6415 Stepper Drives Brochure
Contents
1. 218 5 46 EQUALLY SPACED ON A 1 72 3 875 43 69 0 PC I 0000 H 2X 45 2 2750 0005 P 9 53 0 013 202 0 051 p AX I 4 06 2 875 002 1 52 CH MAX ENCODER e 18 04 OPTION ONLY 73 025 0 051 18 d TT PTET EM A 57V MODEL NER 31NX 32NX 33NX 33HX 34HX 41HX 42HX 43HX Note x 3 62 477 6 05 6 73 7 62 5 61 8 04 10 56 91 95 121 6 153 07 170 94 193 55 142 5 204 22 268 23 Substitute for X for MS connector 1 125 1 125 1 125 1 125 1 125 1 75 219 219 termination B 31 75 31 75 31 75 31 75 31 75 44 45 55 63 55 63 0 375 0 375 0 375 0 5 0 5 0 625 0 625 0 75 9 53 9 53 9 53 12 7 12 7 15 875 15 875 19 05 Stepper Systems 15 16 Stepper Systems MODEL 6415 Module 0 625 to5 Arms 7 1A peak microstepping per phase output 24 to 75 Vdc Single power supply input Patented 4 phase Bipolar Chopper Drive for superior current regulation and low ripple current Output current adjustable from 0 625 A to 5 A rms with 3 position dipswitch Microstepping up to 51 200 steps revolution Patented Digital Electronic Damping reduces instability at mid speed ranges Idle current reduction reduces motor heating Fault protection Line to line and line to neutral shorts Internal power supply under voltage Bus overvoltage Compact size panel or side mountable Low high speed select input On board multi turn p2. 0 051 06 the 8 2 875 002 1 52 im MODEL NEES 31NX 32NX 33NX 33HX 34HX 41HX 42HX 43HX n 3 62 4 77 6 05 6 73 7 62 5 61 8 04 10 56 91 95 121 6 153 67 170 94 193 55 142 5 204 22 268 23 1 125 1 125 1 125 1 125 1 125 1 75 219 219 B 31 75 31 75 31 75 31 75 31 75 44 45 55 63 55 63 0 375 0 375 0 375 0 5 0 5 0 625 0 625 0 75 9 53 9 53 9 53 12 7 12 7 15 875 15 875 19 05 SYSTEMS CONSTRUCTION 4X 9 28 THRU 5 46 EQUALLY SPACED ON A 3 875 98 43 B C 2X 45 P g 3750 M 1 9 53 0 013 gt m 4 0 051 ES I H I El 06 2 875 002 1 52 LH 0 73 025 0 051 18 J T F 4 57 MODEL TRES 31NX 32NX 33NX 33HX 34HX 41HX 42HX 43HX n 3 62 4 77 6 05 6 73 7 62 5 61 8 04 10 56 91 95 121 16 153 67 170 94 193 55 142 5 204 22 268 23 1 125 1 125 1 125 1 125 1 125 1 75 2 19 2 19 B 31 75 31 75 31 75 31 75 31 75 44 45 55 63 55 63 0 375 0 375 0 375 0 5 0 5 0 625 0 625 0 75 9 53 9 53 9 53 12 7 12 7 15 875 15 875 19 05 1 72 43 69 Substitute C for X for MS connector Stepper Systems C 27
3. 12800 1 125 1 128 25000 25600 4800 4600 1 250 1 256 50000 51200 2400 2300 1 Consult factory if operating motor above 3000 RPM See Figure C 15 page C 22 Enabled or disabled with DIP switch 5096 output current reduction after 0 1 second from last step command 0 05 and 1 0 second time outs can also be selected using a plug on jumper Consult factory for other current reduction options 12000 12000 12000 12000 12000 9000 12000 12000 See Figure C 15 page C 22 Enabled or disabled with DIP switch Max delay from input step to change in motor excitation Step frequency lt 500 steps sec 500 us Step frequency 500 full steps sec 270 of step period Any fault disables the drive and must be cleared by cycling input power Line to line short line to neutral internal supply under voltage bus over voltage 83 Vdc 5 x 1 5 x 4 3 1 Ib nominal Stepper Systems C 17 GENERAL AND ENVIRONMENTAL Model 6415 See Figure C 7 page C 19 Connectors Power Supply 3 contact plug in screw terminal Motor 5 contact plug in screw terminal Signal ie nerui iss ad sie 25 contact plug D sub miniature Storage Temperature 55 C to 70 C Operating Temperature Full rated current 0 to 50 C ambient air with or without cover provided chassis properly mounted so as not to exceed 60 C 60 C M
4. 0 496 14 0 6 36 177 450 Maximum torque at HIGH speed see plot P performance curve 3 4 2 5500 5 0 474 3 35 41 6 0 29 0 0170 0 102 5 3 2 41 240 1650 3 4 5500 5 0 711 5 02 69 3 0 45 0 0250 0 155 7 6 3 45 260 1200 3 4 5500 5 0 948 6 69 83 0 0 59 0 0350 0 217 9 7 4 41 240 900 Model 6410 with recommended E Series motors Sev See E Series motors NEMA 23 2 3 and NEMA 34 3 4 on page C 15 Holding A Rated Driver Torque Peak Speed at Motor Current 2 phases on Detent Rotor intertia Shaft Peak OD Model Number Phase ox in Nm Torque oz in S2 Weight Power Power in amps DC 10 oz in Nm kgm2 x 103 Ibs kg watts RPM Maximum torque at low speed see plot T in performance curve 2 3 E22NX LTLNN NS500 2 5 225 1 59 9 6 0 07 0 0031 0 019 2 1 0 95 54 1650 34 ES1NX LTLNN NS500 2 5 319 2 25 21 5 0 15 0 0083 0 051 3 2 1 45 75 600 3 4 E32NX LTLNN NS500 2 5 638 4 51 41 6 0 29 0 0170 0 102 5 3 2 41 80 450 Maximum torque at HIGH speed see plot P in performance curve 23 E22NX LPLNN NS500 2 5 158 1 12 9 6 0 07 0 0031 0 019 2 1 0 95 155 2850 34 5500 2 5 237 1 67 21 5 0 15 0 0083 0 051 3 2 1 45 115 1500 3 4 E32NX LPLNN NS500 2 5 474 3 35 41 6 0 29 0 0170 0 102 5 3 2 41 120 900 All ratings typical and at 25 C unless otherwise noted A See page C 15 for motor options X
5. 0 625 amp increments See Figures C 2 and C 3 page C 9 Optically isolated TTL compatible Minimum opto current opto on 5 5 ma Maximum opto current opto on 10 ma Minimum pulse width 250 ns 1 us when step filter enabled Maximum frequency 2 0 MHz 500 KHz when step filter enabled Motion occurs on low to high transition of STEP input J3 Pin 6 Optically isolated TTL compatible For normal motor connections Current in opto opto on Rotation CCW looking at motor shaft Minimum opto current opto on 3 ma Maximum opto current opto on 4 5 ma Minimum setup time 50 0 us Minimum hold time zero Optically isolated TTL compatible Sense of ENABLE input can be changed using ENBL_SENSE jumper Jumper In Current in opto opto on enables drive Jumper Out Current in opto opto on disables drive Minimum opto current opto on 3 ma Maximum opto current opto on 4 5 ma See Figures C 2 and C 3 page C 9 Optically isolated open collector open emitter Drive Enabled opto transistor on Vsa 0 5 V max 2 0 ma Drive Disabled opto transistor off Vee max 35 V See Figure C 4 page C 10 Set using 3 positions of DIP switch and decimal jumper Note Binary values are in Bold Step Size Steps per Revolution Maximum RPM 1 8 motor Full 1 2 200 400 12000 12000 1 2 1 4 400 800 12000 12000 1 5 1 8 1000 1600 12000 12000 1 10 1 16 2000 3200 12000 12000 1 25 1 32 5000 6400 12000 12000 1 50 1 64 10000 12
6. H Include Heat Sink Connector Kit Option N No Connector Kit K Include Connector Kit NOTE Standard drive includes Data Sheet Manual Design Guide ordered separately 6415 Accessories Order in accordance with the following model number codes Part No Description CV6415 Cover includes fastening screws HS6410 Heat Sink includes fastening screws CK6415 Connector Kit includes all mating connectors 25 pin D shell and Phoenix Connectors for J3 motor Phoenix p n MC 1 5 5 ST 3 81 and J2 DC input MC 1 5 3 ST 3 81 MA6415 User Manual Design Guide SPC XXX 6410 With control connector and motor MS connector Four conductor shielded wire plus ground In place of XXX specify length in even one foot increments from 001 to 050 feet Consult factory for longer lengths SPC CO XXX Motor Power Cable Only Four conductor shielded wire plus ground In place of XXX specify length in even one foot increments Stepper Systems C 23 SYSTEM RATINGS AND CHARACTERISTICS Model 6415 with recommended E Series motors See E Series motors NEMA 34 3 4 and NEMA 42 4 2 27 5 0 A 65V per phase Holding A Rated Drive Torque Peak Speed at Motor Current 2 phases on Detent Rotor intertia Shaft Peak OD Model Number Phase ox in Nm Torque oz in S2 Weight Power Power in amps DC 10 oz in Nm kgm2 x 103 Ibs kg watts RPM Maxim
7. denotes the construction of the motor refer to page C 11 for various options Also refer to Model Number Codes in the system configured hybrid step motor section page C 82 A When operated at listed drive current C 12 Stepper Systems Model 6410 torque speed curves 5 er phase with recommended motors PSP Motors will perform continuously as shown without the winding temperature rise exceeding 90 C when the motor is operated without heat sink in an ambient temperature of up to 40 The curves do not reflect systems resonance points which will vary with motor coupling and systems parameters In addition to those shown below Pacific Scientific offers a wide range of other motor windings to meet specific performance requirements Consult factory PERFORMANCE AT 5 0A RMS 65V PER PHASE 3 MOTOR TWO ROTOR STACK 3 MOTOR THREE ROTOR STACKS E32NX HTLNN NS00 E33NX HTLNK NS00 E32NX HPLNN NS00 E33NX HPLNK NS00 5 0A 65V PER PHASE 5 0A 65V PER PHASE SPEED RPM SPEED RPM 0 600 1200 1800 2400 300 0 600 1200 1800 2400 3000 0 00 2000 4000 6000 8000 10000 SPEED FULL STEP SEC SPEED FULL STEP SEC 3 MOTOR FOUR ROTOR STACKS E34HX HTLNK NSO0 E32HX HPLNK NS00 5 0A 65V PER PHASE SPEED RPM Q 300 600 900 1200 1500 1800 TORQUE OZIN 0 0 00 0 1000 2000 3000 4000 5000 6000 SPEED FULL STEP SEC 3 MOTOR ONE ROTOR STACK 4 MOTOR ONE ROTOR STACK E31NX HTLNN N
8. speed see plot P in performance curve 23 E22NX LPLNN NSOO 2 5 158 1 12 9 6 0 07 0 0031 0 019 2 1 0 95 155 2850 3 4 E31NX LPLNN NSOO 2 5 237 1 67 21 5 0 15 0 0083 0 051 3 2 1 45 115 1500 3 4 E32NX LPLNN NSOO 2 5 474 3 35 41 6 0 29 0 0170 0 102 5 3 2 41 120 900 All ratings typical and at 25 C unless otherwise noted A See page C 27 for motor options X denotes the construction of the motor refer to page C 23 for various options Also refer to Model Number Codes in the system configured hybrid step motor section page C 82 A When operated at listed drive current C 24 Stepper Systems MODEL 6415 TORQUE SPEED CURVES 5 0 A with recommended motors Motors will perform continuously as shown without the winding temperature rise exceeding 90 C when the motor is operated without heat sink in an ambient temperature of up to 40 C The curves do not reflect systems resonance points which will vary with motor coupling and systems parameters In addition to those shown below Pacific Scientific offers a wide range of other motor windings to meet specific performance requirements Consult factory PERFORMANCE AT 5 0A RMS 65V PER PHASE 3 MOTOR TWO ROTOR STACK 3 MOTOR THREE ROTOR STACKS E32NX HTLNN NS00 E33NX HTLNK NS00 E32NX HPLNN NSO0 E33NX HPLNK NS00 5 0A 65V PER PHASE 5 0A 65V PER PHASE SPEED RPM SPEED RPM 4 1800 3000 5 30 424 Z 3182 212 4 1 06 20 2000 40
9. 00 6000 8000 1000000 2000 4000 6000 8000 1000000 SPEED FULL STEP SEC SPEED FULL STEP SEC 3 MOTOR FOUR ROTOR STACKS E34HX HTLNK NS00 E32HX HPLNK NS00 5 0A 65V PER PHASE SPEED RPM 120 0 300 600 900 1500 1800 7 06 x 5652 s 4240 a 2 920 g g 141 0 0 00 O 1000 2000 3000 4000 5000 6000 SPEED FULL STEP SEC 3 MOTOR ONE ROTOR STACK 4 MOTOR ONE ROTOR STACK E31NX HTLNN NSOO E41HX HTLNK NS00 5 0A 65V PER PHASE 5 0A 65V PER PHASE SPEED RPM 3000 Q 300 690 90 1200 1500 1800 2 12 17 112 106 2 0 71 g 0 35 0 00 0 0 0 2000 4000 6000 8000 10000 0 1000 2000 3000 4000 5000 6000 SPEED FULL STEP SEC SPEED FULL STEP SEC Stepper Systems 25 PERFORMANCE 2 5A RMS 65V PER PHASE 65V per phase 3 MOTOR ONE ROTOR STACK 3 MOTOR TWO ROTOR STACK E31NX LTLNN NS00 E32NX LTLNN NS00 E31NX LPLNN NSO0 E32NX LPLNN NSO0 2 5A 65V PER PHASE 2 5A 65V PER PHASE SPEED RPM 1800 0 00 1 0 0 2000 4000 6000 8000 10000 0 2000 4000 6000 8000 10000 SPEED FULL STEP SEC SPEED FULL STEP SEC 2 MOTOR TWO ROTOR STACKS E22NX LTLNN NSOO0 E22NX LPLNN NSOO 2 5A 65V PER PHASE SPEED RPM e 600 1200 1800 240 z T mE NI 160 iE O z 120 085 2 9 80 0 56 9 40 0 28 0 9 00 0 2000 4000 6000 8000 10000 SPEED FULL STEP SEC C 26 Ste
10. 800 12000 9000 1 125 1 128 25000 25600 4800 4600 1 250 1 256 50000 51200 2400 2300 1 Consult factory if operating motor above 3000 RPM 2 To determine maximum RPM when 500 2 step filter is enabled multiply 1 x 30 million Note that maximum steps per rev should not exceed 12000 RPM See Figure C 4 page C 10 Enabled or disabled with DIP switch 50 output current reduction after 0 1 second from last step command 0 05 and 1 0 second timeouts can also be selected using a plug on jumper Consult factory for other current reduction options See Figure C 4 page C 10 Enabled or disabled with DIP switch Max delay from input step to change in motor excitation Step frequency lt 500 full steps sec 500 us Step frequency gt 500 full steps sec 270 of step period Any fault disables the drive and must be cleared by cycling input power Line to line short line to neutral internal supply under voltage bus over voltage 83 Vdc 5 x 1 5 x 4 3 1 Ib nominal See Figure C 2 Page C 9 3 contact plug in screw terminal 5 contact plug in screw terminal 9 socket D sub miniature ENVIRONMENTAL Model 6410 Storage Temperature Operating Temperature Maximum Chassis TEMPERATURE Convection With optional heat sink Without optional heat sink Humidity Range Cooling MERIT 55 C Full rated current 0 to 50 C ambient air with or without cover to 70 provide chassis properly m
11. C DEC CURRENT JMPR JMPR 2 IN OUT 7 AMPS RMS CLOSED CLOSED CLOSED CLOSED CLOSED CLOSED OPEN CLOSED CLOSED OPEN OPEN CLOSED CLOSED OPEN CLOSED OPEN OPEN CLOSED OPEN OPEN CLOSED CLOSED OPEN CLOSED CLOSED CLOSED OPEN SW1 POSITION OPEN CLOSED OPEN OPEN CLOSED OPEN OPEN CLOSED OPEN OPEN OPEN OPEN OPEN SWI IDLE T SW1 IDLE CURRENT POSITION4 DIGITAL ELECTRONIC DAMPING JUMPER POSITION 5 REDUCTION CLOSED DISABLED IN CLOSED DISABLED OPEN ENABLED IN OPEN 0 1 SEC DELAY OUT CLOSED 0 05 SEC DELAY OUT OPEN 1 0 SEC DELAY Figure C 4 DIP Switch S1 Settings DIMENSIONS Model 6410 mm dimensions for ref x 0 04 CLEARANCE FOR 4 4 30 109 2mm 016 32 SCREW 0 04 ze 0 04 1 50 38 1 mm pem y H amp OPTIONAL HEAT SINK COMPS NOT SHOWN 0 02 E 0 04 a 4 75 120 7mm E 5 00 127 0mm CUSTOMER MTG E 3 he ii Isi Y ra 002 0 02 2 75 69 9mm 0 75 19 1mm OPTIONAL SIDE MIG CUSTOMER MTG C 10 Stepper Systems FUNCTIONAL ENHANCEMENT The 6410 microstepping drive is the core component utilized in a full family of product
12. CONNECTOR INTERFACE CIRCUITS USERS J3 6410 CONTROL STEPPER ELECTRONICS DRIVER 5Vde o4 STEP t d TLP 2601 221K Y D D STEP 6 464 DR 2 TLP 621 DIR 7 in Y ENABLE 3 y D ENABLE 8 ENABLED COLLECTOR 4 TLP 621 o 5Vde ENABLED sy EMITTER 9 L DRIVER ENABLED MOTION OCCURS 250 NS MIN 1US MIN WITH 4 STEP ON THIS EDGE STEP FILTER ENABLED INPUT SETUP TIME 50 US MIN 6 DIRECTION A LT DIRECTION DATA Figure C 3 Interface Circuits MUST BE STABLE OVER THIS INTERVAL Stepper Systems C 9 DIP SWITCH S1 SETTINGS FIG 4 Model 6410 Output motor phase current Step size and rate Idle current reduction ENABLE SENSE JUMPER DEC JUMPER SEE SW1 TABLE BELOW ENABLE IN SELECT DECIMAL STEP SIZES OUT OPTO OFF TO ENABLE OUT SELECT BINARY STEP SIZES FACTORY DEFAULTS 5 0 AMPS RMS IDLE T JUMPER STEP BW JUMPER STEPSIZE 1 25 SELECT IDLE CURRENT IN 500 KHz MAX STEP RATE 500 KHz MAX STEP RATE REDUCTION TIME OUT 2 MHz STEP RATE SEE TABLE BELOW ENABLED 0 1 SEC DIGITAL ELECTRONIC JUMPERS 1 2 3 4 amp 7 8 INSTALLED AT FACTORY DAMPING CONTROL ENABLED 8 4 DRIVER ENABLED UNLESS ENABLE OPTO DRIVEN PC CARD EDGE 1 SIDE VIEW FACTORY DEFAULT POSITIONS SHOWN STEP SIZE SW1 POSITION MOTOR DE
13. Jumper Installed Default 5Vdc o LOW SPD 19 621 x LOWSPD 7 gt With the E4 jumper installed See Figure 8 the gt RUN STOP Clutch brake mode of the 6415 is controlled by two separate optically isolated inputs do za When the RUN opto is driven momentarily the ZZK TLP 2601 RUN STOP latch is placed in the RUN state and the TTL guns oscillator frequency ramps to the selected speed at a gt rate controlled by the ACCEL potentiometer When the STOP opto is driven momentarily the RUN STOP latch is placed in the STOP state and the oscillator K TLP 621 frequency ramps to zero frequency at a rate TTL STOP 9 2 Y controlled by the DECEL potentiometer gt The RUN STOP latch is designed to be in the STOP state after applying power to the 6415 to insure that motion does not occur unintentionally DIR sae Des DIR 10 1K y gt SINGLE INPUT E4 Jumper Removed ENABLE 23 T If the E4 jumper is removed See Figure 8 the TTL j a ys RUN STOP mode of the drive is controlled directly gt ENABLE ti UN from the RUN input When the RUN opto is driven the oscillator frequency ramps to the selected speed WHHIN SO SS 4 k 50 us MIN at a rate controlled by the ACCEL potentiometer RUN When the RUN opto is off the oscillator frequency INPUT SETUP TIME ramps to zero freque
14. MIN SPEED Frequency E5 UTS IN DISABLED A Uis OUT ENABLED Control Source 6 E7 E8 DIROpto Analogin Rotation E1 Velocity Control Mode DIR DIR OUT OUT OUT Driven CCW OUT OUT OUT Not Driven cw 1 2IN 1 21 Internal RUN SPEED Jumpers IN IN OUT Driven ccw Potentiometer OUT OUT OUT NotDriven cw 3 4IN N A External Potentiometer Analog In IN OUT IN Driven Negative CCW IN OUT IN NotDriven Positive CW 56IN 1 21 External Analog Input 1 2IN 3 4 N External Analog Input scaled by internal RUN SPEED potentiometer Figure C 14 OSCILLATOR LOWER BOARD ENABLE SENSE JUMPER DEC JUMPER SEE SW1 TABLE BELOW NN IN OPTO ON TO ENABLE IN SELECT DECIMAL STEP SIZES OUT OPTO OFF TO ENABLE OUT SELECT BINARY STEP SIZES FAGTORV DEEAUITS 5 0 AMPS RMS IDLE T JUMPER STEP BW JUMPER STEPSIZE 1 25 SELECT IDLE CURRENT IN 500 KHz MAX STEP RATE 500 KHz MAX STEP RATE REDUCTION TIME IDLE CURRENT REDUCTION SEE TABLE BELOW ENABLED 0 1 SEC JUMPERS 1 2 3 4 amp 7 8 pal DIGITAL ELECTRONIC INSTALLED FACTORY DAMPING CONTROL ENABLED DRIVER ENABLED UNLESS ENABLE OPTO DRIVEN PC CARD EDGE 51 SIDE VIEW FACTORY DEFAULT POSITIONS SHOWN STEP SIZE SW1 POSITION DEC DEC JMPR JMPR 2 IN CLOSED CLOSED CLOSED CLOSED CLOSED OPEN CLOSED OPEN CLOSED CLOSED OPEN OPEN OPEN CLOSED CLOSED OPEN CLOSED OPEN OPEN OPEN CLOSED OPEN O
15. MODEL 6410 Microstepping Drive Module 0 625 to 5 Arms 7 1 A peak microstepping per phase output 24 to 75 Vdc Single power supply input Patented 4 phase Bipolar Chopper Drive for superior current regulation and low ripple current Output current adjustable from 0 625 A to 5 A rms with 3 position dipswitch Microstepping provides smooth operation and increased resolution Patented Digital Electronic Damping reduces instability at mid speed ranges Idle current reduction reduces motor heating in many applications Selectable step filter rejects noise on step input Fault protection Line to line and line to neutral shorts Internal power supply under voltage Bus overvoltage Compact size Model 6410 is an economical compact stepper drive that converts step and direction inputs into winding currents for two phase stepper motors The 6410 can operate with a single power supply ranging from 24 to 75 Vdc Output voltage is equal to that of the power supply Output current is adjustable from 0 625 to 5 A rms The default output current is 5 A rms Its compact size of 1 5 W x 5 H x 4 3 deep requires only 7 5 square inches of panel space TYPICAL APPLICATIONS X Y tables and slides Packaging machinery Robotics Speciality machinery Index feed of materials Labeling machines MICROSTEPPING Microstepping assures smooth low speed operation smoother operation through resonance regions and op
16. ORS 18 AWG 73 025 0 51 18 on 4 57 MINIMUM E gt TEE 30 1 25 304 8 2HNX 21NX 22NX 31NX 32NX 33NX 33HX 34HX NUMBER n 1 56 2 06 3 06 2 58 3 76 5 06 5 33 6 58 39 63 52 33 77 73 65 54 95 51 128 53 135 39 162 14 0 81 0 81 0 81 125 1 25 1 25 1 25 125 B 20 57 20 57 20 57 31 75 31 75 31 75 31 75 31 75 5 0 25 0 25 0 25 0 375 0 375 0 375 0 5 0 5 6 35 6 35 6 35 9 53 9 53 9 53 12 7 12 7 SPLASHPROOF CONSTRUCTION 218 4X THRU 5 46 EQUALLY SPACED ON 1 72 Ag 2875 P 9843 4 0000 H 2X 45 g 3750 0005 9 53 0 013 gt 002 0 051 F tj D 06 E 2 875 gt 002 1 52 a 1 MODEL 31NX 32NX 33NX 33HX 34HX 41HX 42HX 43HX E NUMBER Note 3 BUSHING 3 62 477 6 05 6 73 7 62 5 61 8 04 10 56 91 95 121 16 153 67 170 94 193 55 142 5 204 22 268 23 Substitute L for X to specify 1125 1125 1125 1 125 1125 1 75 2 19 2 19 conduit connection 1 2 NPS B 31 75 31 75 31 75 31 75 31 75 44 45 55 63 55 63 5 0 375 0 375 0 375 0 5 0 5 0 625 0 625 0 75 Substitute M for X to specify 9 53 9 53 9 53 12 7 12 7 15 875 15 875 19 05 conduit connection PDG 11 Tap 32N L OR 121 16 102 11 SYSTEMS CONSTRUCTION 4X
17. PEN OPEN SWI IDLET IDLE CURRENT POSITION 4 DIGITAL ELECTRONIC DAMPING JUMPER POSITIONS REDUCTION CLOSED DISABLED IN CLOSED DISABLED OPEN ENABLED IN OPEN 0 1 SEC DELAY OUT CLOSED 0 05 SEC DELAY OUT OPEN 1 0 SEC DELAY OUT CLOSED OPEN CLOSED Figure C 15 C 22 Stepper Systems FUNCTIONAL ENHANCEMENT The 6415 microstepping oscillator drive is one of a full family of products adding enhanced functionality Additional Products 24 75 Vdc Input 6410 Step Motor Drive Step and direction input drive 6420 Indexer Drive RS232 RS485 programmable package mnemonic language 8 BDIO 120 240 Vac 50 60Hz Input 6430 Package 6410 drive with AC input 6435 Package 6415 oscillator drive with AC input 6440 Package 6420 indexer drive with AC input 6445 Package 6410 drive with Stepper Basic indexer and AC input functionality HOW TO ORDER Model 6415 recommended systems Order the 6415 accessories and motor as separate model numbers CATALOG MODEL NUMBER 6415 001 N N N Drive Type family Stepper Drive 6000 Power Level 7 1 A peak 5 Arms 24 75 Vdc Functionality Oscillator amp Motor Drive Customer Customization Number 001 indicates standard unit with no customization All others are factory assigned Cover Option N No Cover C Include Cover Heat Sink Option N No Heat Sink
18. S00 41HX HTLNK NS0O 5 0A 65V PER PHASE 5 0A 65V PER PHASE SPEED RPM SPEED RPM 0 600 1200 1800 2400 3000 TORQUE OZIN 0 0 00 0 1000 2000 3000 4000 5000 6000 SPEED FULL STEP SEC SPEED FULL STEP SEC Stepper Systems C 13 PERFORMANCE 2 5A RMS 65V PER PHASE 65V per phase 3 MOTOR ONE ROTOR STACK 3 MOTOR TWO ROTOR STACK E31NX LTLNN NS00 E32NX LTLNN NSOO E31NX LPLNN NS00 E32NX LPLNN NSOO 2 5A 65V PER PHASE 2 5A 65V PER PHASE SPEED RPM 1800 4 9 6 800 4 3000 54 3 53 2 83 Z 2122 g 1 41 g 0 71 0 0 00 0 0 00 0 2000 4000 6000 8000 10000 0 2000 4000 6000 8000 10000 SPEED FULL STEP SEC SPEED FULL STEP SEC 2 MOTOR TWO ROTOR STACKS E22NX LTLNN NSO0 E22NX LPLNN NSOO 2 5A 65V PER PHASE SPEED RPM 600 1200 1800 240 z T i 160 1 O z 120 08511 g s 0 56 e 40 028 0 9 00 0 2000 4000 6000 8000 10000 SPEED FULL STEP SEC C 14 Stepper Systems NEMA 23 34 AND 42 MECHANICAL CONFIGURATIONS REGULAR CONSTRUCTION FLYING LEAD HOOK UP 218 Note Substitute R for X for flying lead 55 THRU MOTOR LEADS EQUALLY SPACED ON 3 875 gai BC 7290 0005 5 00 2 9 53 0 013 i gt 002 0 051 As 06 vA NOTE 2875 002 1 52 N 4 LEAD MOT
19. also be selected through DIP switch settings see page C 10 the current is automatically reduced Current is restored to full amplitude upon arrival of a step command HEAT SINKS Heat can be removed from the rear of the drive cold plate mounting or from the side with an optional side mounted heat sink See the drawing on page C 10 Providing alternate methods for heat removal allows flexibility for system packaging The optional side mounted heat sink adds only 1 0 inch to the width FAULT PROTECTION Line to line and line to neutral shorts Internal power supply under voltage Bus overvoltage AGENCY APPROVAL UL recognized 508C Type R E137798 Meets CSA Standard C22 2 142 M1987 Meets IEC vibration standard 68 2 6 Stepper Systems C 7 8 Stepper Systems GENERAL Model 6410 Input Power Voltage Input Power Current Output motor phase current Outputs Step Size 2252 Rees Idle Current Reduction DIGITAL ELECTRONIC DAMPING Protection Mechanical Dimensions Weight Connectors Power Supply Motor 24 Vdc to 75 Vdc Motor and load dependent Usually lt motor phase current See Figure C 4 page C 10 5 Arms max 5 A peak full step 7 1 A peak microstepping Adjustable from 0 625 to 5 Arms in
20. aximum Chassis Temperature Note For optimal thermal performance mount the 6415 chassis back or side to a cooling plate or heatsink Use a thermal pad or grease if surface is irregular A fan or idle current reduction may be employed to keep chassis below 60 C Convection Cooling 6415 not mounted on cooling plate With optional heat sink Full rating SA at 25 C Ambient 2 5A max at 45 C Ambient Without optional heat sink 2 5 max at 25 C Ambient 1 25A max at 45 C Ambient See chart below for plot of drive power dissipation vs output current 10 to 90 non condensing Humidity Range DIMENSIONS Model 6415 DRIVE POWER DISSIPATION CHART mm dimensions for ref only g 25 e 20 H 154 W OPTIONAL i HEAT SINK E Ej LED 1p eO I D625 125 1875 25 3 125 375 4375 50 AMPS RMS M EI TE A a a 6415 OSCILLATOR DRIVER gt lt 1 0 2 5mm Figure C 5 C 18 Stepper Systems DIMENSIONS Model 6415 mm dimensions for ref only 77 0 04 5 4 30 109 2 mm CLEARANCE FOR M4 or 6 32 SCREW 0 04 1 50 38 1 m
21. ee Figures C 10 and C 11 page C 21 Also controllable with internal or external pots 10 Vdc 20 KQ differential amp Run Speed Control 8 KHZ to 500 KHZ Low Speed Control 8 KHz to 370 KHz Run Speed Control 4 KHz to 250 KHz Low Speed Control 4 KHz to 180 KHz 19 of full scale typical Exponential Accel Pot Fully CW 0 4 sec single time constant Accel Pot Fully CCW 0 4 msec single time constant Linear Decel Pot Fully CW 1 4 sec Decel Pot Fully CCW 6 0 msec 4 KHz maximum high frequency range 2 KHz maximum low frequency range Steps below this frequency are inhibited to insure no movement at end of decel ramp This functionality can be disabled by inserting jumper E5 Note Motor rpm 0 3 Freq Hz step size For example If frequency 500 KHz and step size 125 rpm 1200 Optically isolated TTL compatible See Figures C 8 and C 9 page C 20 100 KQ input impedance 8 Vdc full scale 50 ma max 9 25 deg C ambient 25 ma max 50 deg C ambient See Figure C 9 page C 20 100 ma max 9 25 deg C ambient 50 ma max 9 50 deg C ambient max reverse voltage 50 Vdc See Figure C 15 page C 22 Set using 3 positions of DIP switch and decimal jumper Note Binary values are in Bold Step Size Steps per Revolution Maximum RPM 1 8 motor Full 1 2 200 400 12000 12000 1 2 1 4 400 800 12000 12000 1 5 1 8 1000 1600 1 10 1 16 1 25 1 32 1 50 1 64 2000 3200 5000 6400 10000
22. g speed command is derived from one of the following sources depending upon the E1 and E3 jumper configurations Internal RUN SPEED potentiometer E1 1 2 and 1 2 installed Default External potentiometer E1 3 4 installed e External analog input E1 5 6 and 1 2 installed External analog input scaled fine tuned by internal RUN SPEED potentiometer E1 1 2 and 3 4 installed The LOW SPD input can change at any time The speed oscillator frequency will not change instantly but will ramp to the newly selected speed at a rate controlled by the ACCEL or DECEL potentiometers depending upon whether the speed magnitude is increasing or decreasing Figure C 12 shows the velocity wave form in a typical application where the high speed is selected when the RUN input is pulsed and latched Near the end of the motion profile low speed is selected to insure a short and precise stopping distance when the STOP input is pulsed Adjustment Potentiometers Figures C 12 and C 13 show the typical velocity pulse frequency profile in response to a separate RUN STOP or with a single RUN STOP and RUN LOW commands Adjustments for RUN SPEED LOW SPEED ACCEL RAMP and DECEL RAMP are made with 4 multi turn potentiometers LOW SPEED is typically set lower than RUN SPEED to allow for accurate stopping It can also be used as a second RUN SPEED ACCEL RAMP is typically set to minimize time to reach RUN SPEED without allowing
23. m 0 04 1 10 27 9 mm LED 1 0 02 RUN SPEED 4 75 120 7mm AccELRAMP CUSTOMER MTG 0 04 5 00 127 0 mm DECEL RAMP LOW SPEED 6 DRIVER 0 02 0 75 19 1 mm CUSTOMER MTG 0 02 2 75 69 9 mm OPTIONAL SIDE MTG Figure C 6 CONNECTION DIAGRAM Model 6415 J4 J1 STEP OUT 13 4 STEP_OUT 25 STEP OUT 15 STEP_OUT 24 2 ENABLE 44 5 USED ENABLE 23 SCIENTIFIC 6 DIR 40 7 645 2 STOP g 9 STOP g OSCILLATOR t RUN g J2 DRIVE 20 DC 5 LOW SPD 7 1 LOW SPD ia 2 Lses Unregulated ANALOG INPUT 6 24Vdc to 75Vdc ase ANALOG_INPUT 18 3 GNDA 5 2 GNDA 17 J3 GNDA 4 1 Phase GNDA 16 2 Phase A EXTERNAL 4 8V REF OUT Phase B PU 15 3 2Phase 48V REF OUT a D Stepper 2 PhaseB 5 48V REF OUT 14 4 Motor INPUT MON 4 5 Case GND Figure C 7 Connection Diagram Stepper Systems 19 DIGITAL INTERFACE CIRCUITRY Model 6415 Run Run Stop Stop USER S 6415 CONTROL J4 STEPPER Separate Latched Inputs ELECTRONICS DRIVE E4
24. may also be adjusted via an external potentiometer or an analog input Motion is controlled from a single or two independent Run Stop inputs A Min Speed threshold allows no drift at zero speed The step outputs will drive up to four slaves synchronously FAULT PROTECTION Line to line and line to neutral shorts Internal power supply under voltage Bus overvoltage AGENCY APPROVAL UL recognized 508C Type R E137798 Meets CSA Standard C22 2 142 M1987 Meets IEC vibration standard 68 2 6 GENERAL Model 6415 Input Power Voltage Input Power Current Output motor phase current Run Speed Control Analog Input Impedance High Frequency Range Low Frequency Range Run Speed Low Speed Stability Over Temp Range Accel Ramp Decel Ramp Min Speed Inputs Outputs VCO Input Monitor 8 V Ref Out Step OU a deer e Step SiE crede dae Idle Current Reduction DIGITAL ELECTRONIC DAMPING Protection sess cn dk fem Mechanical Dimensions Weight 24 Vdc to 75 Motor and load dependent Usually lt motor phase current See Figure C 15 page C 22 5 Arms max 5 A peak full step 7 1 A peak microstepping Adjustable from 0 625 to 5 Arms in 0 625 amp increments Analog input range S
25. ncy at a rate controlled by the pus MN DECEL potentiometer DIRECTION INPUT 7 EXTERNAL STEP PULSE DIRECTION DATA The step pulse output from the VCO is available on OVER THIS INTERVAL J4 12 J4 13 J4 24 and J4 25 This can be connected to up to four additional 6410 drives ENABLE pe OMB 2 8V REV_our 4 2 The drive is enabled unless the Enable opto is 72701 driven However this functionality be reversed by installing Enable sense Jumper J6 5 6 so that the Figure C 8 Interface Circuits STEP opto must be driven to enable the drive STEP OUT IN I 4 12 ENABLED LED qm 6A LED is lit when drive is enabled A fault is indicated if 25 the drive is commanded enabled but the LED is not OTHER lit 64108 Figure C 9 SIGNAL INPUT REQUIREMENTS Input Min Input Current Max Input Current Max Reverse Voltage Opto ON J4 19 J4 7 Low Speed 3 0 ma 4 6ma 5 volts J4 22 J4 10 Direction 3 0 ma 4 5ma 5 volts J4 23 J4 11 Enable 3 0 ma 4 5ma 5 volts J4 20 J4 8 Run 3 0 ma 4 5ma 5 volts J4 21 J4 9 Stop 3 0 ma 4 5ma 5 volts C 20 Stepper Systems ANALOG INTERFACE CIRCUITRY Model 6415 LOW_SPD LOW_SPD This optically isolated input selects the source of the analog speed command With the LOW_SPD opto on J4 7 Low the analog speed command is derived from the LOW SPEED potentiometer With the LOW_SPD opto off J4 7 High the analo
26. otentiometers External customer potentiometer Customer supplied 10Vdc analog input Optional heat sink The Pacific Scientific 6415 is an economical high performance microstepping drive with an integral oscillator The card is packaged with the highly popular 6410 drive and thus incorporates its many valuable features such as high resolution microstepping 200 to 51 200 steps per revolution for smooth operation through resonance regions mid range Digital Electronic Damping single supply operation output current adjustment and idle current reduction The 6415 contains a stable wide range voltage controlled oscillator VCO which provides step pulses to the drive card There are two frequency ranges customer selectable by a jumper Its compact size of 1 5 W x 5 H x 4 3 deep requires only 7 5 square inches of panel space TYPICAL APPLICATIONS Clutch Brake Replacement Labeling Machines Packaging Speciality Machinery Smart Conveyor Systems Semiconductor Wafer Polishing Constant Speed Applications MICROSTEPPING Microstepping assures smooth low speed operation smoother operation through resonance regions and optimum system resolution Resolution with 1 8 motors is adjustable to 50 000 steps per revolution with decimal step size selected and to 51 200 with binary step size selected See the Step Size table on page C 17 The 6415 switches to full step operation above 150 RPM FULL TORQUE AT ALL SPEEDS A patented Digi
27. ounted so as not to exceed 60 C 60 C Note For optimal thermal performance mount the 6410 chassis back or side to a cooling plate or heatsink Use a thermal pad or grease if surface is irregular A fan or idle current reduction be employed to keep chassis below 60 C 6410 not mounted on cooling plate Full rating 5A at 25 C Ambient 2 5A max at 45 C Ambient 2 5A max at 25 C Ambient 1 25A max at 45 C Ambient See Figure C 1 below for plot of drive power dissipation vs output curren t 10 to 90 non condensing POWER DISSIPATION VS OUTPUT CURRENT 30 T WATTS 25 20 0 625 125 1 875 2 5 3 125 3 75 4 375 5 0 AMPS RMS Figure C 1 Power Dissipation vs Output Current CONNECTION DIAGRAM UNREGULATED POWER SUPPLY 24 Vdc TO 75 Vdc m GROUND EARTH USER S CONTROL ELECTRONICS Figure C 2 STEP DR ENABLE NOT USED _ DIR ENABLE Connection Diagram ENABLED COLLECTOR ENABLED EMITTER Ji c 2 6410 Imc J2 q pe Mnus DC PLUS 2 EARTH GROUND J3 e MOTOR PHASE A MOTOR PHASE 8 3 MOTOR PHASE 4 MOTOR PHASE B 9 E MOTOR GROUND TWO PHASE SYSTEM MOTOR STEPPER MOTOR MS
28. pper Systems NEMA 23 34 AND 42 MECHANICAL CONFIGURATIONS REGULAR CONSTRUCTION FLYING LEAD HOOK UP 218 Note Substitute R for X for flying lead 5 THRU 5 46 38 MOTOR LEADS EQUALLY SPACED 3 875 98 43 B C ayso 7200 0005 g 2905 9 53 0 013 002 A 06 H NOTE 2 875 002 1 52 JN 4 LEAD MOTORS 18 AWG 73 025 0 51 08 ana pes 457 minimum 22 2 MODEL NUMBER 2HNX 21NX 22NX 31NX 32NX 33NX 33HX 34HX A 1 56 2 06 3 06 2 58 3 76 5 06 5 33 6 58 39 63 52 33 77 73 65 54 95 51 128 53 135 39 162 14 0 81 0 81 0 81 1 25 1 25 1 25 1 25 1 25 B 20 57 20 57 20 57 31 75 31 75 31 75 31 75 31 75 D 0 25 0 25 0 25 0 375 0 375 0 375 0 5 0 5 6 35 6 35 6 35 9 53 9 53 9 53 12 7 12 7 SPLASHPROOF CONSTRUCTION 218 4X THRU 5 46 Note Substitute L for X to specify conduit connection 1 2 NPS Tap Substitute M for X to specify conduit connection PDG 11 Tap 71 18 04 OPTION ONLY Note termination EQUALLY SPACED ON ao 2875 98 43 2X 45 g 3750 9 53 0 013 1 002 F
29. s adding enhanced functionality ADDITIONAL PRODUCTS 24 75 Vdc Input 6415 Oscillator Drive 0 10 Vdc input or on board potentiometers 6420 Indexer Drive RS232 RS485 programmable package mnemonic language 8 BDIO 120 240 VAC 50 60HZ INPUT 6430 Package 6410 drive with AC input 6435 Package 6415 oscillator drive with AC input 6440 Package 6420 indexer drive with AC input 6445 Package 6410 drive with Stepper Basic indexer with AC input HOW TO ORDER Model 6410 recommended systems Order the 6410 accessories and motor as separate model numbers CATALOG MODEL NUMBER 6410 001 N N N Drive Type OMEN Stepper Drive 6000 Power Level 7 1 A peak 5 A rms 24 75 Vdc Functionality Motor Drive Module Customer Customization Number 001 indicates standard unit with no customization All others are factory assigned Cover Option N No Cover C Include Cover Heat Sink Option N No Heat Sink H Include Heat Sink Connector Kit Option N No Connector Kit K Include Connector Kit NOTE Standard drive includes Data Sheet Manual Design Guide ordered separately 6410 Accessories Order in accordance with the following model number codes Part No Description CV6410 Cover includes fastening screws HS6410 Heat Sink includes fastening screws CK6410 Connector Kit includes all mating connectors 9 pin D
30. shell and Phoneix Connectors for J3 motor Phoneix p n MC 1 5 5 ST 3 81 and J2 DC input MC 1 5 3 ST 3 81 MA6410 User Manual Design Guide SPC XXX 6410 With control connector and motor MS connector Four conductor shielded wire plus ground In place of XXX specify length in even one foot increments from 001 to 050 feet Consult factory for longer lengths SPC CO XXX Motor Power Cable Only Four conductor shielded wire plus ground In place of XXX specify length in even one foot increments Stepper Systems C 11 SYSTEM RATINGS AND CHARACTERISTICS 65V per phase Model 6410 with recommended E Series motors See E Series motors NEMA 34 3 4 and NEMA 42 4 2 page C 15 Holding A Rated Drive Torque Peak Speed at Motor Current 2 phases on Detent Rotor intertia Shaft Peak OD Model Number Phase ox in Nm Torque oz in S2 Weight Power Power in amps DC 10 oz in Nm kgm2 x 103 Ibs kg watts RPM Maximum torque at low speed see plot T in performance curve 3 4 E31NX HTLNN NS500 5 0 319 2 25 21 5 0 15 0 0083 0 051 3 2 1 45 155 1350 3 4 E32NX HTLNN NS500 5 0 638 4 51 41 6 0 29 0 0170 0 102 5 3 2 41 160 750 3 4 E83NX HTLNN NS500 5 0 958 6 77 69 3 0 45 0 0250 0 155 7 6 3 45 175 600 3 44 5500 5 0 1222 8 63 83 0 0 59 0 0350 0 217 9 7 4 41 175 450 3 4 E41HX HTLNK NS500 5 0 1284 9 07 58 0 0 41 0 0800
31. tal Electronic Damping circuit ensures the availability of full motor torque at all speed ranges This compensation damps motor oscillations common with stepper systems Whether in the full step or microstepping mode full motor torque is achieved throughout the speed range Holding torque range 158 1284 ox in 1 12 to 9 07 Nm HIGH EFFICIENCY BIPOLAR CHOPPING Patented 4 phase PWM chopping electronically controls the motor winding currents at 20 Khz frequency This combines the best of recirculating and nonrecirculating current regulation to provide high back EMF rejection with low ripple current The benefits include reduced heat dissipation low electrical noise and improved current control during dynamic braking The patented 4 phase control circuit combined with Digital Electronic Damping provides significantly more motor output power than from other drives IDLE CURRENT REDUCTION This useful function permits an automatic 5096 reduction in motor winding current during motor idle conditions to minimize heating during dwell periods If no step commands have been received for 0 1 second 0 05 and 1 0 seconds can also be selected through DIP switch settings see page C 22 the current is automatically reduced Current is restored to full amplitude upon arrival of a step command CONTROL FUNCTIONS The 6415 has four potentiometers on board to control low speed high speed exponential accel and linear decel rates Speed
32. the motor to stall The DECEL RAMP is linear and stable allowing a more precise repeatable stopping position 44 6415 15 8V_REF_OUT USER S gt 10K 3 EXTERNAL POT lt 2 gt 1 MEG OHM 16 GND A Figure C 10 J4 6415 16 2K N USERS SIGNAL 2 SOURCE ANALOG INPUT 10K 10K AV 10K 10K 18IANALOG INPUT DA lt 16 2K 0 01UF 57 Figure 11 DECEL RUN SPEED m ACCEL yua RAMP RAMP N y LOW SPEED MIN SPEED 0 RUN Oras 2 ahah eee E eee T LOW_SPD DTP LOW STOP Figure 12 RUN SPEED ACCEL DECEL RAMP RAMP MIN SPEED 5 5 RUN 0 Figure C 13 Stepper Systems C 21 DIP SWITCH S1 SETTINGS Model 6415 OSCILLATOR UPPER BOARD factory defaults are in bold Oscillator Board 1 IMPR swt i SISTISTS 25 aoalelelao ide Vi Side View 6415 E z l ulz es g B E2 Frequency Range B E8E7 IN LOW FREQUENCY 1 OUT HIGH FREQUENCY P E4 RUN STOP Control Uto IN SEPARATE INPUTS N p OUT SINGLE INPUT N gt E4 N E5
33. timum system resolution Resolution with 1 8 motors is adjustable to 50 000 steps per revolution with decimal step size selected and to 51 200 with binary step size selected See the Step Size table on page C 8 The 6410 switches to full step operation above 150 RPM FULL TORQUE AT ALL SPEEDS A patented Digital Electronic Damping circuit ensures the availability of full motor torque at all speed ranges This compensation damps motor oscillations common with stepper systems Whether in the full step or microstepping mode full motor torque is achieved throughout the speed range Holding torque range 158 1284 ox in 1 12 to 9 07 Nm HIGH EFFICIENCY BIPOLAR CHOPPING Patented 4 phase PWM chopping electronically controls the motor winding currents at 20 Khz frequency This combines the best of recirculating and nonrecirculating current regulation to provide high back EMF rejection with low ripple current The benefits include reduced heat dissipation low electrical noise and improved current control during dynamic braking The patented 4 phase control circuit combined with Digital Electronic Damping provides significantly more motor output power than from other drives IDLE CURRENT REDUCTION This useful function permits an automatic 5096 reduction in motor winding current during motor idle conditions to minimize heating during dwell periods If no step commands have been received for 0 1 second 0 05 and 1 0 seconds can
34. um torque at low speed see plot T in performance curve 3 4 E31NX HTLNN NSOO 5 0 319 2 25 21 5 0 15 0 0083 0 051 3 2 1 45 155 1350 3 4 E32NX HTLNN NSOO 5 0 638 4 51 41 6 0 29 0 0170 0 102 5 3 2 41 160 750 3 4 E33NX HTLNN NSOO 5 0 958 6 77 69 3 0 45 0 0250 0 155 7 6 3 45 175 600 3 4 ES34HX HTLNK NS00 5 0 1222 8 63 83 0 0 59 0 0350 0 217 9 7 4 41 175 450 3 4 E41HX HTLNK NS00 5 0 1284 9 07 58 0 0 41 0 0800 0 496 14 0 6 36 177 450 Maximum torque at HIGH speed see plot P in performance curve 3 4 E32NX HPLNN NS00 5 0 474 3 35 41 6 0 29 0 0170 0 102 5 3 2 41 240 1650 3 4 E33NX HPLNN NSOO 5 0 711 5 02 69 3 0 45 0 0250 0 155 7 6 3 45 260 1200 3 4 E34HX HPLNK NSOO 5 0 948 6 69 83 0 0 59 0 0350 0 217 9 7 4 41 240 900 Model 6415 with recommended E Series motors 65V per phase See E Series motors NEMA 23 2 3 and NEMA 34 3 4 page C 27 Holding A Rated Driver Torque Peak Speed at Motor Current 2 phases on Detent Rotor intertia Shaft Peak OD Model Number Phase ox in Nm Torque oz in S2 Weight Power Power in amps DC 10 oz in Nm kgm2 x 103 Ibs kg watts RPM Maximum torque at low speed see plot T in performance curve 23 E22NX LTLNN NSOO 2 5 225 1 59 9 6 0 07 0 0031 0 019 2 1 0 95 54 1650 3 4 E31NX LTLNN NS00 2 5 319 2 25 21 5 0 15 0 0083 0 051 3 2 1 45 75 600 3 4 E32NX LTLNN NSOO 2 5 638 4 51 41 6 0 29 0 0170 0 102 5 3 2 41 80 450 Maximum torque at HIGH
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