9 3 75 33 3 4 800 5 600 9 0 21 2 0 408 3 61 24 Series motors with PC34xx Drives PMB13B PC34039 1 5 13 3 1 46 12 9 0 55 4 9 0 38 3 36 11 300 13 300 2 2 6 0 0 0127 0 112 48 A ee PMB21B 3403 1 5 13 3 1 46 12 9 0 62 5 5 0 44 3 9 9 000 13 200 25 6 09 0 023 0 204 55 PMB22B PC34039 2 57 22 7 2 53 22 4 1 11 9 8 0 91 8 1 5 750 7 700 2 6 6 0
24. DIP switches jumpers or components to alter during servo loop set up Serial communications using RS 232 485 Parameters can be saved in non volatile memory on either the SC SCE900 or the OC OCE930 Automatic drive set up using 930 Dialogue Automatic analog command offset using 930 Dialogue Simple uploading downloading and disk storage of drive parameters for ease of cloning and backup documentation Precise readout of motor velocity position and other variables using the serial link and 930 Dialogue Serial Communications The OC930 Serial Communications Option Card communicates over a 9600 baud serial link to a host IBM compatible PC The OC OCE930 supports communications using either RS 232 or RS 485 protocols All Digital Set up With all digital set up you re not spending a lot of your precious time staring at a scope while tweaking pots in most cases you ll only need a PC to set up tune and get running Drift is eliminated automatically WWW pacsci com SC SCE 900 SERIES OPTION CARDS OC OCE 930 940 950 930 Dialogue Software 930 Dialogue is a simple to use software package that establishes communications between your PC and the OC OCE930 during set up and operation Intuitive screens in a Windows environment make it easy to set up initiate auto tuning change and monitor operations Personality Module Use You can leave the OC OCE930 plugged into the SC SCE900 drive after set u
25. Joules Output Current Ripple Frequency fs 20 kHz 20 kHz 20 kHz 16 kHz Minimum Motor Inductance 1 1 240V ac 5 7 mH 2 8 mH 1 9mH 1 6 mH Maximum Motor Power Cable length 50m 164 ft 50m 164 ft 50m 164 ft 50m 164 ft 20 www pacsci com PC3400 SERIES TECHNICAL OVERVIEW Command Types PC3403A PC3406A PC3410A PC3420A PC3402D PC3405D Internal Multiple stored programs Digital RS 232 485 Interface Analog 10V analog current or velocity Step Step direction step up down or encoder following single ended or differential PC3403A PC3406A PC3410A PC3420A PC3402D PC3405D Switching Frequency 10 kHz Servo Loop Current 100 usec Velocity 400 usec Position 2msec Communication Loop PC3403A PC3406A PC3410A PC3420A PC3402D PC3405D Serial RS 232 RS 485 for digital commands setup and diagnostics 19 2 kBaud Feedback Types PC3403A PC3406A PC3410A PC3420A PC3402D PC3405D Resolver Hall or tachometer only Hall or tachometer only Encoder with Hall 20 MHz post quadrature Encoder with z channel encoded commutation tracks 20 MHz post quadrature Primary motor feedback resolver or encoder Secondary feedback encoder Primary motor feedback resolver or encoder Secondary feedback encoder Secondary feedback encoder Primary motor feedback encoder Analog 2 PC3403A PC3406A PC3410A PC3420A PC3402D PC3405D Programmable 10V differential 14 bits 20kQ Digital 5
26. Modbus or DF1 Each drive equipped with an OC OCE950 program mable option card can communicate with its own discrete I O This distributed B a i control scheme can support up to 255 5 Discrete I O Discrete I O Discrete separate drive nodes on the 2 5 Mbaud aS 7 PacLAN network j Resolver ult FT Feedback FTT Resolver Motor Resolver Motor e Feedback Power Feedback Power Jp LY Motor e A s Power Jo m K d www pacsci com 29 HOW TO BUILD A SERVO DRIVE MOTOR SYSTEM Torque Nm Tpr PEAK RATED TORQUE PEAK STALL TORQUE T ps CONT STALL TORQUE Ts CONT RATED TORQUE SYSTEM VOLTAGE LINE gt Speed rpm Wat RATED SPEED NO LOAD continuous duty intermittent duty System torque speed information on the following pages are designed to help you select the optimum brushless servo motor controller combination The nominal values in this data illustrate performance for the recommended motor controller systems DRIVE amp MOTOR PERFORMANCE CURVES The performance characteristics of a brushless servo system motor controller combination are described by a torque speed operating envelope As shown above the shaded areas of the curve indicate the continuous duty and intermittent duty zones of the system Continuous Duty Zone The continuous duty zone is bordered by the maximum continuous t
27. OCIO3 5 ocio4 6 1 0 RTN T OCIO5 8 OCIO6 9 o OCIO7 ocios ociog a VO RTN 5 OCIO10 OCIO11 5 OCIO12 OCIO13 8 OCIO14 OCIO15 a OCIO16 OCIO17 OCIO18 ocio19 OCIO20 45V dc z LAN 3 LAN 8 a FROM OTHER ELECTRONICS PE 1 e CONTROL EQ INPUT VOLTAGE JA Fa PEZ s L3 lo MOTOR 9 INPUT ol VOLTAGE lt 5 BUS J5 4 REGEN R B INT REGEN R 2 BUS Ella PE CHASSIS GROUND ISTUD FROM OTHER Ji ELECTRONICS 5 cc 1 ui 4 3 1 i 240V ac T 2 240 120V ac 21015078 Q 47 63 Hz 1 4 240 120V ac SC9x2 3 4 SC9x5 J5 Bus 4 BUS EXT 2 L seus 3 INT REGEN R g p ui REGENR 2 INT EXT REGEN R 1 BUS 27 mn e rm m rm N SC SCE900 DIGITAL DRIVES Multi Axis Application Examples Multi Axis Servo Motion Control Card Quadrature Encoder Signals 10V Analog Command 10V Analog Command 10V Command 10V analog iron T i nte rfa ce E Signals Signals velocity or torque 50900 50900 control bl E Resolver Lt Resolver Motor Resolver Motor Feedback Power Feedback Direction Command step direction digital interface velocity or position control Resolver Feedback host computer digital interface velocity torque or position control Resolver Resolver Feedback 28 Feedback 1 Motor We
28. PACIFIC SCIENTIFIC ENCODER OUTPUT CHANNEL A db 6 REGEN EXTERNAL BRUSHLESS MOTOR lt 2 ENCODER OUTPUT CHANNEL A 5 REGEN r E ENCODER OUTPUT CHANNEL 17 GND lt ENCODER OUTPUT CHANNEL B 1810 4 ENCODER OUTPUT CHANNEL 2 19 co 3 PHASE U ENCODER OUTPUT CHANNEL Z 20 Q ou lt NO CONNECT i OUTPUT 2 mb 5 2 PHASE V NO CONNECT i OUTPUT 22 Sali PHASE W lt RELAY OUTPUT OK BRAKE 23 2 lt RELAY OUTPUT OK BRAKE 24 J3 sz Q OUTPUTS 7 J2 2 0 3 S4 A OUTPUTS 4 sue OUTPUT4 3 om OUTPUTS a 3 4 S S3 B INPUT 8 E S y R1EXCITIZ INPUT 9 oz gt 6 2 i B2 EXCIT RTN Z RESOLVER ENCODER 1 J5 TO HOST TXD 2 8 NO CONNECT HALL 1 SET UP RXD 3 NO CONNECT HALL 2 OR CONTROL 4 NO CONNECT HALL 3 COMMON COMPUTER gt lt 5 10 3 6 wy xu 5 VDC RTN 4 9 5 VDC 8 m2 gt G 13 sy ETC ero ul PTC RTN 14 Pinout for AC input drives shown for reference Contact Pacific Scientific for DC model connections www pacsci com PC3400 SERIES DIGITAL DRIVES DIMENSIONS PC3400 SERIES SERVO DRIVES dimensions mm in PC3402D PC3405D 15 2 Dia 15 5 0 2 Dia 0 6 3 Dia i 9 0 3 Dia 129 5 1 CERNI 3 2 8 WWW pacsci com Connection Diagram PC3400 SERIES DIGITAL DRIVES
29. PMA54Q 5 9 4 25 9 229 25 8 228 13 5 120 11 4 101 2 400 3 150 74 150 2 49 22 0 16 0 PMA54R SCE9K5 26 0 230 25 8 228 13 5 150 10 0 88 5 3 750 4 800 10 6 22 5 2 49 22 0 74 PMA55Q SCE9x4 32 6 289 32 5 288 17 0 151 14 8 131 1 900 2 500 74 15 0 3 06 27 1 20 0 PMA55R SCE9xX5 32 8 290 32 6 289 17 0 151 13 7 121 3 000 3 800 10 6 22 5 3 06 27 1 88 PMA57R SCE9xX5 45 9 406 45 7 404 22 0 195 19 0 168 2 100 2 700 9 8 22 5 4 21 37 3 125 PMA65R SCE9xX5 55 9 495 55 7 493 30 0 266 25 0 221 1 600 2 250 ls 22 5 7 9 70 0 20 0 PMA65S SCE9K6 46 1 408 45 6 404 30 0 266 19 0 169 3 300 4 200 20 9 33 7 7 9 70 0 5 9 PMAG6R SCE9xX5 67 1 594 66 9 592 36 0 319 31 4 278 1 350 1 850 109 22 5 9 4 83 3 24 0 PMA66S SCE9xX6 55 8 494 55 4 490 36 0 319 22 3 197 2 750 3 500 20 7 33 7 9 4 83 0 70 PMA67S SCE9xX6 65 1 576 64 7 573 42 0 372 32 8 283 2 350 2 950 20 7 33 7 10 9 96 5 8 2 PMA69S 5 9 6 84 1 744 83 7 741 54 0 478 43 8 388 1 800 2 300 20 6 33 7 13 9 123 10 4 S Series motors with SCE9xx Drives S33A SCE9x3 11 1 98 4 11 0 97 4 5 3 47 0 3 9 34 5 3 300 3 900 3 5 15 0 48 4 28 17 0 S34A SCE9x3 12 4 110 12 3 109 6 4 56 5 4 3 37 9 3 000 3 500 3 8 7 5 0 64 5 68 14 7 D See page 30 for definitions of ratings Includes resolver feedback inertia Peak torque ratings are for 5 seconds O Each system requires one feedback and one motor power cable Rated speed is provided fo
30. drives and their available options refer to the Model Number Codes on pages 4 10 14 and 24 to verify coded information prior to ordering e If you are not familiar with these drives and their available options refer to the index at the right Note that each drive family is covered individually and the technical data applies to all drives Construct a model number after all the technical parameters including options are determined Our sizing and selection program Optimizer 3 0 can be helpful in determining the correct motor for your application Input the parameters for your specific application and specify your drive voltage current and output type and Optimizer will find the motors that fit the bill Ask for your copy today Product Overview Inside front cover Features Benefits 1 How to Use This Selection Guide 2 Index 2 System Selection Overview PC3400 Digital Brushless Servo Drives Model Number Codes 4 Product Description 5 Dimensions 6 9 PC800 Digital Brushless Servo Drives Model Number Codes 10 Product Description 11 Dimensions 12 13 SC SCE900 Digital Brushless Servo Drives Model Number Codes 14 Product Descriptions 15 Dimensions 16 17 Drives Specifications 240V ac 320V de bus Drives Power Data 18 19 400V ac 560V de bus and 480V ac 640V de bus Drives Power Data 20 Technical Parameters 21 23 OC OCE900 Series Plug In Option Cards Model Number Codes 24 Overview Technica
31. feedback only Inertia 18 74V dc figures include encoder feedback Peak torque ratings are for 1 second Each system requires one feedback and one motor power cable RECOMMENDED MOTOR DRIVE SYSTEMS 240V ac 320V dc bus Peak Peak Cont Cont Inertia Stall Rated Stall Rated Rated No Load Cont Stall Current at J Inductance Servo Servo Torque Torque Torque Torque Speed Speed Current Peak Torque kgm x 102 Line Line Motor Drive Tas T Tos Uu Wi Lo los Ib in S L Model Model Nm Ib in Nm Ib in Nm Ib in Nm Ib in rpm rpm Acus Acus x 10 mH PMA Series motors with PC8xx and SC9xx Drives PMAT1A 8 2 SC9x2 SCE9x2 1 4 12 4 14 12 4 0 26 2 3 0 22 1 9 6 600 12 900 0 96 53 0 012 0 102 74 PMA12A 8 2 SC9x2 SCE9x2 1 7 14 8 1 7 14 7 0 6 5 3 0 47 4 2 8 500 10 800 1 88 5 3 0 019 0 164 43 PMA13B PC8x2 SC9x2 SCE9x2 1 7 15 3 17 15 2 0 9 8 0 0 6 5 3 9 000 10 600 2 73 5 3 0 026 0 226 27 PMA21B PC8x2 SC9x2 SCE9x2 1 8 16 3 1 8 16 2 0 63 5 6 0 50 4 4 6 050 9 250 1 72 5 3 0 022 0 19 10 5 PMA22B PC8x3 5 9 32 4 7 42 0 4 7 41 9 1 3 11 5 1 1 9 4 4 650 7 100 2 65 10 6 0 038 0 34 7 4 PMA22B PC8x2 SC9x2 SCE9x2 2 6 22 7 2 5 22 5 1 3 11 5 1 0 8 9 5 750 7 100 2 65 5 3 0 038 0 34 7 4 PMA23B 8 2 5 9 2 5 9 22 3 9 34 2 3 9 34 1 2 0 17
32. no instruments required IGBT Power stage more efficient less audible noise When combined with Pacific Scientific s brushless servo motors the SC SCE900 Series drives provide continuous torques ranging from 0 21 to 48 5 Nm and peak torques from 1 4 to 103 Nm Standard motor power and resolver feedback cables are available to complete your motion control system and provide reliable trouble free startup and operation Typical Applications Packaging machinery Electronic assembly equipment www pacsci com SC SCE900 SERIES DIGITAL DRIVES Material handling Robotics X Y tables and slides Specialty machinery Multi axis systems Semiconductor wafer processing equipment Product Description The Pacific Scientific SC SCE900 Series is a family of advanced digital servo drives These drives utilize a single DSP to close the current velocity and position loops All System and application parameters are set in Software to insure repeatability and eliminate drift The SC SCE900 Series is available in several power levels all with integral power supplies and shunt regulators The base SC SCE900 unit includes several command interface features A standard 10V analog interface is available to command motor torque or velocity Two standard stepper interfaces step direction and Step Up Step Down are also available to command motor position or velocity The drive can also be used in electronic g
33. our Customer Response Center at 815 226 3100 or visit our website at www pacsci com www pacsci com FEATURES PC800 SC SCE900 Drives Patented Digital Resolver to Digital Converter DRDC 24 bit resolution Signature Current Control Matches drive commutation to motor Back EMF Fully Digital System No manual adjustments Advanced anti resonance filters Resolver Feedback Simple rugged magnetic structure PC3400 Drives DC and AC powered units available ToolPAC software can be used to program PD2400 intelligent stepper drives as well Optional extended I O card adds more optically isolated I O to an already generous complement PC800 Drives Command interfaces include preset index moves by a standard built in profile generator Optically isolated PLC like Digital oscilloscope within PC830 Tools software utility SERCOS connectivity available with new SERCON816 ASIC SC SCE900 Drives Programmable single axis controller Electronic Cams 21 Bi directional I O Local Area Network A B DF1 Interface Modbus Interface Opto22 Interface SERCOS Option Card Distributed noise immune architecture PC connectivity DLLs for Win95 98 amp WinNT DDE server for WinNT SCE900 CE compliant drives 180 528V ac Input Voltage E i i BENEFITS Delivers ultra smooth operation at low speeds Provides low torque ripple at all speeds Confi
34. output mn e m mn m rm Protection Diagnostics Seven segment status display lt In rush current limiting Control Power Fuse Output short circuit protection Overtemperature protection motor and drive IT protection Under voltage protection Excessive regeneration protection Agency Approval UL recognized 508C Type R file 4E137798 Meets CSA Standard C22 2 142 1987 lt Meets IEC Vibration Standard 68 2 6 SCE900 Models CE Compliant 15 50900 SERIES DIGITAL DRIVES SC900 SERIES OPTIONS mm in OCE900 BLANK PANEL 0CE930 OPTION CARD NOTE All ue cards share same dimensions NOTE All option cards share same dimensions 32 4 1 28 L 126 5 4 98 Y SCREW FASTENER 142 7 5 62 Bl i XXE U 2 134 6 5 30 27 0 1 062 i V TERMINAL BLOCK ADAPTER DUAL 13 POS TERM BLOCK 22 9 0 90 AN E 74 9 2 95 ANO seme SCREWJACKS E 92 2 3 63 FAN OPTION 25 POS D SUB FEMALE 16 WWW pacsci com SC SCE900 SERIES DIGITAL DRIVES SC902 903 and 904 SCE902 903 904 and 905 mm CN DIMENSIONS LEGEND mm in
35. 04 05 or 06 Cable assemblies for PC3400 drives and or PMB motors only available in 10 25 or 50 ft lengths FEEDBACK CABLE PC800 AND PC3400 PFC 01 Cable Designator PacSci Feedback Cable Motor Connection 00 No Connector 01 Interconnectron Resolver Only 02 Interconnectron Commcoder 03 MS Connector Resolver Only 04 MS Connector with Hall Encoder R amp S Series Motors Cable assemblies for PC3400 drives and or PMB motors only available in 10 25 or 50 ft lengths 36 LLL Cable Length Specify Cable Length in Whole Foot Increments from 1 150 feet Drive Connection 00 No Drive Connector 01 Spade Lugs for PC800 02 Spade Lugs and 15 pin DB Connector for Feedback 03 Molex Crimp Connector for PC3400D9 04 Pluggable Screw Terminal for PC3403 06A9 05 Pluggable Screw Terminal for PC3410 20A9 Cable Type 01 Standard 4 Conductor up to 10Arms 02 Standard 6 Conductor up to 10Arms 03 Flexible 4 Conductor up to 10 04 Flexible 6 Conductor up to 10 05 Combined Power Feedback Cable 06 Standard 4 Conductor up to 5Arms 07 Standard 4 Conductor up to 20Arms 01 01 LLL Cable Length Specify Cable Length in Whole Foot Increments from 1 150 Feet Drive Connection 05 AMP Connector PMB Motors Only 00 No Drive Connector
36. 1 29 2 258 16 0 142 13 1 116 3 500 4 300 20 0 40 0 3 06 27 1 22 PMA57R 3410 41 4 367 41 3 366 22 0 195 20 5 181 1 200 1 550 9 8 20 0 4 21 37 3 125 PMA57S 34209 41 6 369 41 4 366 22 0 195 18 3 162 2 500 3 050 19 5 40 0 421 37 3 34 MA65S PC3420 53 9 477 53 7 475 28 7 254 24 5 217 1 800 2 400 20 0 40 0 7 9 70 0 59 PMA66S PC34209 65 3 578 65 1 576 34 8 308 31 0 274 1 450 2 000 20 0 40 0 9 4 83 3 70 PMA67S 3420 16 2 675 76 0 673 40 6 359 37 0 328 1 250 1 700 20 0 40 0 10 9 96 5 8 2 PMA69S 420 98 5 872 98 3 870 52 4 464 48 5 429 950 1 300 20 0 40 0 13 9 123 10 4 PMB Series motors with PC8xx and SC9xx Drives PMB13B PC8x2 SC9x2 SCE9x2 1 32 11 7 1 28 11 3 0 55 4 9 0 37 3 27 11 500 13 300 2 2 5 3 0 0127 0 112 48 OI ae A A a A A 218 PC8x2 5 9 2 5 9 22 1 32 11 7 1 28 11 3 0 62 5 5 0 42 3 7 9 500 13 200 2 5 53 0 023 0 204 55 PMB22B 8 2 5 9 2 5 9 22 2 26 20 0 2 23 19 7 1 11 9 8 0 9 8 0 6 000 7 700 2 6 5 3 0 044 0 388 6 7 238 PC8x2 SC9x2 SCE9x2 3 18 28 1 3 15 27 9 1 53 13 5 1 33 11 8 4 100 5 500 2 6 5 3 0 065 0 574 8 4 PMB23C PC8x3 SC9x32 4 56 40 4 4 51 39 9 1 53 13 5 1 22 10 8 5 600 7 400 3 4 10 2 0 065 0 574 43 PMB31B PC8x2 SC9x2 SCE9x22 4 1 36 3 4 0 35 4 2 03 18 0 1 94 17 2 3 100 4 300 2 64 53 0 137 1 21 16 0 PMB31D PC8x42 6 05 53 5 6 0 53 1 2 03 18 0 1 61 14 2 5 700 8 400 5 1 15 3 0
37. 10mm 39 R 0780 FASTEN TAB 13 51 PC830 SERIES PC840 SERIES 33 R130 Lk ee Terminal Block Adaptor mm in 0 DDOODOODO 588 5455566558 16 9 2x22 PIN CONNECTOR WECO P N 934 22 2x8 PIN CONNECTOR WECO P N 934 08 s Sh ith lectrical i 101 inf ion 12 Shown without electrical connection cable see page 10 for more information www pacsci com PC800 SERIES DIGITAL DRIVES PC800 SERIES a 5 H Fan Kit Option mm in o o H 9 437 MOUNTING FOR M4 OR 8 32 TYP 2 PL 7 9 31 2 00 56 3 2 22 9 gt Connection Diagram 5 wn m 29 m ANALOG CMD 1 CHASSIS N ANALOG CMA 2 GROUND POINT VO RTN 3 4 VAC ELECTRONICS SYSTEM ANALOG OUTPUT1 DACMONITOR1 4 TB1 r STATUS ANALOG OUTPUT DACMONITOR2 5 2 L2 CTAL vac MONITORING ANALOG CURRENT LIMIT 6 SCIO RIN 7 4 zm ENCODER OUTPUT CHANNEL A a L1 4 Et 240 vac lt ENCODER OUTPUT CHANNEL 9 o 24 120 VAG 240 120
38. 137 1 21 42 D See page 30 for definitions of ratings Peak torque ratings are for 5 second Includes resolver feedback inertia Peak torque ratings are for 5 seconds Rated speed is provided for operation on 240V ac 3 phase line Each system requires one feedback and one motor power cable Reduce to approximately 85 for 240V ac 1 phase line operation O Characteristics shown with drive default parameters limited to 2 5x the motor s continuous rating Higher peak system performance available Contact the factory Peak torque ratings are for 2 seconds and to 40 for 120V ac 1 phase line operation Peak torque ratings are for 1 second 32 WWW pacsci com SYSTEMS PERFORMANCE DATA Torque Nm PEAK STALL TORQUE Tps CONT STALL TORQUE Tes continuous duty intermittent duty Tor PEAK RATED TORQUE CONT RATED TORQUE Tas SYSTEM VOLTAGE LINE gt Speed rpm Wa RATED SPEED NO LOAD RECOMMENDED MOTOR DRIVE SYSTEMS 240V ac 320V dc bus continued Peak Peak Cont Cont Inertia Stall Rated Stall Rated Rated No Load Cont Stall Current at J Inductance Servo Servo Torque Torque Torque Torque Speed Speed Current Peak Torque kgm x 10 Line Line Motor Drive 55 Tes w Wa MES Ib in S L Model Model Nm Ib in Nm Ib in Nm Ib in Nm Ib in rpm rpm
39. 2 5 5 Peak Output Current 1266 20Aams 40 Anus 10Arus Seconds at Peak Current 2 1 0 5 1 1 Power Input 90 253V ac 47 63 Hz 1 or 3 Phase Yes Yes Yes n a n a Continuous 253V ac 3 Phase 2 0 kW 3 4 kW 6 8 kW n a n a 1 Phase 1 0 kW 1 7 KW 3 4 kW n a n a Peak O 253V ac 3 Phase 4 0 kW 6 8 kW 13 6 KW n a n a 20 74V dc n a n a n a Yes Yes Watt cont 74V dc n a n a n a 214 427 Watt peak 74V dc n a n a n a 427 854 Power Stage Efficiency PCONT 98 98 98 98 98 Maximum External Regen Duty Cycle 1 6 5 5 1 6 1 6 Peak Regen 5 7 kW 7 4 kW 14 8 kW 230W 280W Minimum Motor Inductance 1mH 1mH 1 mH 1 mH 0 1 mH 0 1 mH Output Current Ripple Frequency 20 kHz 20 kHz 20 kHz 20 kHz 80 kHz 80 kHz Maximum Cable Length 50m 164 ft 50m 164 ft 50m 164 ft 50m 164 ft 50m 164 ft 50m 164 ft Control power to maintain logic while main power is removed not required for normal operation AC powered drives 22 52V dc 500V isolation from chassis 1 amp drive electrically hot control wired to bus DO NOT share DC powered drives 18 48V dc NON ISOLATED 1 amp drive www pacsci com PC800 SC SCE900 SERIES POWER DATA PC8x3 PC8x4 SC SCE9x2 SC9x3 SC9x4 SC9x5 Input Voltage Control logic power 90 264V ac 47 63 Hz single phase Bus power 90 264V ac 1 or 3 phase except SC905
40. 4 65 7 3 8 33 5 3 1 27 4 4 500 5 450 6 0 12 0 0 36 3 2 47 PMA42Q 3410 9 9 88 1 9 9 87 5 4 1 36 3 3 2 28 3 4 150 5 450 6 5 16 29 0 36 3 2 47 PMA43N 3403 9 8 87 0 9 8 86 6 4 9 43 4 4 8 42 5 1 600 2 050 3 0 6 0 0 52 4 6 20 0 PMA43P PC34069 14 9 132 14 9 131 6 1 54 0 5 6 49 6 1 800 2 600 46 11 59 0 52 4 6 13 0 PMM3R 3410 11 9 106 11 8 105 6 0 53 5 4 5 39 6 4 750 5 650 10 0 20 0 0 52 4 6 27 PMA44N 403 13 6 120 13 5 120 6 8 60 5 6 7 59 3 1 100 1 550 3 0 6 0 0 68 6 0 27 0 PMAMP PC3406 17 9 159 17 9 158 8 2 72 6 7 5 65 9 1 650 2 250 5 4 120 0 68 6 0 124 PMA44R PC3410 16 1 142 15 9 141 8 1 71 8 6 7 59 1 3 500 4 200 10 0 20 0 0 68 6 0 3 6 PMA45N 403 16 9 150 16 9 149 8 5 75 2 8 4 74 8 850 1 200 3 0 6 0 0 84 7 4 33 0 PMA45N PC3406 25 0 221 25 0 221 10 2 90 3 9 9 87 5 650 1 200 3 6 9 09 0 84 7 4 33 0 PMMBR 3410 20 2 179 20 0 178 10 2 90 3 8 9 78 6 2 750 3 300 10 0 20 0 0 84 7 3 44 AAA a L U PMA53Q PC34069 17 1 151 17 0 150 9 2 81 4 9 1 80 5 1 650 2 250 6 0 12 0 1 92 17 0 150 PMA53R 3410 19 6 173 19 5 172 10 5 92 9 8 6 76 5 2 400 3 200 97 20 0 1 92 17 0 72 PMA54R 3410 23 5 208 23 4 207 12 7 113 11 6 103 2 100 2 700 10 0 20 0 2 49 22 0 74 PMA55R 3410 29 6 262 29 5 261 16 0 142 15 2 135 1 700 2 150 10 0 20 0 3 06 27 1 8 8 PMA55S 420 29 4 26
41. 40 5 1 400 1 800 2 65 53 0 48 4 28 25 2 S33H SC9x32 9 7 86 2 9 7 85 6 5 0 44 6 3 7 32 6 3 200 3 600 52 10 6 0 48 4 28 6 3 S34A PC8x32 17 5 155 17 4 154 6 0 53 5 5 1 45 5 1 500 2 000 3 6 10 6 0 64 5 68 147 5346 PC8x2 SC9x2 SCE9x22 11 0 97 3 10 9 96 8 5 6 50 0 4 9 43 7 1 300 1 600 2 65 5 3 0 64 5 68 23 7 S34H PC8x42 22 0 195 21 9 194 6 6 58 4 4 3 38 1 2 400 3 100 6 1 21 2 0 64 5 68 5 9 S34H SC9x32 11 0 97 3 10 9 96 5 5 7 50 4 4 0 35 4 2 700 3 100 52 10 6 0 64 5 68 59 S Series motors with PC34xx Drives 521 PC34039 0 93 8 2 0 91 8 1 49 4 3 0 32 2 8 12 500 12 500 3 0 6 0 0 042 0 38 37 See page 30 for definitions of ratings Peak torque ratings are for 5 seconds Peak torque ratings are for 2 seconds Peak torque ratings are for 1 second www pacsci com Peak torque ratings are for 5 second O Rated speed is provided for operation on 240V ac 3 phase line Reduce to approximately 8596 for 240V ac 1 phase line operation and to 40 for 120V ac 1 phase line operation Includes resolver feedback inertia Each system requires one feedback and one motor power cable O Characteristics shown with drive default parameters limited to 2 5x the motor s continuous rating Higher peak system performance available Contact the factory 33 eo m 77 gt gt Torque Nm SYSTEMS PERFORMANCE PEAK STALL TORQUE Tps PEAK RATED TORQUE CONT ST
42. 5S 509052 56 8 503 56 6 501 30 0 266 24 5 217 1 750 2 400 20 9 42 4 7 9 70 0 5 9 PMA66S 560052 68 9 609 68 6 607 36 0 319 31 0 274 1 450 2 000 20 7 42 4 9 4 83 3 7 0 PMA67S 509052 80 3 711 80 1 709 42 0 372 37 0 328 1 250 1 700 20 7 42 4 10 9 96 5 8 2 PMAGOS 50005 104 919 104 917 54 0 478 48 5 429 950 1 300 20 6 42 4 13 9 123 10 4 PMA Series motors with PC34xxA Drives PMAI1A 4032 0 64 5 7 0 64 5 7 0 26 2 3 0 18 1 6 10 000 12 900 0 96 2 49 0 012 0 102 74 PMA12A 3403 1 5 13 3 1 5 13 3 0 6 5 3 0 47 4 2 8 750 10 800 1 88 479 0 019 0 164 43 PMA13B 3403 1 9 17 3 1 9 17 2 0 9 8 0 0 6 5 4 8 800 10 600 2 73 6 0 0 026 0 226 27 PMA21B 403 1 5 13 5 1 5 13 5 0 63 5 6 0 47 42 6 800 9 250 172 439 0 022 0 19 10 5 PMA22B 3403 2 9 25 5 2 9 25 3 1 3 11 5 1 0 9 0 5 600 7 100 2 65 6 0 0 038 0 34 74 PMA23B PC34039 4 3 38 5 4 3 38 3 2 0 17 7 1 7 14 7 3 550 4 700 27 6 0 0 055 0 49 6 8 PMA23C 3403 33 604 3 5 30 6 1 8 15 6 1 5 13 6 4 900 5 850 30 6 0 0 055 0 49 10 6 PMA23D PC3406 47 412 4 1 2 0 17 7 13 11 7 7 200 8 750 5 0 12 0 0 055 0 49 3 0 3403 47 412 4 6 41 1 2 4 20 9 2 1 18 8 3 600 4 350 3 0 6 0 0 072 0 64 8 9 PMA24D 406 5 8 51 6 5 7 51 0 2 6 23 0 1 8 16 1 5 800 6 950 53 12 0 0 072 0 64 3 5 PMA42M PC34039 8 6 76 5 8 6 76 3 4 1 36 3 3 9 34 6 1 500 2 350 28 6 0 0 36 3 2 26 0 PMA42Q 3406 7 5 66 3 7
43. ALL TORQUE Ts CONT RATED TORQUE DATA SYSTEM VOLTAGE LINE continuous duty intermittent duty Speed rpm R Wa RATED SPEED NO LOAD RECOMMENDED MOTOR DRIVE SYSTEMS 240V ac 320V dc bus continued Peak Peak Cont Cont Inertia Stall Rated Stall Rated Rated No Load Cont Stall Current at J Inductance Servo Sae Torque Torque Torque Torque Speed Speed Current Peak Torque kgm x 10 Line Line Motor Drive Us Us Ws Wa Wy les los Ib in S L Model Model Nm Ib in Nm Ib in Nm Ib in Nm Ib in rpm rpm Acus Acus x 10 mH S22H PC34039 1 8 16 4 1 8 16 2 1 0 8 8 0 62 5 5 8 500 10 400 29 6 0 0 064 0 56 57 S24G PC34039 3 9 34 9 3 9 34 8 1 6 14 4 1 4 12 7 3 750 4 900 2 6 6 0 0 100 0 89 9 3 S24H 3406 3 9 34 9 3 9 34 4 1 6 14 4 0 55 4 9 8 000 9 800 12 0 0 100 0 89 2 2 S31H PC34039 3 8 33 6 3 7 32 8 2 0 17 7 1 5 13 3 4 300 5 200 3 0 6 0 0 18 1 58 10 3 S326 PC34039 7 5 66 0 7 4 65 7 3 9 34 3 3 1 27 4 2 050 2 600 3 0 6 0 0 34 2 98 18 S32H PC34069 7 5 66 0 7 4 65 2 3 9 34 8 2 3 20 3 4 600 5 300 6 0 12 0 0 34 2 98 45 S33A PC34039 8 9 78 9 8 9 78 5 4 5 40 2 6 40 5 1 800 2 200 3 0 6 0 0 48 4 28 17 5330 PC34109 12 9 114 12 8 113 5 3 46 9 6 31 7 3 700 4 400 7 0 17 5 0 48 4 28 44 33G PC34039 11 0 97 4 11 0 97 1 53 47 1 6 41 1 1 300 1 800 277 6 0 0 48 4 28 25 2 S33H PC3406 11 0 97 4 10 9 96 8
44. HIGH PERFORMANCE SERVO DRIVES A t mE LE PC800 Series Drives CE Compliant 90 264V ac Input Voltage 5 3 10 6 21 2 Arms Peak 2 7 3 6 7 1 Arms Continuous Up to 3 000 Watts Continuous Shaft Power E PC3400 Series Drives CE ccompliant AC and DC Models 5 40 Arms Peak 2 5 20 Arms Continuous Up to 7 600 Watts Continuous Shaft Power B SC900 Series Drives 90 264V ac Input Voltage 53 4244 Peak 2 7 21 2 Arms Continuous Up to 6 750 Watts Continuous Shaft Power B SCE900 Series Drives CE Compliant 180 528V ac Input Voltage e 5 3 33 7 Apms Peak 2 7 22 5 Continuous Up to 15 000 Watts Continuous Shaft Power October 2001 SCIENTIFIC DEFI MOTION Introducing the PC3400 Family of Drives The PC3400 Series brushless servo drives are the intelligent easy to use cost effective servos from the leaders in service and support With both AC and DC powered models covering five output power levels these compact drives bring sophisticated and powerful motion control in a compact package ToolPAC the Windows based development software utility uses intuitive commands to point and click your way to a successful motion program ToolPAC also works to program the PD2400 intelligent stepper drives yielding more flexibility for solving your motion challenges PACIFIC SCIENTIFIC BRUSHLESS SERVO DRIVE FAMILY The PC800 Fa
45. RQUE CONT STALL TORQUE CONT RATED TORQUE DATA continuous duty SYSTEM VOLTAGE LINE intermittent duty gt Speed rpm Wr pm RATED SPEED NO LOAD RECOM MENDED MOTOR DRIVE SYSTEMS 48V dc bus Peak Peak Cont Cont Inertia Stall Rated Stall Rated Rated No Load Cont Stall Current at J Inductance Servo Servo Torque Torque Torque Torque Speed Speed Current Peak Torque kgm x 10 Line Line Motor Drive S Aes w Wa los ls Ib in S L Model Model Nm Ib in Nm Ib in Nm Ib in Nm Ib in rpm rpm Acus AT x 10 mH PMB Series motors with PC340XD Drives PMB11B PC3402 0 48 4 3 0 48 4 3 0 22 1 95 0 22 1 95 700 5 200 23 5 0 0 0048 0 042 3 2 PMB11D PC3405 0 48 4 3 0 47 4 2 0 22 1 95 0 20 1 77 5 800 10 400 4 6 10 0 0 0048 0 042 0 8 PMB12B PC3402 0 83 7 3 0 83 7 3 0 40 3 5 0 40 3 5 600 3 000 24 5 0 0 0087 0 077 3 5 PMB12D PC3405 0 87 7 7 0 86 7 6 0 40 3 5 0 38 3 4 3 300 5 700 46 10 0 0 0087 0 077 10 PMB13D PC3405 1 18 10 4 1 18 10 4 0 55 4 9 0 50 4 4 2 450 4 200 4 6 10 0 0 0121 0 107 1 1 PMB21D PC3405 1 35 12 0 1 35 12 0 0 62 5 5 0 61 5 4 1 100 3 650 45 10 0 0 0224 0 198 16 PMB22D PC3405 2 24 19 8 2 24 19 8 1 11 9 8 1 10 9 7 700 2 200 49 10 0 0 0432 0 382 19 D See page 30 for definitions of ratings 48V dc figures shown for reference Operation available from DC drives offer operation with encoder
46. SCE9x3 8 2 72 6 8 1 71 7 4 1 36 3 3 2 28 3 4 300 5 450 3 7 75 0 36 3 2 143 PMA42P SCE9x4 12 4 110 12 3 109 4 1 36 3 3 0 26 6 5 100 6 950 4 7 15 0 0 36 3 2 8 9 PMA43N SCE9x3 12 2 108 12 1 107 6 1 54 0 5 3 46 9 2 000 3 600 e 75 0 52 4 6 20 0 PMA43P 5 9 4 18 8 166 18 7 165 6 1 54 0 5 1 45 1 3 300 4 500 46 15 0 0 52 4 6 13 0 PMA43Q 5 9 4 12 5 111 12 4 110 6 1 54 0 4 0 35 4 6 000 7 100 7 2 15 0 0 52 4 6 5 3 PMA44N SCE9x3 16 9 150 16 8 149 8 2 72 6 7 3 64 6 2 100 2 650 3 6 75 0 68 6 0 27 0 PMM4Q SCE9x4 16 9 150 16 7 148 8 2 72 6 4 9 43 4 4 400 5 250 Ue 15 0 0 68 6 0 74 PMA45N SCE9X3 21 0 186 20 9 185 10 2 90 3 9 5 84 0 1 600 2 100 3 6 75 0 84 7 4 33 0 PMA45Q 5 9 4 21 3 189 21 1 187 10 2 90 3 7 9 69 9 3 400 4 150 74 15 0 0 84 7 4 8 7 PMA53Q 5 9 4 20 7 183 20 6 182 10 5 92 9 8 2 72 6 2 900 3 900 6 8 15 0 1 92 17 0 15 0 PMA53R SCE9xX5 21 6 191 21 5 190 10 5 92 9 7 2 63 7 4 200 5 600 97 22 5 1 92 17 0 7 2 PMA54Q SCE9x4 25 9 229 25 8 228 13 5 120 11 4 101 2 400 3 150 74 15 0 2 49 22 0 16 0 PMA54R 5 9 5 26 0 230 25 8 228 13 5 150 10 0 88 5 3 750 4 800 10 6 22 5 2 49 22 0 74 PMA55Q 5 9 4 32 6 289 32 5 288 17 0 151 14 8 131 1 900 2 500 74 15 0 3 06 27 1 20 0 PMA55R SCE9xX5 32 8 290 32 6 289 17 0 151 13 7 121 3 000 3 800 10 6 22 5 3 06 27 1 8 8 PMA57R SCE9xX5 45 9 406 45 7 404 22 0 195 19 0 168 2 100 2 700 9 8
47. a sinusoidal output Pacific Scientific rates its systems using RMS values to accurately reflect system performance operating with a sinusoidal waveform Older published ratings were based on 0 peak values using a trapezoidal waveform Optimizer 3 0 For more information on any motor on the following pages or to take a closer look at detailed torque speed information take a look at our sizing and selection program Optimizer 3 0 With Optimizer s sine trapezoidal conversion algorithm you can see how our motors pair up with a trapezoidal drive too Call Pacific Scientific at 815 226 3100 to get your free copy today or visit our website at www pacsci com Additional References On the pages that follow each individual system has reference points in a table In addition to rating points for peak Tps and continuous torque Tos ratings at stall each system has Rated speed W lt Continuous torque at rated speed Top lt Peak torque at rated speed Tpp Motor unloaded speed Wy To construct a curve follow the guidelines presented in the generic curve above System rated speeds and torques are based on the intersection of the system voltage line and the peak current line Differing peak currents will impact rated System speeds The points are provided for reference for use in comparing and sizing systems www pacsci com SYSTEMS Tenue Nn PERFORMANCE PEAK STALL TORQUE Tps Ter PEAK RATED TO
48. air cooling fan and bracket accessory kit for the SCE9x2 9x3 9x4 9x5 Option suffix OF903 00x 002 is the Standard 240V ac 50 60 Hz model and suffix 001 is a 120V ac 60 Hz model OF904 00x Note The SCE9x6 has an internal fan Manuals SCE900 base drive Hardware reference manual for SCE900 base drives MAE900 0CE930 option card Hardware software reference manuals for the serial communications option card MA930 OCE940 option card Hardware software reference manuals for the SERCOS interface option card MA940 OCE950 option card Hardware software reference manuals for the programmable single axis option card MA950 IDE HOW TO ORDER SCE900 Series Recommended Motor Drive Systems See Recommended Motor Drives Systems table on pages 30 35 for performance information and model numbers for servo motor drive combinations Order motors and drives as separate part numbers OF904 is for SCE9x4 and 9x5 models 24 www pacsci com OC OCE930 Option Cards SC SCE900 Digital Servo Drives gain their application flexibility from three available option cards The OC930 can be used simply as a RS 232 RS 485 serial communications interface to serve as the programming module to set up the SC SCE900 drive for the first time Or it can be left to continually communicate instructions for changeovers or monitor system parameters as needed Features All digital set up of current loop velocity loop and when used position loop no pots
49. al s T Terminal block adapter connector kit manual s SCE903N 001 01 Servo Drive Family Designation Firmware Drive Type Digital Brushless Servo 01 Standard base servo software Drive High Voltage CE Compliant Customization Code Factory assigned Option Card Designator 001 Standard Unit 0 No option card installed NOTE The following customization codes are 3 OCE930 001 00 Serial Port Option Card installed only valid when ordering an SC950 4 OCE940 001 01 SERCOS Interface Option Card installed 501 OCE950 32kx8 NV RAM iei 5 OCE950 50X 01 Programmable Option Card installed 502 OCE950 128kx8 NV RAM without Pac X See Customization Code below 503 OCE950 32kx8 NV RAM with PacLAN 504 OCE950 128kx8 NV RAM with PacLAN 601 OCE950 32kx8 NV RAM without PacLAN P L 12 602 OCE950 128kx8 NV RAM without PacLAN ower 603 OCE950 32kx8 NV RAM with PacLAN 2 5 3A peak 2 7A continuous 25 C 604 OCE950 128kx8 NV RAM with PacLAN 3 7 5A peak 3 8A continuous 25 4 15 0A peak 7 5A continuous 25 5 22 5A peak 11 3A continuous 25 C Fan Kit Option 6 33 8A peak 22 5A continuous 25 les Mo an comesion calada 1 120V ac fan forced air cooled Accessories Option 2 240V ac fan forced air cooled No accessory kit A Basic connector kit manual s T Terminal block adapter connector kit manual s
50. alog or encoder signals Both models feature our proprietary Space Vector Modulation advanced algorithm for motor control RS 232 485 communications allow easy programming using a PC or drop communication during operation for up to 32 drive nodes Tool PAC ToolPAC is the Windows based configuration and development utility The software works with both PC3400 family servo drives and PD2400 Series stepper drives Powerful full motion programming is easy to achieve using point and click commands 1 0 Two analog inputs programmable 10V differential 14 bits 20 kQ Five digital inputs programmable 4 5 26 5V 6 5 kQ source or sink optically isolated Two digital high speed inputs programmable 5V 4990 1 usec response One digital registration input programmable 5V 4990 1 usec response Two digital outputs programmable plus current feedback indicator 26 5V dc maximum supply 30 mA maximum Source or sink optically isolated Drive OK brake output 100V dc maximum supply 1A maximum relay Encoder output A B Z channels In addition each PC3400 drive accepts the I option extended I O card which adds 16 additional inputs and 8 additional outputs Protection Diagnostics Short circuit protection phase to phase phase to common Overvoltage protection Undervoltage protection Overtemperature protection Feedback loss indication Position error indication Overspeed
51. changing or set and forget types of applications It is economical and easy to install For fast changing applications referfuo figures 1 and 2 above and figure 4 on page 29 www pacsci com SC SCE900 DIGITAL DRIVES Multi Axis Application Examples Figure 4 This multi axis application utilizes a SERCOS control and SERCOS compatible drives slaves SERCOS SERCOS riba SErial Realtime COmmunications Optic Ring System provides a distributed multi axis control topology and is a digital interface international standard The DA traditional multi axis control topology is centralized as shown in Figure 1 page 28 The distributed SERCOS topology is analogous to a network of PCs while the traditional centralized AEA MMI keyboard Keypad Touch Screen SERCOS distributed multi axis control velocity torque or position control SC900 w OC940 w OC940 Resolver fl approach is analogous to a mainframe F Feedback Ot i Resolver Motor Resolver histor with dumb terminals Feedback Power Feedback Power LA Motor UN Fee Power ge oni Figure 5 PC or PLC running 9 process control software Modbus or other serial communications protocol This multi axis application uses a control signal sent by a PLC or PC running process control software via a serial communications protocol such as
52. ck survives hostile environments Hall Encoder feedback allows application flexibility Advanced tuning for reduced settling time Quadrature encoder outputs up to 16 384 PPR All connections on front easy access to clearly marked connectors Optional Terminal Block Adapter speeds connections even further Separate logic supply input keeps logic power working when bus power is disconnected www pacsci com Extensive protection circuits and diagnostics to ease set up 400 Hz velocity loop bandwidth Inaudible high frequency Digital PWM sine wave current control IGBT Power stage more efficient less audible noise When combined with Pacific Scientific s brushless servo motors the PC800 Series drives provide continuous torques ranging from 0 21 to 12 4 Nm and peak torques from 1 4 to 33 3 Nm Standard motor power and resolver feedback cables are available to complete your motion control system and provide reliable trouble free start up and operation Typical Applications lt Packaging machinery lt Electronic assembly equipment Semiconductor wafer processing equipment Material handling Robotics X Y tables and slides Specialty machinery Product Description The PC800 Series is the next generation of Pacific Scientific s all digital brushless Servo drives They provide a cost effective high performance alternative to previous generation drives in a package 40 smaller than equivalent older serv
53. der These option cards are designed to plug into any SC SCE900 servo drive See page 24 for more details www pacsci com CONNECTION DIAGRAM OC OCE930 OC OCE940 OC OCE950 Option Cards J31 SHIELD NO RTN RS 7 RS 232TXD B8 RS 232 RXD 45V dc VO RTN RS 485 TXD W RS 485 TXD K RS 485 RXD W 1 RS 485 RXD SERIAL PORT OC OCE930 OPTION CARD OC OCE940 CONNECTION DIAGRAM OUT_PWR 22 OUT PWR 23 SERCOS OUT to MASTER J41 ji SERCOS IN from MASTER J43 oo INPUTO 1 INPUT 1 2 INPUT2 3 INPUT3 4 INPUT4 5 INPUT5 6 INPUT6 7 8 CONNECTION DIAGRAM SC SCE930 ANALOG CMD T1J4 ANALOG CMD 2 SYSTEM 2 DAC MONITOR 1 TRQ CUR 5 STATUS 2 MONITOR 2 VelFB 4 9 MONITORING ST fo 5 9 2 E lt BDIO 1 FAULT RESET 513 1 92 5 BDIO 2 CWINH 82 WA SSBdIO 3 CCWINH 918 S lt BDIO 4 10 SCIENTIFIC LIMIT SWITCH BDIO 5 BRAKE 11 BDIO 6 FAULT lt 12 Sonn SCE900 CH A OUT Ss 14 INCREMENTAL lt cHB our ie 001 01 SHAFT POSITION 2 CHB OUT 17 OUTPUT 310 RTN 5 VDC RTN 18 lt CH Z OUT 19 lt HAINISTEP x STEPUP x 21 INCREMENTAL g
54. ear following mode by using the quadrature encoder input Various option cards are available to increase the functionality of the base drive The option card is required to set the base SC SCE900 parameters but can be removed once set up is complete All option cards have the capability to replace the base drive s personality parameter non volatile storage and provide removable personality parameter storage The option cards also allow SC SCE900 firmware upgrades which eliminate the need to disassemble equipment or the drive when upgrading RS 232 485 Serial Interface OC930 Option Card This card allows the user to program the various SC SCE900 set up parameters using an IBM compatible PC It also allows the SC900 to be connected to any host computer containing RS 232 485 communications capability See page 25 for more details SERCOS Interface OC940 Option Card This card adds SERCOS SErial Real time COmmunications System fiber optic communication capability to the SC SCE900 See pages 25 26 for more details Programmable single axis Position Control OC950 Option Card This card allows the user to program the option card to increase functionality of the base drive See page 26 for more details Digital Resolver To Digital Conversion A patented Digital Resolver to Digital Converter called DRDC provides industry AY SC900 Controllers SCE900 Controllers are UL Recognized are CE Compliant File E137798 leadi
55. ft 250 uV C typical Modes Step Direction Step Up Step Down Quadrature Encoder Maximum input frequency Step Direction Pulse Forward Reverse 800kHz 1 MHz 800kHz Quadrature Encoder 800kHz 833 kHz 800kHz Current Loop PC800 SC900 SCE900 Bandwidth 1500 Hz maximum Update period 62 5 uS AT EE A Bandwidth 400 Hz Update period 250 uS Command resolution 0 001 rpm Feedback accuracy 0 05 worst case Feedback ripple 0 75 p p at 1000 rpm drive only 3 p p at 1000 rpm with 20 arcmin resolver Feedback Resolution 0 014 rpm Range 0 to 21 000 rpm 0 to 30 000 rpm Position Loop gt II E Bandwidth 100 Hz Update period 1 mS Command resolution 65 536 steps rev 16 bits rev Feedback accuracy 5 3 arcmin drive only 25 arcmin with 20 arcmin resolver Feedback Resolution 16 777 216 24 bits rev Encoder Output Signals gt NENNEN ONE E Type Quadrature with marker pulse differential TTL line driver Resolution 128 to 16384 PPR by powers of 2 125 to 16 000 PPR by powers of 2 Maximum output frequency 833 kHz Marker pulse width 1 quadrature pulse nominal Serial Port 277 A E Type RS 232 RS 485 Baud rate 19 200 baud 9600 baud Maximum RS 485 nodes 32 Enable 5V or 24V compatible Optically isolated relay analog 6 bi directional 5V or 24V compatible 2 analog outputs Mating Connectors PC800 Power screw terminal signal screw termina
56. gure drive in seconds via PC utility or option card Tune complicated mechanical systems easily More reliable than encoders DC units more compact for the user who already has a power supply Cross platform motion application flexibility Heightened programming options Enhanced application flexibility Rugged construction minimizes drive damage Set up and tuning greatly simplified Noise immune networking available at Speeds up to 16 kHz Replaces Mechanical Cams Replaces need for mini PLC High speed LAN to PCs Allen Bradley PLC link Modicon PLC link Direct interface to industry accepted I O Reduces wiring costs through fiber optic communications Simplifies communication to PCs Global acceptance eliminates cost for isolation transformer How to use this selection guide The table of contents to the right will help you find more information on each drive family Use the selection overview on page 3 to identify motors available to fit your drive system voltage torque and speed requirements Detailed system combinations with ratings are shown on pages 30 35 Information on the Pacific Scientific motors mentioned on the following pages can be found in the Pacific Scientific publication High Performance Servo Motors A copy of this publication can be obtained by calling Pacific Scientific or you can get one by visiting our website at www pacsci com e f you are already familiar with these
57. ications This option card adds RS 232 485 serial communications to the base SC900 Suffix 00 is 0C930 001 0x standard 01 includes base unit firmware upgrade Includes 3 1 2 floppy disk with PC communications utility SERCOS interface This option card adds SERCOS interface capability to the base SC900 0C940 001 01 Programmable This option card adds programmable functionality to the base SC900 0C950 50X 01 Connector Kits All mating connectors Includes all mating connectors for base unit Screw terminal blocks for power and CA90x w D sub D sub for signal X designates drive power level All mating connectors Includes all mating connectors for base unit Screw terminal blocks for power and CA90x TB w D sub to TB adapter D sub to screw terminal adapter modules for signal Fan Kits Fan kit for SC9x2 3 4 Adds forced air cooling to the SC9x2 SC9x3 SC9x4 Suffix 002 is for 240V ac 50 60 Hz OF902 00x 001 is for 120V ac 60 Hz 0 903 00 0 904 00 Manuals SC900 base drive Hardware reference manual for SC900 base drives MA900 0C930 option card Hardware software reference manuals for the serial communications option card MA930 0C940 option card Hardware software reference manuals for the SERCOS interface option card MA940 0C950 option card Hardware software reference manuals for the programmable single axis option card MA950 HOW TO ORDER SC900 Series Recommended Motor Drive Systems See Recommended Motor Drives Systems table on page 3 for perf
58. indication Current foldback circuit Regen management circuit Agency Approval UL recognized 508C Type file E183999 DC models UL pending cUR CE Compliant S3IYAS OOVEDd PC3400 SERIES DIGITAL DRIVES DIVISIONS PC3400 SERIES SERVO DRIVES dimensions mm in PC3403A PC3406A L L 1 a L A 6 www pacsci com PC3400 SERIES DIGITAL DRIVES Connection Diagram ANALOG CMD 1131 TB1 FROM OTHER ANALOG CMD E 2 1 GND ELECTRONICS GND 3 2 L3240 20VAC 9 INPUT COMMON 4 240 120 ENABLE INPUT B 12 240 120 VAC INPUT 2 6 4 L1240 VAC 47 63 Hz e INPUT 3 CCWINH 7 XA 77 INPUT 4 CWINH 8 PACIFIC m ENCODER INPUT A DIR STEP CW 9 SCIENTIFIC ISOLATED ENCODER INPUT A DIR STEP CW 10 22 52 VDC LN ep ENCODER INPUT B STEP STEP CCW 44 PC3400A 2 RR or SHARE ENCODER INPUT B STEP STEP CCW 45 CTRL INPUT 7 REG i ONLY 13 7 CTRL PC3403 06 10 20 INPUT 7 REG i ONLY 14 47 26 20 10 2
59. ive The OC OCE940 closes all its loops locally The position velocity and torque blocks are maintained within the drive This allows the motion controller to be freed up to generate the motion profiles Up to 16 axes of motion profiles can be updated every 2 mSeconds This 2 mSecond update rate should not be confused with the servo loop update rates The servo loop update rates are controlled by the drives local processor In traditional centralized systems the profile generator update rate is typically not specified since this interface is buried within the controller 26 SC SCE 900 SERIES OPTION CARDS OC OCE 930 940 950 950 Option Cards Programmable single axis Position Control Option Card For superior motion control the OC OCE 950 give you maximum programmability using Pac Sci s ServoBASIC Plus programming language This Windows9 Development Environment programming package uses a powerful interactive debugger to speed set up and diagnostics OC OCE950 gives you the power to control up to 21 separately configurable points and 8 programmable limit Switches easily PacLAN networking and Opto 22 I O connectivity are popular options to the OC OCE950 Features lt New Windows Development Environment Compiled ServoBASIC Software Powerful interactive debugger Intel microcontroller inside 21 programmable and configurable I O Optional connection to Opto 22 I O lt Optional c
60. ive reports actual data back SERCOS SERCOS is an open architecture fiber optic based controller to digital drive interface international standard The SERCOS interface is designed to communicate closed loop data serially in real time for high performance motion control systems The SC SCE900 control is a digital drive incorporating low cost digital signal processors DSPs that when combined with the OC OCE940 option card exploit the most current innovations in motion control to date mn e m mn m rm N 25 Noise Free Environment A single fiber optic cable ring is the only connection necessary between the motion controller and the drives Cable lengths of up to 100 meters can be achieved between controller and drive without any concern of signal corruption Simplified Interconnect When compared to a conventional multi axis motion system the OC OCE940 offers a much simpler approach A typical analog system requires many low voltage interconnects between the drive and controller The troublesome task of running numerous wires through conduit and debugging them is reduced to running a single fiber optic cable The wiring between motor and drive can be done local to where the motor is being used Optically Isolated 1 0 The OC OCE940 comes standard with 8 configurable optically isolated inputs and 8 optically isolated outputs The I O is 5V dc to 30V dc compatible Intelligent Dr
61. l Features 25 26 SC SCE900 Connection Diagrams 27 Application Diagrams 28 29 How to Construct a System How to Construct a System 30 System Performance Data 48V dc bus 31 System Performance Data 240V ac 320V dc bus 31 34 System Performance Data 400V ac 560V dc bus 34 System Performance Data 480V ac 640V dc bus 35 Cabling and Accessories Cabling and Accessories 36 37 WWW pacsci com Voltage Drive Architecture 18 74V dc bus stand alone intelligent drive with serial communications 240V ac 320V de bus stand alone intelligent drive with serial communications 240V ac 320V de bus stand alone drive with serial communications or SERCOS 240V ac 320V de bus modular drive with removable option card upgrade path 400V ac 560V dc bus modular drive with removable option card upgrade path 480V ac 640V dc bus modular drive with removable option card upgrade path SELECTION OVERVIEW E i T i Suitable System Drive Motor Combinations See Performance Data beginning on page 31 Motor Model PC3402D e _ PC3405D e e E PC3403A e e e e 0 e PC3406A e e e e e PC3410A e e e PC3420A e e PC8x2 e e e e e e PC8x3 e 0 e e e PC8x4 e e 0 0 0 SC SCE9x2 e e e e e e SC9x3 e gt
62. l or D connectors Terminal block option Power screw terminal signal screw terminal or D connectors Environmental PC800 SC900 SCE900 Storage temperature 40 C to 70 Operating temperature Full ratings 0 C to 40 0 to 50 Derated convection NA 25 to 60 Derated forced air 0 C to 40 C 50 C to 60 C 1 500 m 5 000 ft Humidity PC800 10 to 90 non condensing Linearly derate output power and output current from full rating at 25 C to 53 at 60 C 2 Linearly derate output power and output current from full rating at 50 to 66 at 60 Maximum heat sink temperature 70 C Not applicable for the PC832 PC800 SC SCE900 SERIES PARAMETERS PARAMETER PARTIAL LIST DESCRIPTION Current Loop KIP Current loop proportional gain V A ILMTPLUS ILMTMINUS Minus current limit Y COMMOFF Commutation offset angle Deg COMMSRC POLECOUNT Motor pole count ITTHRESH Threshold for drive IT protection 96 VBUSTHRESH Threshold for low motor bus fault V Plus current limit 96 Selects commutation feedback device Velocity Loop 5 Velocity loop proportional gain A rad sec Velocity loop integral gain Hz AFRO ARF1 ARZO ARZ1 Anti resonance filter break frequencies Hz Anti resonance zero frequencies Hz Position Loop A jas Position loop proportional gain Hz Velocity feed forward gain
63. mily of Drives The PC800 digital brushless servo drives are the drives you ve been asking for the cost effective small servos with the best lead time in the industry 40 smaller than the 900 series with three power levels and multiple command interfaces including preset motion indexing and SERCOS the PC800 offers a great value for your drive investment and all available for shipment within days Add rugged PLC like optically isolated 1 0 and you ll see why this next generation of drives from the people who originated the all digital servo drive is right for you Servo Systems with Powerful Modular Connectivity The modular high performance systems from Pacific Scientific match drives selected from a range of power levels Plug in control option cards add exactly the functionality you need The Digital Solution The SC900 Series is a family of all digital servo drives that uses a single DSP like the PC800 to close the current velocity and position loops All system and application parameters are set digitally to ensure repeatability and eliminate drift The SC900 Series is available in four power levels all with integral power supplies and shunt regulators The SCE900 Family of Drives We ve added the CE mark and the capability to operate at a range of voltages suitable for use anywhere on the globe to our SC900 family of high performance servo drives No other drive offers higher performance No o
64. motely from drive N A for PC832 PRK 200 Regen assembly 200W resistor with 2 cable PDK 833 120 Demo kit with 120V ac cord PDK 833 240 Demo kit with 240V ac cord PFW830 N Firmware upgrade kit without insertion tool PFW830 T Firmware upgrade kit with insertion tool O Available for download from Pacific Scientific web site at no charge 10 www pacsci com PC800 SERIES OVERVIEW 1 1 kW 1 5 kW or 3 0 kW continuous power 2 25 kW 4 5 kW or 9 kW peak power Performance Features All digital DSP based Standard analog and digital interfaces Step Direction Digital interface position or velocity control Preset moves using an internal profile generator 10V Analog interface velocity or torque control Quadrature Encoder Digital interface electronic gearing follower RS 232 485 serial interface Windows based PC830 Tools configuration software simplifies set up Powerful digital oscilloscope feature quickly shows drive function graphically Intuitive parameter configuration be up and running in minutes Digital auto tuning no pots to tweak All system and application parameters are set in software and can be saved in EEPROM Automated diagnostic routine greatly speeds troubleshooting Rugged PLC like digital and analog I O Six optically isolated user configurable inputs Three optically isolated user configurable outputs One relay output Single resolver feedba
65. ng 24 bit per revolution position resolution This very high position resolution yields an all digital velocity control with smoothness indistinguishable from an all analog control U S Patent 5 162 798 Signature Current Control The SC SCE900 Series utilizes signature control a proprietary form of brushless motor sinusoidal commutation This current control technique significantly reduces ripple torques due to harmonics in the motor s back EMF wave form By tailoring the sinusoidal current s wave shape or signature to match the motor s back EMF electro magnetic ripple torque is reduced to 2 or less In your application this results in excellent machine precision and smoothness with high throughput capability This proprietary commutation control also provides exceptional high speed motor control Full Digital Control The combination of DSP DRDC and ASICs Application Specific Integrated Circuits give the SC SCE900 its all digital advantage An all digital implementation reduces component count to increase reliability while reducing cost eliminating analog drift eliminating imprecise potentiometer adjustments reducing size and increasing flexibility 1 0 Differential 10V analog input lt Two 5V analog outputs Six Bi directional input outputs TTL or 24V logic compatible Encoder quadrature output Encoder quadrature input Step Direction Step Up Step Down Enable input 5V dc 200 mA user
66. onnection to DF 1 or Modbus network Optional PacLAN local area network 32K NV memory w optional 128K available 8 programmable limit switches w module Fully adjustable motion profile parameters Electronic cam profiling e Interrupts on motion amp program variables Basic Programming Language Since first introducing a standard software programming tool like BASIC in a drive 1987 Pacific Scientific has continued to enhance the functionality and ease of use The fourth generation OC OCE950 and Windows development package incorporates functions like RunSpeed and IndexDist integrated with standard While and For Next statements to give you true motion programming flexibility Why not use a language you already know Windows Development Environment This development environment lets you program in modular blocks that can easily be re used time and time again The easy to use editor and powerful debugger with program variable watch windows make troubleshooting easy Easy to use as a simple word processor yet the structured text language controls the most complex machines Cinfigurable BI Directional 1 0 The OC OCE950 has 21 digital I O ports These ports can be configured as either inputs or outputs The ServoBASIC program also has access to the SC900 base drive s six I O for a total of 27 ports The days of not having the right mix of inputs and outputs are over This I O can be used to interface to your PLC
67. ormance information and model numbers for servo motor drive combinations Order motors and drives as separate part numbers HOW TO ORDER SCE900 Digital Drive Drive Accessories Accessory Description Order Number Option Cards Blank panel This is a blank panel to cover an unused option card slot OCE900 001 Firmware upgrade This option card allows easy plug in upgrading of the SCE900 firmware and allows removable personality OCE900 002 01 Serial communications This option card adds RS 232 485 serial communications to the base SCE900 Suffix 00 is 0 930 001 0 standard 01 includes base unit firmware upgrade Includes 3 1 2 floppy disk with PC communications utility SERCOS interface This option card adds SERCOS interface capability to the base SCE900 0CE940 001 01 Programmable This option card adds programmable functionality to the base SCE900 OCE950 50X 01 Connector Kits All mating connectors Includes all mating connectors for base unit Screw terminal blocks for power and CAE90x w D sub D sub for signal X designates drive power level All mating connectors Includes all mating connectors for base unit Screw terminal blocks for power and CAE90x TB w D sub to TB adapter D sub to screw terminal adapter modules for signal Fan Kits Fan kit for SCE9x2 9x3 Adds forced air cooling to the SCE9x2 9x3 9x4 9 5 Suffix 002 is for 240V ac 50 60 Hz Bottom OF902 00x 9x4 9x5 mounting force
68. orque line up to the rated speed of the motor The continuous torque line is set by either the motor s maximum rated temperature or the controller s rated continuous current output whichever is less The system voltage line is set by the voltage rating of the controller the line voltage supplied and the motor winding The system can operate on a continuous basis anywhere within this area assuming the motor temperature is 40 or less ambient Refer to the Test Conditions on the pages that follow Intermittent Duty Zone The intermittent duty zone is bordered by the peak torque line and the system voltage line The peak torque line is set by either the controllers peak current rating which the 30 controller can produce for a limited time or the maximum rated current for the motor whichever is less Refer to the Rating Data on the pages that follow NOTE higher torque levels may be achievable at higher power levels Consult Pacific Scientific for more details The system voltage line is set by the voltage rating of the controller the line voltage applied and the motor winding Operation in the intermittent zone must be limited to a duty cycle that will produce an RMS system torque falling within the continuous duty area The RMS torque value is defined by the magnitude of the intermittent torque and the percentage of the time spent at that torque Zero Peak or RMS Current brushless drive technology uses
69. os These drives use a single DSP to close the current velocity and position loops All system and application parameters are set in software to insure repeatability and eliminate drift The PC800 Series is available in two power levels both with integral power supplies The drives comply with the CE low voltage directive without requiring additional isolation All PC800 drives include several command interface features A standard 10V analog interface is available to command motor torque or velocity A standard step and direction interface is available to command motor position or velocity An internal profile generator allows preset moves for incremental absolute homing or registration motion profiles The drive can also be used in electronic gear following mode by using either quadrature encoder or step and direction inputs Incremental moves can also be superimposed on electronic gearing moves RS 232 485 Serial Interface This allows the user to program the various PC800 set up parameters using an IBM compatible PC and PC830 Tools configuration software It also allows the PC800 to be connected to any host computer containing RS 232 485 communications capability Digital Resolver To Digital Conversion The PC800 drives use the proven DRDC Digital Resolver to Digital Converter to provide 24 bit per revolution resolution for smooth precise control U S Patent 5 162 798 The PC800 also supports Hall sensor inp
70. p and configure it to allow parameters stored in its non volatile RAM to replace the personality parameters stored on the drive This can greatly speed changeover time and increases the flexibility you have to apply the drive Operations Monitoring With the OC OCE930 plugged into the SC SCE900 drive you can monitor the operations of the drive using 930 Dialogue and a standard IBM compatible PC OC OCE940 Option Cards DIGITAL FIBER OPTIC single axis SERCOS Option Card The OC OCE940 SERCOS Interface Option Card allows any family drive to function in a multi axis system with a minimum of wiring headaches Simple fiber optic links give the OC940 blazing communications speed with either the host computer or multi axis function block Features Fiber optic noise free environment 32 bit performance SERCOS interface Intel TM MicroController inside 8 optically isolated inputs 8 optically isolated outputs Simplified interconnect Intelligent drive When combined with the servo drive the OC940 option card is designed for use distributed multi axis motion control systems utilizing the SERCOS Serial Realtime Communications System digital interface international standard SERCOS replaces the 10V analog servo command interface with a high speed digital fiber optic link The SERCOS standard allows bi directional flow of information The control sends position velocity and torque commands and the dr
71. r operation on 480V ac 3 phase line e m 77 gt gt www pacsci com 35 CABLING AND ACCESSORIES THE ADVANTAGES OF FACTORY CABLING The most common and easily preventable cause of startup problems is cabling That s why we offer factory tested fully terminated connecting cables for PacSci brushless servo systems Factory The PC800 drives are equipped with appropriate connectors for system interconnection The PMA and S Series motors described in this system selection guide are equipped with Interconnectron cabling saves you time as well as troubleshooting connectors PMB motors offer AMP or MS connectors One power cable and one feedback cable are necessary for connection between motor and drive POWER CABLE PC800 AND PC3400 PPC 0 1 0 1 0 1 Cable Designator PacSci Power Cable Motor Connection 00 No Connector 01 Interconnectron no Brake use 4 conductor cable 02 Interconnectron w Brake use 6 conductor cable 03 MS Connector no Brake use 4 conductor cable 04 Single MS Connector Combined PWR FDBK for R209 05 Single MS Connector Combined PWR FDBK for S2 S3 Hall only 06 Single MS Connector Combined PWR FDBK for S2 S3 Hall Encoder 07 AMP Connector PMB motors only Brake cable for MS connector motors sold separately Combined power feedback cable only available with motor connection options
72. rements FEEDBACK CABLE SC SCE900 CE F RO XXX 900 X CE compliant cable A PMA S20 s and S30 s with Interconnectron connectors non flex cable Feedback Cable C PMA S20 s and S30 s with Interconnectron connectors with flex cable Resolver Only Three digits for distance in 900 Series 1 foot increments O Flexible cable is available for High Voltage Drives 572227 RECOMMENDED FILTERING FOR COMPLIANCE FOR MODEL SC SCE950 PC34xx Use to connect SC SCE950 servo controllers to personal There are many applications for machines today which require filtering to computers The 6 foot RS 232 cable connects 9 pin SC SCE950 reduce electrical noise Filters may be necessary to comply with the connector J58 port to PC s 9 pin serial port Includes 9 to 25 standards of the global regulatory groups or just to have piece of mind for pin adaptor for PCs with 25 pin serial port reliable machine operation The SCE900 drives have been designed with this in mind The table below summarizes the conditions under which HOW TO ORDER Model number filtering is required to meet the standards for CE compliance RS 232 cable CS 232 950 Drive Cable Length Filter Supplier SCE902 Up to 50 meters 25CE4 MTE Corporation OTelit 414 253 8200 SCE903 Up to 10 Meters None 2 SCE904 Up to 10 Meters None 9 SCE905 Up to 10 Meters None 9 SCE906 Up to 10 Meters None 29
73. rent Control logic power 500 mA maximum 120V ac 250 mA maximum 240V ac Equivalent Equivalent Equivalent Equivalent Anus Ag peako Peak Aras Apus Bus power 5 04 10 0 141A 15 0A 21 2A 30 04 424M Peak Output Current 5 seconds 7 54 10 64 15 04 21 24 22 54 31 84 33 84 47 84 Continuous Output Current 25 C convection cooling 54A 31 8A 50 C forced air cooling N A NA 75 10 6 11 34 16 04 22 54 31 84 50 C convection cooling 2 54 3 54 5 0A 7 5A 10 6A 22 5A 31 8A Peak Output Power 400V ac 1 second up to full 50 C 5 kW 10 kW 15 kW 22 5 kW Peak Output Power 480V ac 1 second up to full 50 C 5 kW 12 kW 18 kW 27 kW Continuous Output Power 400V ac three phase 25 C convection cooling 2 5 KW 5 0 kW 7 5 kW 15 kW 50 C forced air cooling NA 5 0 kW 7 5 kW 15 kW 50 C convection cooling 2 1 kW 3 9 kW 5 0 kW 15 kW 480V ac three phase 25 C convection cooling 3 0 kW 6 0 kw 9 0 kW 18 kW 50 C forced air cooling NA 6 0 kw 9 0 kW 18 kW 5020 convection cooling 2 5 kW 3 9 kW 6 0 kW 18 kW Power Stage Efficiency PCONT 96 97 97 97 Shunt Regulator Power Peak power 300 mSec 8 kW 16 kW 16 kW 24 kW Continuous power 25 C convection cooling 25W 100W 200W 250W 50 C forced air cooling N A 125W 250W 250W 50 C convection cooling 20W 100W 200W 250W Maximum external regen duty cycle 10 10 10 10 Bus capacitance energy absorption from 640V nominal bus 480V ac 27 Joules 50 Joules 80 Joules 144
74. stallation manual for PC34xxA drives Hardware installation manual for PC34xxD drives ToolPac reference manual with ToolPAC CD Regen resistor kit for PC3403 06 10 Regen resistor kit for PC3402 05 Regen resistor kit for PC3420 Connector ship kit for PC3403 06A drives Connector ship kit for PC3403 06A drives with extended I O Connector ship kit for PC3410 20A drives Connector ship kit for PC3410 20A drives with extended I O Connector ship kit for PC3402 05D drives Connector ship kit for PC3402 05D drives with extended I O Hand crimping tool set MOLEX 3mm Digital cable drive end to flying leads 6 ft Extended digital output cable drive end to flying leads 6 ft Extended digital input cable drive end to flying leads 6 ft Feedback cable drive end to flying leads 10 ft Feedback cable drive end to flying leads 25 ft Feedback cable drive end to flying leads 50 ft 120V ac demo kit for PC3400 PD2400 Series www pacsci com PC3400 SERIES OVERVIEW 0 21 kW to 6 8 kW continuous power 0 43 kW 13 6 kW peak power Performance Features All digital operation for increased reliability reduced cost Space Vector Modulation advanced algorithm for motor control Standard analog and digital interfaces Internal through multiple stored programs Digital through RS 232 485 interface Analog 10V interface velocity or torque control Step commands via step direc
75. t CHATNSTEP STEP UP 55 POSITION 2 GHB IN DIR STEP DOWN 23 COMMAND 2 TH BINIDIR STEP DOWN 24 lt 5 V de 25 ADAPTER VO RTN 26 lt SHIELD 5 V dc RTN 731 RS 232 485 C RS 282 TXD 2 OPTION CARD 5 88 232 00930 01 TO HOST 2 5 a E SET UP OR 200 RTN 5 V dc RTN 519 CONTROL 285 485 TXD ela COMPUTER lt RS 485 TXD 11 5 485 RXD 81 5 RS 485 9 0 N See Detail PACIFIC SCIENTIFIC BRUSHLESS MOTOR J2 4 SS CASE GND wa E WIT SS PHASE W T 2 V S SS PHASE V 99 y LUR 5 PHASE U y 51 MAN JE ab gt m5 l 6 R1 EXCIT 7 5 R2 EXCIT RTN 8 9 5 PTC RTN See power specifications pages 19 and 20 www pacsci com MOTOR INPUT 7 USER IN PWR 9 NEARS SUPPLIED 11 INPUT 12 COM_EXT_GND 13 OUTPUTO 14 USER OUTPUTA 15 OUTPUT2 16 LOAD OUTPUTS 17 OUTPUT 4 18 OUTPUTS 19 OUTPUT6 20 OUTPUT7 21 12 24V de SHIELD 1 O RTN li RS 232TXD RS 232 RXD 5V de 1 0 RTN RS 485 TXD RS 485 TXD RS 485 RXD RS 485 RXD 0 SERIAL PORT 52 950 SHIELD 1 O RTN 1 2 OPTION OCIO1 3 CARD 2 4
76. ther drive offers broader functionality PC800 SC SCE900 DRIVES FEATURES amp BENEFITS With five power levels you can choose the drive to suit your application wherever it may wind up PacSci Motors Complete the Package The PMA Series of brushless servomotors delivers a comprehensive line of rugged cost effective servomotors Covering frame sizes from 55mm to 190mm square and a continuous rated torque range of 0 21 to 48 5 Nm these motors offer an economic means to satisfy the requirements of your application The PMB Series of brushless servomotors introduces an IP40 construction motor in three frames size 17 and NEMA 23 amp 34 to address your need for a high performance motor in higher volume applications With a continuous rated torque range from 0 22 to 1 40 Nm the cost effective PMB motors complement our full line of servos The S Series brushless servomotors offer continuous torques from 0 5 to 6 6 Nm Available in two frame sizes with both metric and NEMA 23 amp 34 mounting faces these compact motors squeeze a lot of torque into a small package Smart technology Motion simplified These systems are a prime example of Pacific Scientific s commitment to offer you smart technology the highest performance products available customized to suit your applications and backed by unmatched customer support and quality We want to help make your job easier For more information contact
77. tion step up down or encoder following either single ended or differential Windows based ToolPAC configuration and programming software aids set up Powerful digital oscilloscope feature displays drive function graphically Motion programming simplified to point and click commands Axis Set up Wizard makes configuration process easy Tuning Wizard aids system tuning parameters are intuitive and easy to adjust AC models contain on board power supply Separate logic supply input keeps logic power working when bus power is disconnected Inaudible high frequency digital PWM sine wave current control Extensive protection circuitry Seven segment display shows diagnostic and status information www pacsci com Typical Applications Electronic assembly equipment Semiconductor wafer processing equipment lt Material handling lt Robotics X Y tables and slides Packaging machinery Specialty machinery Product Description The PC3400 Series is the latest addition in next generation all digital servo drives for Pacific Scientific Available in both AC powered and DC versions the drives are a cost effective easy to use family of intelligent servo drives from the leaders in service and support The intelligent model is a fully programmable drive that replaces a motion controller in applications using complex moves and electronic camming or gearing The digital model accepts step and direction an
78. us rating Higher peak system performance available Contact the factory Peak torque ratings are for 2 seconds Peak torque ratings are for 1 second www pacsci com 31 Torque Nm SYSTEMS PERFORMANCE PEAK STALL TORQUE Tps PEAK RATED TORQUE CONT STALL TORQUE Ts CONT RATED TORQUE DATA continuous duty SYSTEM VOLTAGE LINE intermittent duty Speed rpm R War RATED SPEED NO LOAD RECOMMENDED MOTOR DRIVE SYSTEMS 240V ac 320V dc bus continued Peak Peak Cont Cont Inertia Stall Rated Stall Rated Rated No Load Cont Stall Current at J Inductance Servo Servo Torque Torque Torque Torque Speed Speed Current Peak Torque kgm x 10 Line Line Motor Drive Ton Wy les hs Ib in S L Model Model Nm Ib in Nm Ib in Nm Ib in Nm Ib in rpm rpm Apus Asus x 10 mH PMA55Q PC8x4 43 0 380 42 9 379 17 0 151 16 0 141 900 1 450 71 21 2 3 06 27 1 20 0 PMA55R 569042 31 1 276 31 0 274 17 0 151 15 2 135 1 650 2 150 10 6 212 3 06 27 1 8 8 PMA55S 560052 31 0 274 30 7 272 17 0 151 13 1 116 3 450 4 300 21 3 42 4 3 06 27 1 22 PMA57R 509042 43 6 386 43 5 384 22 0 195 20 5 181 1 150 1 550 9 8 21 2 4 21 37 3 125 PMA57S 50005 43 8 388 43 6 386 22 0 195 18 4 163 2 450 3 050 19 5 42 4 4 21 37 3 3 1 PMA6
79. uts for commutation making it suitable for use with many popular linear motors SERCOS The PC840 family of drives offers open SERCOS connectivity using the new SERCONS16 ASIC Noise immune network speeds of up to 16 kHz make real time distributed motion control a reality using many popular SERCOS multi axis control schemes More information on SERCOS is available on pages 25 29 1 0 Six optically isolated inputs Three optically isolated outputs One relay output 30V dc O 1A Differential 10V analog input Single end analog input 5V dc lt Two analog outputs 5V dc Encoder quadrature output Encoder quadrature input Step Direction Enable input 5V dc O 200 mA user output 24V dc 9 100 mA power supply for optically isolated inputs Protection Diagnostics Dual LED display In rush current limiting Control power fuse Output short circuit protection Overtemperature protection motor and drive IT protection Under voltage protection Excessive regeneration protection Agency Approval UL recognized 508C Type R file E137798 cUL lt Meets IEC Vibration Standard 68 2 6 Models CE Compliant EMC standard EB61800 3 and safety standard EN50178 11 531935 008 PC8 0 SERIES DIGITAL DRIVES DINDANON PC800 SERIES mm in Regeneration Resistor 17 60 m 67 236 202 3 127 500 um AR mp 1 981

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