T161 Series Rack Mount Digital Brushless Motor Controller
Contents
1. North American Drives Operations Moog Inc East Aurora NY 14052 0018 Telephone 716 655 3000 Fax 716 687 4870 Toll Free 1 800 272 MOOG 500 281 2982. 2 amp amp amp 268 6 8 B A I Pr 10 47 30 266 0 11 60 MIN 762 7 50 279 4 Q 1 30 5 B D 2s 92 RS id 63 5 gt 400 E 578 37 J 1 P E a 1 75 MAX MEE i FAN piem AIR 1 1 FLOW 44 5 3 PLACES y lt 16 80 426 7 gt 312 7 9 2 Ea gt lt 18 11 460 0 gt 19 00 482 6 gt TERMINAL 1 TERMINAL 1 9 Br TERMINAL 1 O H D Eben i Si D D X9 TERMINAL 1 XB4 4 i TERMINAL 1 X5 N 1 0 424V EXT BRAKE POWER QC P 2 O 24V EXT J SUPPLY OPTION LER E S d 1 TERMINAL 1 3 24V EXT DC EXT LOGIC T I 4 o 24V EXT POWER OPTION R Bm B 5 O RLY PIN 1 PWR SPLY TE E Em VIEW 6 o RIYPIN2 OKH H 70 Te B 8 45V H o H 9 o 9 O 151 X86 556 e 10 0 15V 11 0 ANALOG GND 12 o DIGITAL GND 13 6 RLY PIN 1 SYSTEM READY 5 AA TEN 15 GROUP AUTOMAN MODE OPTION 1 O BRAKE AXIS 2 O RLY PIN2 OKO H 2 o BRAKE BRAKE OPTION 7 3 ANLG TP OUTPUT 3 jd 40 DC CURRENT MONITOR 4o df 1 o DC BUS 5 O ANLG GND 5 o C MOTOR G BUS 6 0 CW LIMIT SW 6 o
3. B MOTOR 7 CCW LIMIT SW 7 0 A MOTOR 80 4 9 o MODE A AN 100 DRIVE ENABLE NOTES 5 ESM d ud 1 0 SIN 12 0 TORQNEL SELECT N SYSTEM READY IS A 1 0 ESM SPLY 2 O 1 MOT THRM 130 EXT V FAULT INDICATOR FOR THE 8 3 o COS 14 0 EXT GND POWER SUPPLY AND ANY OF 4 O y 4 O REF 15 0 RLY PIN 1 THERM LIM THE 6 CONTROLLER AXES OPTION 7 pB 5 0 DGND 160 RLY PIN2 ACT A 3 O Bj 6 o SIN 17 o TORQUE LIMIT THESE CONNECTORS ARE IDENTICAL 6 O MARKER 7 77 SHLD 180 TORQUE LIMIT FOR EACH OF THE 6 CONTROLLER AXES 2 O MARKER 8 0 COS 190 REF IN EX FOR AXIS A 1 XA1 Ban 9 o DGND REF 20 0 REF IN FOR AXIS B 1 XB1 Unless otherwise specified dimensions in brackets in millimeters OCS
4. 55 ambient Weight 5 0 165 2 3 kg 901 902 903 7 6 165 3 5 kg 904 NOTE Fan tray minimum 300 C F M 8 49 Cubic Meters Minute Total Required at 2 0 Inches Water Column 469 kPa Refer to installation drawing for fan installation specifications Unless otherwise specified dimensions in brackets are in millimeters TOP BOTTOM CONNECTION BACKPLANE INSTALLATION 2 3 i 1 2 3 m Ej reum EE er 1 75 95 44 5 g 9 e go amp 1 amp _ 268 V 6 8 Wu 10 47 DEPTH 3 00 Een 11 60 MIN 76 2 7 50 2794 190 5 2 25 63 5 Y Y VL 1 49 37 8 v 3 5 3 PLACES NRROW lt gt lt 16 80 426 7 gt 312 7 9 gt lt 18 11 460 0 gt LLL MET 19 00 482 6 gt P X54 yA doo 7 1 O 424V EXT BRAKE POWER 1 O RLY PIN f AXIS XM 2 O 01 5ogyAG 2 O 04 EXT SUPPLY OPTION 2 O RLY
5. PIN2 OK 4 H c P mco 3 0 2 60 60 Hz 3 0 424V EXT DC EXT LOGIC 3 O ANLG TP OUTPUT Os 4 0 24V EXT POWER OPTION 4 DC CURRENT MONITOR 5 0 7 5 O RLY PIN 1 PWR SPLY 5 O ANLG GND 6 O RLY PIN2 OK 2 6 O CW LIMIT SW Ec CpNLMIT SW 1 0 PIN f a X52 8 0 9 2 O PIN 2 REGEN DTE 9 AUTO MAN MODE 1234587 p 100 7 DRIVE ENABLE X51 9 o 15V AAA A A A AA X6 10 o 15V X45 2 2N 8910 11 12 13 14 15 E cadis rie Re RED 1 1 PI CANBUS 41 0 ANALOG GND if 3 Hn 2 AE AAA 8 12 per DIGITAL GND 12 VEL ELE T 11 vo S TU TEUT h 20 21 5 CANBUS 13 o RLY PIN 1 Durs READY 1 TORQVELSELEC XAS 3 um RS485 14 0 RLY PIN2 4 OPTION 13 o EXT V DNA 15 GROUP AUTO MAN MODE OPTION 14 o1 EXT GND Ie 15 RLY PIN 1 EM LIM 6 0 XP _ X9 16 O RLY PIN2 7 ACT 4 NOTES 8 o DCBUS 120 qo 20100 2 JIN SYSTEM READY IS A pus Ue 3 3 o fj Deque FAULT INDICATOR FOR THE opum POWER SUPPLY AND OF 21 0 ESM AN VEL OPTION PAX y A IPS THE 6 CONTROLLER AXES OPTION Tra 222 VEXT 5221 1 O CANBUS 5 o ESM Posso aA 2 THESE C
6. MOOC T161 Series Rack Mount Digital Brushless Motor Controller CONTROLLER AND POWER SUPPLY SYSTEM FEATURES Microprocessor Based Standard Euro Rack 6U 19 Inch Rack 2 3 4 or 6 Axes Backplanes Simple Set Up and Tuning with Hand Held Terminal PC Set Up via WinDrive Graphical User Interface Software or MOOGTERM Software RS232 RS485 Serial Port Compact Size Phase or 3 Phase Operation Direct 220 VAC Line Operation Custom Configurations Available Consult Factory CONTROLLER FEATURES Sinusoidal Three Phase Drive Built In Heat Sink Programmable Velocity or Current Control Diagnostics Function Generator for Tuning Resolver Based System Quick Change Modular Construction Extended Function Card Option Programmable Encoder Simulator Programmable Analog Test Points Configuration Stored In Non Volatile Extended Function Card Optional Encoder Simulator SPECIFICATIONS EXTENDED CARD Width Height Depth 6 901 161 902 T161 903 10 35 in 262 9 3 60 in 9 1 44 10 35 in TI l 904 2629 CONTROLLER PROTECTION Watchdog Timer Power Supply Fault Monitor Over Current Short Circuit Motor Temperature Controller Overtemperture Feedback Loss Commutation Fault Logic Voltage Output Ratings rms 39 fo EN 40 0 12 0 Switching Frequency OKHz 001 002 5KHz 003 004 Operating Temperature 0
7. ONNECTORS ARE IDENTICAL 2 O CANBUS 1 ESM 72 FOR EACH OF THE 6 CONTROLLER AXES 3 o RS485 3 o C08 d occ BRAKE AXIS R8485 REF 2 BRAKE OPTION EX FOR AXIS A X 1 XA1 B B 5 o DGND FOR AXIS B 1 1 6 o 7 3 o Bl 6 SIN 4o gf 7 o NC 6 o MARKER 7 o SHLD 5 o A MOTOR WHEN USING MULTIPLE RACK SYSTEMS 8 o NC 2 MARKER 8 o COS 6 o B MOTOR REFER TO USER MANUAL FOR PROPER 9 o 9 o 7 9 REF 7 o C MOTOR RS 485 TERMINATIONS OI Unless otherwise specified dimensions p in brackets are in millimeters REAR CONNECTION BACKPLANE INSTALLATION 1o gj 2 O soio 4 0 03 Borm qn X4 1 o PIN 1 220VAC 50 60 Hz EXT 90 2 0 PIN2 REGEN NC 1 o CANBUS 2 O CANBUS 3 O RS485 4 O R 485 VEN 70 6 O m FAN S 220 VAC 50 60 Hz
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