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1. Parameter Symbol Units N0701 N0702 or N0341 or N0342 Winding Selection D F E F Stall Torque Continuous T Ib in 5 8 10 6 N m 0 65 1 20 Stall Current Continuous I amperes rms 2 92 4 56 3 36 4 67 Rated Speed o rpm 4850 7500 3025 4380 Peak Torque Ts Ib in 17 3 32 0 N m 1 96 3 62 Peak Current rms liz amperes 8 8 13 7 10 1 14 0 Torque Rated Speed Ty Ib in 4 6 4 7 8 6 8 6 N m 0 52 0 53 0 97 0 97 Rated Power Output Shaft P watts 265 415 309 447 Voltage Constant K X volts radian sec 0 221 0 14 0 353 0 253 Voltage Constant K volts KRPM 23 11 14 67 36 97 26 52 Torque Constant K Ib in amp rms 1 95 1 24 3 12 2 24 N m amp rms 0 22 0 14 0 35 0 25 Resistance R ohms 5 52 2 27 5 22 2 7 Inductance L millihenries 12 98 5 23 15 86 8 16 Thermal Resistance C watt 1 44 1 15 Motor Constant Km Ib in Vwatt 0 83 0 82 1 37 1 36 N m Vwatt 0 09 0 09 0 15 0 15 Viscous Damping B Ib in Krpm 0 0438 0 050 N m Krpm 0 0050 0 0056 Torque Static Friction T oz in 1 4 2 1 N m 0 010 0 015 Thermal Time Constant Th minutes 45 45 Electrical Time Constant t milliseconds 2 35 3 03 Mechanical Time Constant t milliseconds 1 3 0 77 Rotor Inertia J lb in sec 0 000106 0 000173 kg m x 105 12 0 19 5 Weight pounds 3 54 4 53 kg kilograms 1 47 2 05 Winding Class H H 1 9 25 C ambient with 10 x 10 x 0 25 in aluminum mounting plate 90 C encoder temperature RMS current line to line six state commutation 3 10 line to
2. L t 4 _ g Final Value 3 V R amps y I 3 p _ R Time Time Higher inductance slows Lower inductance allows current rise time faster current rise time Inductance Controls Rise Time This circuit consists of a battery an inductor a resistor and a switch When the switch is closed current begins to flow in the circuit The final value of the current depends on the voltage of the battery V and the size of the resistor R Its value is 84 OEM670 OEM675 Special Internal Circuits Ifinal V R amps How long until the current reaches this final value The rise time is determined by the size of the inductor The inductor opposes the change in current flow A large inductor will cause slow rise times A small inductor will allow much faster rise times This circuit although quite simple is actually very similar to the OEM670 OEMO795 s current feedback loop which is redrawn below Vsupply CONTROL CIRCUITRY POWER O R Ww STAGE esponse Torque Resistor Command Motor Inductance Current Feedback Signal Vp Sense Resistor 0 030 Inductance in Feedback Loop Compare this circuit to the simple circuit with a battery switch inductor and resistor In this circuit the battery has been replaced with a power supply the switch has been replaced by the power stage the inductor has been replaced by the motor inductance and the resistor has been replaced with a se
3. RPM rps NO702E NO342E with OEM670 OEM675 N m oz in 3 81 500 3 05 400 a 2 28 300 e 1 52 200 0 76 100 8 7 25 33 42 Speed RPM rps NO701F NO341F with OEM670 OEM675 N m oz in R EIS E eal 1 52 200 LP LN 1 14 150 EPA ae 0 76 100 0 38 so 150W Ll LIEN PNY 50 9 1000 2000 3000 4000 5000 17 33 50 67 83 Speed RPM rps NO702F NO342F with OEM670 OEM675 N m oz in 8 81 500 8 05 400 2 28 300 1 52 200 0 76 100 LN 95 500 1000 1500 2000 2500 3000 8 17 25 83 42 50 Speed RPM rps Peak Regeneration Curves NeoMetric Motors On each of these charts there is a straight line corresponding to zero watts This is where 2avT In areas to the left of this line copper losses are always greater than shaft power and the power supply must always provide power In other words for any move to the left of this line the power supply will not receive regeneration energy from the system because copper losses will be greater than negative shaft power Example An SM232B motor performs a trapezoidal move It slews at 50 rps and decelerates at 100 rps with a torque of 75 oz in 0 53 Nm Does the power supply receive regenerated energy If so how much The motor has a torque constant kr 0 169 Nm A and a resistance R 2 01 ohms 142 OEMG670 OEM675 Power Supply Selection Using the regeneration
4. 1 UNDERDAMPED RESPONSE Use a higher value than the resistor you have chosen 1 OVERDAMPED Use a lower value than the resistor you have chosen We will discuss each of these options below and show a method for viewing response waveforms on an oscilloscope Optimum Response If your system has an optimum response with the resistor you have chosen no further adjustments are necessary Underdamped Response To optimize if your system is underdamped use a resistor 89 Special Internal Circuits OEM670 OEM675 whose value is larger The increased resistance will reduce the gain of the error amplifier and diminish the signal that goes into the PWM circuit Consequently the power stage will be on for a shorter period of time current rise will be slowed and damping in your system will be increased Overdamped Response To optimize if your system is overdamped use a resistor whose value is smaller With less resistance the error amplifier s gain will be higher a larger signal will reach the PWM circuit and the power stage will stay on longer More current will flow which will cause a faster current rise The system will have less damping and will respond more quickly A Graphical Representation The next drawing provides a visual summary of effects you can expect from changing either the motor inductance or the response resistor Arrows on the left side of the drawing show the effects of changing the motor induct
5. SMALL VOLTAGE RIPPLE The output voltage ripple is small and at a high frequency Therefore a relatively smaller output capacitor can be used for smoothing SMALL SIZE A switching supply will be much smaller than a linear supply of the same power rating EFFICIENCY Switching supplies are efficient they dissipate less power as heat than linear supplies FAST TRANSIENT RESPONSE Because a switching supply monitors its output it can quickly adapt its performance to provide changing amounts of power for changing load conditions Power supply transient response depends upon the supply s design Disadvantages of Switching Power Supplies a HIGH COST In most applications a switching supply 148 will cost more than a linear supply Depends upon power level and number of units ELECTRICAL NOISE Switching supplies produce electrical noise which may be transmitted to load equipment and power lines They may not be suitable for noise sensitive applications LESS RELIABLE Switching supplies are much more complex than linear supplies More components means that more things can go wrong Consequently the time before failure may be shorter for switching supplies LESS REPAIRABLE If a switching supply fails it usually can only be repaired by its manufacturer The OEM670 OEMG675 Power Supply Selection user probably cannot repair it and may need to replace the entire unit Regeneration and Switching Power
6. P peak 22W T T T The power supply must also provide power while the motor is slewing at constant velocity The equation for power during slew is 131 Power Supply Selection OEM670 OEM675 2 Ty Psi 2V stew f 47 R T You can use the peak power curves discussed in the previous section to predict the peak power and slew power that the power supply must provide Be sure that you include the friction torque in the appropriate places however The next example illustrates this Example Determine peak power and slew power that an SM232B motor will require Acceleration torque is 100 oz in 0 71 Nm Friction torque is 50 oz in 0 35 Nm The slew velocity is 2 000 rpm 33 rps Total torque during acceleration is 150 oz in 1 06 Nm the sum of acceleration and friction torque On the curves the intersection of 150 oz in and 2 000 rpm lies on the 300W line During slew the only torque present is friction torque At 50 oz in and 2 000 rpm the curves show that 80W is re quired The power supply must be capable of providing at least 330W peak and 88W continuous power these values include a 1096 estimation factor Gravity We can distinguish two distinct situations when gravity is involved in an application 1 Lifting a load against gravity 1 Lowering a load with gravity These situations must be analyzed separately When your system lifts a load gravity imposes a force down ward The motor must
7. especially at lower step frequencies where the diode switching speed is not as critical Indexer OEM670SD E Internal Connections me OEM675SD ES Step 14 I 4640 4640 j Step 3 I V2 Direction 15 5V 1 HCPL2631 Direction 4 ANS 4640 I Vx I 1 HCPL2631 Step amp Direction Inputs Specifications for the step and direction inputs are as follows 40 OEM670 OEM675 2 Installation Step Step pins 3 amp 14 Specifications Dir Dir pins 4 amp 15 Applied Voltage 5 V maximum Input Current 12 mA maximum 6 3 mA minimum Step Pulse 500 nsec minimum pulse width Setup Time Direction input may change polarity coincident with the last step pulse The direction input must be stable for 500 nsec before the drive receives the first step pulse You can use an input voltage higher than 5V if you install a resistor in series with the input to limit current to the range specified above Enable Input You must connect the enable input to ground before you power up the drive in order for the drive to be enabled This input is internally pulled up to 5V If you break the connec tion to ground while the drive is on the OEM670SD OEM675SD s fault circuitry will activate with these results 1 The drive will shut down power output to the motor QJ The motor will freewheel it may not stop immediately T The red Fault LED will be illuminated T The
8. 400 o 2 28 300 g e 1 52 200 0 76 100 00 500 1000 8 07 25 33 42 Speed RPM rps 1500 2000 2500 S NO701F NO341F with OEM670 OEM675 N m oz in 1 90 250 1 52 200 o 1 14 150 3 g 0 76 100 0 38 50 05 31000 2000 17 33 50 67 Speed RPM rps 3000 4000 5 NO702F NO342F with OEM670 OEM675 N m oz in 3 81 500 8 05 400 o 2 28 300 3 E P 1 52 200 0 76 100 0 500 1000 1500 2000 2500 3000 8 17 25 33 42 50 Speed RPM rps With 75VDC bus voltage 25 C 77 F ambient temperature Although speed torque curves are the same for the OEM670 and OEM675 the OEM670 s current compensation loop is optimized for NeoMetric slotted motors the OEM675 s current compensation loop is optimized for SM slotless motors We strongly recommend that you use the OEM670 with NeoMetric motors and use the OEM675 with SM motors This provides the optimum system transient response Motor Dimensions Compumotor SM160 and SM230 SM160 SM230 4x 20 218 5 537 0 78 4x 90 125 3 175 thru holes 87 thins holes equally dse equally spaced on a 72 89 os 91 838 46 685 bolt circle spaced on a 22 0 788 0 001 n 66 675 bolt circle 4 599 0 001 20 02 0 025 ee ___ 88 1 20025 0 2500 0 0000 30 sq 0 0005 0 0000 2 01 33 02 6 35 0 0000 Dimensions in inches 1 856 sq 0 2500 0 0005 51 05 __1
9. CHAPTER Special Internal Circuits The OEM670 OEM675 has several internal circuits that can protect the drive protect equipment connected to the drive or change the drive s performance characteristics Four of the built in circuits work automatically Their perfor mance cannot be changed or altered T Short Circuit Protection Undervoltage T Overvoltage CL Overtemperature Two of the circuits use removable resistors in sockets You can change these resistors to alter the circuit parameters CL Response Circuit 4 Current Foldback Circuit This chapter explains the performance of these circuits SHORT CIRCUIT PROTECTION The OEM670 OEM675 continuously monitors the current it sends to the motor If it detects excessive current it interprets the excessive current as a short circuit fault in the motor or cabling The OEM670 OEM675 disables its power output to the motor terminals Phase A Phase B and Phase C To show that a short circuit fault has occurred the drive illuminates the red LED turns off the green LED and causes the fault output pin 9 to go high Other power outputs Hall 5 15VDC 15VDC remain on 75 Special Internal Circuits OEM670 OEM675 The short circuit fault is a latched condition Latched means that the output will remain off until power is cycled To cycle power turn off the power to the drive wait approximately 30 seconds then turn on the power The other power
10. Voltage Constant K volts KRPM 8 27 4 29 15 39 8 17 Torque Constant K oz in amp rms 11 18 5 8 20 8 11 05 N m amp rms 0 079 0 041 0 147 0 078 Resistance R ohms 4 53 1 24 6 5 1 73 Inductance L millihenries 0 808 0 21 1 39 0 334 Thermal Resistance Ri C watt 2 75 2 67 2 0 2 01 Motor Constant Km oz in Vwatt 5 36 5 26 8 66 8 36 N m Vwatt 0 038 0 037 0 061 0 059 Viscous Damping B oz in Krpm 0 257 0 171 0 234 0 276 N m Krpm 0 002 0 001 0 002 0 002 Torque Static Friction ilis oz in 1 0 1 0 1 1 14 N m 0 007 0 007 0 007 0 007 Thermal Time Constant Th minutes 30 30 30 3 0 Electrical Time Constant t milliseconds 0 178 0 169 0 21 0 193 Mechanical Time Constant Tm milliseconds 9 2 9 4 5 6 2 Rotor Inertia J Ib in sec 0 000094 0 000094 0 000163 0 000163 kg m x 10 10 6 10 6 18 4 18 4 Weight L pounds 11 1 1 1 6 1 6 kg kilograms 0 50 0 50 0 73 0 73 Winding Class H H H H 1 9 25 C ambient with 10 x 10 x 25 in aluminum mounting plate 90 C winding temperature At 40 C ambient derate phase currents and torques by 12 With 500 ppr encoders For 1 000 ppr encoders derate to 6 000 rpm For higher speed operation please contact factory 10 line to line Peak value 30 line to line inductance bridge measurement 1 kHz Peak current for 1 second with initial winding temperature of 60 C or less All specifications are subject to engineering change oan o 63 9 Specifications OEM670 OEM675 Motor Specifications SM230
11. 0 16 0 15 Mechanical Time Constant Tn milliseconds 0 73 0 72 Rotor Inertia J Ib in sec 0 0000443 0 0000443 kg m x 10 5 0 5 0 Weight pounds 0 72 0 72 kg kilograms 0 327 0 327 Winding Class H H 1 25 C ambient with 10 x 10 x 25 in aluminum mounting plate 90 C winding temperature At 40 C ambient derate phase currents and torques by 12 With 500 ppr encoders For 1 000 ppr encoders derate to 6 000 rpm For higher speed operation please contact factory 10 line to line Peak value 30 line to line inductance bridge measurement 1 kHz Peak current for 1 second with initial winding temperature of 60 C or less All specifications are subject to engineering change oan o 62 OEM670 OEM675 Specifications Motor Specifications SM161 and SM162 Parameter Symbol Units SM161A SM161B SM162A SM162B Stall Torque Continuous Teg Ib in oz in 1 5 24 1 5 24 2 75 44 2 75 44 N m 0 169 0 169 0 311 0 311 Stall Current Continuous le amperes rms 2 1 4 1 2 1 4 0 Rated Speed o rpm 7 500 7 500 7 500 7 500 Peak Torque Tu b in oz in 4 5 72 4 5 72 8 2532 8 25432 N m 0 509 0 509 0 933 0 933 Peak Current rms Lie amperes 10 5 20 5 10 5 20 0 Torque Rated Speed T b in oz in 1 25 20 1 25 20 2 56 41 2 56 41 N m 0 141 0 141 0 290 0 290 Rated Power Output Shaft P watts 110 110 222 227 Voltage Constant K X volts radian sec 0 079 0 041 0 147 0 078
12. 100 kHz will produce the maxi mum signal of 10V The same encoder at 10 rps will produce a signal of 1V Encoder counts come slowly at low velocities which can cause the velocity monitor to show ripple at four times the line frequency resulting in a fat trace on the oscilloscope The next drawing shows typical connections to the velocity monitor Use pin 24 as a ground reference for your signal 45 Installation OEM670 OEM675 Oscilloscope Meter etc OEM670SD Internal Connections OEM675SD E 4 Signal Scaling 1V per 10 kHz Velocity Monitor 2 0 H oa encoder frequency O O pre quadrature O 1 Range OV to 10V max Oo O always positive O i Load 2 KQ min load 9 O l O O i O O f O 1 O 9 LI IN O Oso OOD Monitor Reference o IN Oso i O 1 I Velocity Monitor Output Connections Derivative Gain Reduction Input This input pin 5 can affect the derivative gain in the OEM670SD OEM675SD s internal feedback loop If no con nections are made to the input it leaves the gain unchanged If the input is connected to ground the drive gradually re duces derivative gain to a low value whenever motion stops When commanded motion starts again or if the motor shaft moves the drive instantly increases derivative gain to the value set by the derivative tuning pot See the Tuning section at the end of this chapter for more information The internal schematic for the input is
13. 25 3 52 0 52 0 Weight pounds 1 2 1 2 2 6 2 6 kg kilograms 0 54 0 54 1 18 1 18 Winding Class H H H H 1 25 C ambient with 10 x 10 x 25 in aluminum mounting plate 90 C winding temperature At 40 C ambient derate phase currents and torques by 12 2 With 500 ppr encoders For 1 000 ppr encoders derate to 6 000 rpm For higher speed operation please contact factory 10 line to line Peak value 30 line to line inductance bridge measurement 1 kHz Peak current for 1 second with initial winding temperature of 60 C or less All specifications are subject to engineering change o c o 64 OEM670 OEM675 Specifications Motor Specifications SM232 and SM233 Parameter Symbol Units SM232A SM232B SM233A SM233B Stall Torque Continuous Tee Ib in oz in 5 75 92 6 12 98 8 75 144 X 8 75 40 N m 0 650 0 693 1 08 0 989 Stall Current Continuous amperes rms 2 1 4 1 2 1 4 1 Rated Speed o rpm 4 500 7 500 2 800 7 500 Peak Torque Tu b in oz in 17 25 276 18 36 294 26 25 432 26 25 432 N m 1 95 2 08 3 05 3 05 Peak Current rms Lie amperes 10 5 20 5 10 5 20 5 Torque Rated Speed T b in oz in 4 87 78 5 12 82 8 37 134 7 12 114 N m 0 551 0 580 0 947 0 806 Rated Power Output Shaft P watts 260 450 277 505 Voltage Constant K volts radian sec 0 31 0 169 0 484 0 242 Voltage Constant K volts KRPM 32 45 17 69 50 6 25 33 Torque Constant K oz in amp
14. 5 A SM162A 205 KQ 5 1 MQ 450 KQ 4A 249 KO 6A 500 KO 1 5 A SM162B 402 KQ 10 MQ 24 KO 8A 0 Q 12A 00 KO 2 5 A SM230A 402 KQ 5 1 MO 348 KO 5A 150 KQ 7 5 A 500 KQ 1 5 A SM230B 1 MQ 10 MQ 64 9 KQ 10 A 0 Q 12 A 00 KQ 2 8 A SM231A 402 KQ 5 1 MQ 450 KQ 4A 249 KO 6A 500 KO 1 5 A SM231B 604 KQ 10 MQ 24 KO 8A 0 Q 12A 00 KQ 2 5 A SM232A 205 KQ 5 1 MO 450 KO 4A 249 KO 6A 500 KO 1 5 A SM232B 500 KQ 10 MQ 24 KO 8A 0 Q 12A 00 KQ 2 5 A SM233A 500 KQ 5 1 MO 450 KO 4A 249 KO 6A 500 KO 1 5 A SM233B 750 KQ 10 MQ 24 KO 8A 0 Q 12A 00 KO 2 5 A For supply voltages less than 75VDC calculate R22 using the following equation R22 4 R22 Vpus 75 where R22 is the value from the table above at 75VDC R23 R24 R25 remain the same as for 75VDC Although the OEM670 can be used with the SM160A and SM160B motors Compumotor recommends using the OEM675 for optimum performance with the SM160A and SM160B motors R24 pk tune and pk final Note that there are two values recommended for R24 Use the first value pk tune when you begin your tuning procedure This keeps peak currents low to avoid the damaging currents that instability during tuning can cause As you refine your tuning settings replace R24 with the second value pk final if your application requires more torque 18 OEM670 OEM675 Installation RESISTOR SELECTION FOR NON COMPUMOTOR MOTORS The following two sections des
15. 75 Lg LL Motor Length EUN thru holes equally spaced on 22 625 66 675 bolt circle Dimensions in inches millimeters Motor Sizes Motor Length Model 5 98 151 89 233 Motor 4 98 126 49 232 Motor 3 98 101 09 231 Motor OEM670 OEM675 9 Specifications Motor Dimensions NeoMetric Series Size 70 Shaft Options 0 4 CS ry TTS 11 P ir 10 4 F m MS Connectors Cable Flying Leads MS TQ FL 10 25 Dimensions in inches millimeters N None F Flat ey xi 0 158 hy 8 00 E T Feedback Conn 4 01 TS 1249 MS 14 18 Mor Conn 7 00 177 80 70 1 Brake K Sq Key 5 94 150 88 70 2 4 94 125 48 70 1 4 x 0 228 5 8 Thru Holes Eq Spaced on a 2 953 75 00 Bolt Circle for 5mm or 10 Bolt sit Ba A al 3H f 0 0005 I E 02 3622 0 ons JE 9 0 012 60 0 007 00 4331 0 003 M ri Motor Length t1 m 7 Motor Dimensions NeoMetric Series Size 34 Shaft Options MS Connectors Cable Flying L Leads 0 228 Dedi L MS TQ 10 25 G d Gu 0 473 12 01 0 500 12 7 Dimensions in inches N None F E ESS EE millimeters 0 500 Feedback Conn 12 7 0125 itt MS 14 18 ar Motor Sizes C1 8 175 0 56 14 22 Motor Length Model K Sq Key ary 8 00 203 20 34 2 Brake Te 7 00 177 80 34 1 Brake 5 94 150 88 34 2 4 x 00 223 5 66 Thru Hole
16. 90 OEM670T OEM675T Inputs and Outputs wot Command Input eie sd groom 35 gU Reo ge 36 Current Monitor usd Ground Pins Analog and Digital 1 38 OEM670SD OEM675SD Inputs and Outputs a O9 Clockwise and Counterclockwise Definitions 39 Required Inputs ren nnne sud Optional INputs and OUTOUS eres eie cos eorr rar ever t er tee e Connecting a Power Supply 2222 inei enitn N grenier cag adde ie aeg Tuning OEM670T OEM675T Torque Drive Tuning OEM670SD OEM675SD Step amp Direction Drive 3 SPECIFICATIONS ae ccienssnssinasnnmnsiceninsnsnenspansspumnniicnnnas 57 Specifications OEM670T OEM675T Torque Drive ses 58 Specifications OEM670SD OEM675SD Drive sssssssssseeeeeenenes 60 Motor Specifications E Speed Torq e OUIVeS eee rrr ertet reir n ror genere vri e PEE FEED TEES TAN Tee es Motor DIMENSIONS ssania N gere eire a MES FERRE ET Fu E ER ERE SEE aee oe Encoder Specifications Hall Effect Specifications Motor Wiring Information CONTENTS 4 SPECIAL INTERNAL CIRCUITS 75 Short CirculE POLE CON isse ette re ettet tbe p be ree a 75 WMGCrVONA GC 78 Overvoltage Overtembperatul 2 aee reet ECCLE teret ecc ir adea e e LR LU AL ERE ees 80 Hespo
17. HIGH A Latched Cool below 40 C 104 F and cycle power to restart The overtemperature protection circuit has built in thermal hysteresis This means that the OEM670 OEMO675 cannot operate again until it has had time to cool below approxi mately 40 C 104 F Once it has cooled you must cycle power to restart the drive Design Tip Use 50 C 122 F as the maximum heatplate temperature allowed for continuous operation of the drive Because of manufacturing tolerances on circuit components different OEM670 OEM675 units will shut down at different tempera tures in the 50 C to 60 C range 122 F to 140 F For predict ability use 50 C 122 F as the shutdown temperature Troubleshooting Note An overtemperature fault is a sign that something is wrong with your installation Typical causes of overtemperature faults are T Inadequate Ventilation broken fan blocked vent etc T Inadequate Heatsink too small missing not cooled properly etc T Assembly mistakes mounting screw not tight poor thermal contact etc If your drive has an overtemperature fault do not simply cool the drive cycle power and resume operations Instead find the problem that caused the fault and fix the problem 81 Special Internal Circuits OEM670 OEM675 Response Circuit All servo motors are not the same The inductance of different motors covers a wide range When you select a motor for use with the O0EM670 OEMG675 its induc
18. INPUTS Low State Pos input clockwise motor rotation 0 8V High State Internal 1 KO pullup resistor to 5V Input Frequenc 60 2 kHz maximum OEM670 OEM675 Specifications OEM670SD OEM675SD Step amp Direction Drive contin SIGNAL OUTPUTS Fault Output Isolated 50V max voltage 10 mA max current Fault Output Not Isolat 24V max voltage 20 mA max current Velocity Monitor 1V per 10 kHz pre quad encoder freq Current Monitor 1V output per 1 2A motor current Output Impedance 10 KQ LEDs GREEN power RED various fault conditions PROTECTIVE CIRCUITS Short Circuit see Troubleshooting for details Turns Off Outputs to Motor Latched Over Temperature 55 C 5 C trip temperature Latched Overvoltage 95V 5V trip voltage Latched Undervoltage 21 5V maximum not Latched Current Foldback Configurable with 3 resistors Position Error MOTOR CHARACTERISTICS Minimum Inductance see Special Internal Circuits for details 2047 16383 post quad encoder counts 50 uH micro Henrys Minimum Resistance 0 25 Q Loop Gain Adjustment Configurable with one resistor TEMPERATURE Minimum Temperature see Special Internal Circuits for details QC 32 F Maximum Temperature 45 C 113 F Max Heatplate Temp 45 C 113 F Package Dissipation Heatplate 0 to 30W de
19. Motor color code 29 commutation chart 72 connections 28 dimensions 69 grounding 30 heatsinking 24 inductance range 82 mounting 24 part number 57 specifications 62 speed torque curves 67 wiring information 73 Motor Inductance explained 84 Mounting 20 Multiple Axes 151 N Names 6 O OEM070 Servo Controller 13 OEM300 Power Module 150 OEM670SD Step amp Direction Servo Drive 11 OEMG670T Block Diagram 7 OEMG670T Description 7 OEM670X Position Servo Drive 12 Operation OEM670 OEM675 7 Optimum Response 88 Other Motors connecting 115 Outputs 31 39 Overdamped Response 87 Overtemperature troubleshooting procedure 159 Overtemperature Protection 80 Overvoltage troubleshooting procedure 159 Overvoltage Protection 79 P Panel Layout 21 Parallel Misalignment 26 Peak Power 118 Peak Power Curves 127 PID Loop 52 Position Command 13 Position Error 44 51 Position Error Inputs 44 Position Servo Drive 12 Pot Locations 53 Power Curves 127 OEM670 OEM675 Index Power Supply connections 49 grounding 50 voltage range 48 wire size 50 Power Supply Selection calculation method 118 empirical method 133 graphical method 125 measurement method 133 voltage choice 143 Powering Multiple Axes 151 Product Description OEM670 OEM675 7 Product Names 6 Proportional Gain 52 Protective Conductor Terminal 163 Protective Earth Connection 163 Pull up Resistor 37 R Regeneration 136 and linear power su
20. OEM670 OEM675 monitors voltage at its motor output terminals Phase A Phase B and Phase C If the motor regenerates energy and the voltage rises above a threshold level 95VDC 5VDC the circuit will disable power output to the motor This is a latched condition You must cycle power to restart the drive The circuit also turns on the red LED and activates the fault output Other power outputs Hall 5 15VDC 15VDC remain on The green LED also stays on 79 Special Internal Circuits OEM670 OEM675 Overvoltage circuit features are listed below 95VDC 5VDC threshold Power to motor is turned OFF Red LED is turned ON Illuminated Green LED stays ON Illuminated Fault output goes HIGH Latched Motor freewheels to a stop Does not protect against power supply overvoltage LODUDUOLDLL After an overvoltage fault the drive does nothing to stop the motor When it stops receiving current the motor will free wheel to a stop If you have components that could be dam aged by a freewheeling motor consider using an external brake For example in a system that raises and lowers a load regen eration may occur while the load is being lowered If the regeneration exceeds the 90VDC threshold and the overvolt age circuit shuts down motor current the motor might free wheel and the load could plunge to the floor To avoid dam age a brake could be employed to stop the load in the event of a sudden loss of mot
21. OEM670 OEMO75 to the motor is not relevant in this procedure you do not need to measure it Your current probe must be of the type that connects to an oscilloscope and is fast enough to show current variations such as a Tektronix A6302 Current Probe and AM 503 Cur rent Probe Amplifier The current probe in a digital multim eter will not work in this situation nor will an AC current probe Connect an oscilloscope probe to the second channel of the oscilloscope and use it to monitor power supply bus voltage 134 OEM670 OEM675 Power Supply Selection OEM670 OEM675 Current Voltage Probe Probe wena o c jo hd Probe Amplifier Oscilloscope Setup for Current Measurement The bus voltage should drop no more than 1096 during peak power events If it drops more than 1096 use a larger power supply Determine Power Needs At any moment the power used by your system is P V supply angl When the current is positive current flows from the supply to the drive and the supply delivers power to your system When current is negative the system is regenerating power flows from your system and back into the supply To determine the peak power that the supply must deliver measure the highest current as seen on the oscilloscope screen Substitute this current in the power equation to get P eak V I p supply peak Once you know the peak power that your system demands you can se
22. Temp G G G Yellow Temp H H H Yellow Encoder Pin No Pin No Not Wire Designation MS14 18 MS14 18 Applicable Color Vcc H H Red Ground G G Black CH A A A White CH A B B Yellow CH B C C Green CH B D D Blue Index E E Orange Index F F Brown Shield NC NC Hall effect Pin No Pin No Pin No Wire Designation MS14 18 MS14 12 MS14 12 Color Hall GND K F F White Green Hall 5 M B B White Blue Hall 1 T C C White Brown Hall 2 U D D White Orange Hall 3 P E E White Violet Wiring color is provided for flying lead or cable versions 73 9 Specifications OEM670 OEM675 NEoMETRIC Motors SIZE 070 SIZE 034 Motor Phase Pin No Designation MS14 12 Wire Color Phase A J Red Yellow Phase B K White Yellow Phase C E Black Yellow Ground M Green Yellow Shield NC Continue for H or TQ Options Temp G Orange Yellow Temp H or Yellow T Hall GND F White Green Hall 5 B White Blue Hall 1 C White Brown Hall 2 D White Orange Hall 3 E White Violet Encoder Commutation Connections Pin No Designation MS14 18 Wire Color Encoder 5 VDC H Red Ground G Black CH A A White CH A B Yellow CH B C Green CH B D Blue Index E Orange Index F Brown Commutation Hall GND K White Green Hall 5 M White Blue Hall 1 T White Brown Hall 2 U White Orange Hall 3 P White Violet Temp L Orange Yellow Temp N or Yellow T Brake Option Brake R Red Blue Brake S Red Blue 74
23. actual current will oscillate between 12A and 12A The motor will probably not turn it can not respond as fast as the quickly changing currents but it may become excessively hot due to the oscillating currents Response with High Inductance Motor Next we consider the effects that a high inductance motor has on the feedback loop The drawing below shows the overdamped response that is typical with high inductance 87 Special Internal Circuits OEM670 OEM675 Commanded Actual Current Current Current Time Overdamped Response We see that actual current slowly rises to meet commanded current The high inductance limits the current rise so much that by times t t2 and t3 actual current is still too low In overdamped situations we can achieve very good control with no overshoot but the response time is very slow Optimum Response What type of response then is best We want a fast current rise so the system can quickly get to the commanded current level But the rise should not be so fast that the system repeatedly overshoots and is underdamped The next drawing shows an optimum response Commanded Current Current Optimum Response In this example the motor s inductance is well matched with the gain and timing of the current feedback loop The induc tance allows a fast current rise but just fast enough so that when the actual current level is rising past the commande
24. and SM231 Parameter Symbol Units SM230A SM230B SM231A SM231B Stall Torque Continuous Tee Ib in oz in 1 8 28 9 1 7 27 6 2 87 50 2 87 46 N m 0 204 0 195 0 353 0 353 Stall Current Continuous I amperes rms 2 5 5 0 2 1 4 1 Rated Speed o rpm 7500 7500 7 500 7 500 Peak Torque Tu b in oz in 5 4 87 5 2 83 8 61 150 8 61 150 N m 0 615 0 587 1 060 1 060 Peak Current rms Lie amperes 7 5 15 10 5 20 5 Torque Rated Speed T b in oz in 1 5 24 1 4 23 2 37 38 2 25 36 N m 0 170 0 163 0 269 0 254 Rated Power Output Shaft P watts 134 127 205 205 Voltage Constant K X volts radian sec 0 081 0 0391 0 169 0 079 Voltage Constant K volts KRPM 8 52 4 09 16 86 8 27 Torque Constant K oz in amp rms 11 52 5 54 22 8 11 18 N m amp rms 0 081 0 039 0 161 0 079 Resistance R ohms 4 43 1 12 5 22 1 46 Inductance L millihenries 1 19 0 28 1 64 0 44 Thermal Resistance Ry C watt 2 67 2 67 2 23 1 86 Motor Constant Km oz in Vwatt 5 47 5 24 9 97 9 68 N m Vwatt 0 039 0 037 0 070 0 068 Viscous Damping B oz in Krpm 0 375 0 375 0 565 0 266 N m Krpm 0 003 0 003 0 004 0 002 Torque Static Friction ilis oz in 1 0 1 0 1 2 1 2 N m 0 007 0 007 0 008 0 008 Thermal Time C onstant ts minutes 30 30 30 30 Electrical Time Constant t milliseconds 0 27 0 25 0 31 0 3 Mechanical Time Constant Tn milliseconds 16 97 18 51 13 7 14 5 Rotor Inertia J Ib in sec 0 000224 0 000224 0 00046 0 00046 kg m x 10 25 3
25. between the poles CPE1 and CPE2 Position Error Inputs You can configure position error CPE with two position error inputs CPE and CPE2 on pins 8 and 2 respectively Position error faults provide warnings of impending problems such as increased friction or of immediate problems such as a me chanical jam Position error is measured in post quadrature encoder counts Four settings are available as the next table shows OEM670SD OEM675SD Internal Connections pot ee wo 1 A 6810 cPE2 O o i o 29 sn O O O 26LS32 i O 1 sn O I so O Z 6812 1 7 O cPE1 O 6 i o 59 5 e i O 26LS32 I CPE1 and CPE2 Position Error Inputs Number of Revolutions Position Error Settings 500 Line 1000 Line CPE1 CPE2 Error Encoder Encoder low low 2047 1 024 0 512 high low 4095 2 048 1 024 low high 8191 4 096 2 048 default high high 16383 8 196 4 096 high not connected low connected to ground error is measured in post quadrature encoder counts When the OEM670SD OEM675SD ships from the factory neither CPE nor CPE2 is connected to ground This is the 44 OEM670 OEM675 Installation default setting it selects the widest position error range You might begin with this setting when you start configuring your system This will give you the widest range of motion Once your system is tuned and performing properly you can select one of the other three settings by connecting either or
26. both of the inputs to ground The position error feature works as follows Internally the drive generates a control voltage proportional to the difference between the number of step pulses received and the number of post quadrature encoder counts received The first 2047 counts in each direction produce an increasing error voltage This creates an increasing torque to move the load towards the commanded position After the first 2047 counts maxi mum torque is being commanded Additional error counts have no immediate effect on torque but they are accumulated until the error is reduced by shaft motion or the CPE limit is reached Reaching the limit causes a fault that disables the drive and illuminates the red LED You can clear the fault by cycling power Or you can use the shutdown input to reset the drive this will clear the position error fault Velocity Monitor Output A velocity monitor is available on pin 1 Its output is a voltage signal proportional to encoder speed You can connect a voltmeter to the output to measure velocity or you can con nect an oscilloscope to help you tune your system See the Tuning section at the end of this chapter for more information The signal is always positive regardless of the direction of encoder rotation It is scaled so that a pre quadrature encoder count frequency of 10 kHz produces an output of one volt The maximum output is 10V For example a 1000 line encoder rotating at 100 rps
27. constantly strives to improve all of its products We reserve the right to modify equipment and user guides without prior notice No part of this user guide may be reproduced in any form without prior consent from Parker Compumotor For assistance in the United States contact For assistance in Europe contact Compumotor Division of Parker Hannifin Parker Digiplan 5500 Business Park Drive 21 Balena Close Rohnert Park CA 94928 Poole Dorset Telephone 800 358 9070 England BH17 7DX Fax 707 584 8015 Telephone 0202 690911 Fax 0202 600820 Parker Compumotor Compumotor Division of Parker Hannifin 1998 All rights reserved OEM670 OEM675 Servo Drive User Guide Revision E Change Summary The following is a summary of the primary technical changes to this user guide since the last version was released This user guide p n 88 013599 01 E released on May 1 1998 supersedes 88 013599 D OEM SERIES MOTORS ARE OBSOLETE OEM2300 OEM2303 OEM3400 and OEM3401 motors are no longer sold by Compumotor Information about these motors appears has been removed from this user guide SM SERIES AND NEOMETRIC SERIES MOTORS ADDED We have added Compumotor servo motors to this user guide For information about SM Series and NeoMetric Series servo motors see Chapter Specifications page 57 OEM675 DRIVE ADDED Information for Compumotor s new OEM675T Drive and new OEM675SD Drive has been added throughout this user guide OEM6
28. equation 2 E en T 2 2nvT R a E k a 2rak 2i 0 53 Y 50 0 53 2 01 1 axsovoss oes 201 2 mcd 1 166 5 19 8 0 5 0 06 1 146 7 watts 0 44 seconds 32 3 joules At the moment deceleration began the peak regenerated shaft power was 166 5W and copper losses were 19 8W The peak regeneration power was therefore 146 7W which you can also read directly from the chart for the SM232B motor To deter mine regeneration energy joules however you need to perform the calculation The last term in the equation shows that total deceleration time v a was 0 5 seconds The power supply received regen erated energy for the first 0 44 seconds and had to supply power for the final 0 6 seconds WHAT VOLTAGE DO YOU NEED The OEM670 OEM675 uses the DC power supply voltage as the supply voltage for the motor The motor s performance depends on the voltage at which it runs Therefore the power supply voltage you choose will affect motor performance We will use Compumotor servo motors as examples to illustrate this but the points presented below apply to any servo motor Because the OEM670 OEMO75 accepts such a wide range of input voltage 24 75VDC you have several options for choosing a power supply voltage These options are explained below 143 Power Supply Selection OEM670 OEM675 MATCH THE POWER SUPPLY TO THE MOTOR Manufacturers wind servo motors for optimum performance at a
29. features m 24VDC to 75VDC L Fast Transient Response can quickly supply enough current to meet your application s requirements T Power Dump not required for all applications The power dump may be required if your system produces excess regenerated energy To avoid damage dissipate the regenerated energy in a power resistor store it in extra ca 48 OEM670 OEM675 2 Installation pacitance a blocking diode may be needed or provide some other means to absorb regenerated energy For information about power supply selection regeneration and power dump methods see Chapter Power Supply Selection The following table briefly lists the type of power supply you can use for different applications APPLICATION RECOMMENDED POWER SUPPLY Very Low Power 24 48VDC Switching Power Supply low regen 24 48VDC Linear Unregulated Supply OEM300 Power Module Low Power Switching Power Supply with blocking with regen diode and extra capacitance Linear Unregulated Supply OEM300 Power Module High Power Linear Unregulated Supply low regen with Transformer OEM1000 Power Supply High Power Linear Unregulated Supply with added with regen Capacitance or added Power Dump OEM1000 Power Supply The Compumotor OEM300 Power Module is a single unit that contains a 75VDC 300W power supply integral power dump and several protective circuits The Compumotor OEM1000 Power Supply is a linear power supply that can provide 100
30. for example can provide power for the move As this energy is used up the power supply cannot replenish it fast enough and the voltage drops If the voltage gets too low short circuit protection is turned on and shuts down motor current At this point the power supply no longer needs to provide power to the drive It can now direct power into its own capacitors They recharge and the supply voltage quickly returns to normal levels This is a transient event Without short circuit protection it may go undetected Your system s performance could be less than you expected and you might not know why Short circuit protection latches the drive off during the transient event however This allows you to realize there is a problem and find the cause Once you determine there is no short circuit in your motor or cabling you can inspect your power supply If your system runs while the motor is stopped or turning slowly but faults during demanding move cycles then your power supply may be causing the fault because it is inad equate for the task Consider using a larger power supply or altering your move profile so that the move requires less power 77 Special Internal Circuits OEM670 OEM675 The same condition a momentary power supply fault can sometimes turn on the undervoltage circuit rather than short circuit protection The undervoltage circuit is explained in the next section There are two potential warning signals
31. jeopardize personal safety Servo motors used with the OEM670 OEM675 can produce large torques and high accelerations This combination can shear shafts and mounting hardware if the mounting is not adequate High accelerations can produce shocks and vibra tions that require much heavier hardware than would be expected for static loads of the same magnitude The motor under certain move profiles can produce low frequency vibrations in the mounting structure These vibra tions can cause metal fatigue in structural members if har monic resonances are induced by the move profiles you are using A mechanical engineer should check the machine design to ensure that the mounting structure is adequate CAUTION Consult a Compumotor Applications Engineer 800 358 9070 before you machine the motor shaft Improper shaft machining can destroy the motor s bearings Never disassemble the motor Servo motors should be mounted by bolting the motor s face flange to a suitable support Foot mount or cradle configura tions are not recommended because the motor s torque is not evenly distributed around the motor case Any radial load on the motor shaft is multiplied by a much longer lever arm when a foot mount is used rather than a face flange MOTOR HEATSINKING Performance of a servo motor is limited by the amount of current that can flow in the motor s coils without causing the motor to overheat Most of the heat in a brushl
32. motor can be grounded through the equipment to which it is mounted This requires a good electrical connection between the motor s mounting flange and the equipment and that the equipment be connected to ground Check with the National Electrical Code NEC and your local electrical code to ensure you use proper grounding methods Proper grounding can also reduce electrical noise 30 OEM670 OEM675 Installation OEM670T OEM675T INPUTS AND OUTPUTS Note This section describes inputs and outputs for the OEM670T and OEM675T See the following section for OEM670SD and OEM675SD input output descriptions Connect command and enable signals from your controller to the 25 pin D connector mounted on the OEM670T OEM675T The D connector also contains a fault output a current monitor output and a voltage source for isolated controllers Inputs amp Outputs OEM670T OEM675T Internal Connections Command Command 4 TO 15VDC Output A wv 15VDC Output WV GND GND Fault Output Enable Input GND Current Monitor Current Monitor 9 J 4 6 2 2222 2222222 n 25 Pin D Connector Mounted on OEM670T OEM675T OEM670T OEMG675T Inputs amp Outputs and Internal Connections The following sections give details about each input and output and a discussion about which ground pins to use for each I O signal COMMAND INPUT The OEM67
33. outputs Hall 5 15VDC 15VDC are not short circuit protected Short circuit protection features are summarized below Power to motor is turned OFF Red LED is turned ON Illuminated Green LED is turned OFF Not Illuminated Fault output goes HIGH Latched Hall 5 15VDC 15VDC remain powered Hall 5 15VDC 15VDC are not short circuit protected DL D DL D D D D Troubleshooting Note Other faults will also turn on the red LED but they leave the green LED illuminated Short circuit protection is the only fault that will turn off the green LED when it turns on the red LED A short circuit fault is not the only event that can trigger this circuit A power supply fault can also trigger short circuit protection The fault can occur if the supply is undersized and cannot provide enough power during demanding move profiles The next drawing shows graphs for motor current and power supply voltage during a normal move profile 76 OEM670 OEM675 Special Internal Circuits Normal Move Profile Move Causing a Fault Power N Undervoltage Supply trips short cir Voltage l cuit protection l Drive Shuts Motor Down Motor Current Current l p ISSN Velocity te Time Time Power Supply Fault The drawing also shows what happens to voltage if the power supply is inadequate During the first part of the move energy stored in the power supply in the capacitors
34. position controller board where they interface 12 OEM670 OEM675 Introduction with a microprocessor The microprocessor generates a posi tion command It can also enable or disable the torque board The position controller board receives feedback about actual position from an encoder and compares commanded position with actual position It generates a torque command to correct any position errors The torque command which is an analog voltage then goes to the torque board passes through the foldback circuit and proceeds through the remainder of the torque board s circuits OEM070 SERVO CONTROLLER The OEMO70 Servo Controller is a compact stand alone controller designed to operate with analog servo drives SERVO DRIVE POWER INPUT Torque Command Enable Fault Output Output Input POWER INPUT i OEMO070 SERVO CONTROLLER 15V oO Ground oO y RS 2320 O RS 232C C Commun oO Comm B P B ho iti Inputs INPUTS C ENABLE Feedback E OUT o FAULT ee PUTS R MONITOR OEMO70 Servo Controller Block Diagram 13 Q Introduction OEM670 OEM675 The OEMO70 contains the same position controller board used in the OEM670X OEMG675xX The board is packaged by itself in a minimum depth small footprint housing It controls motor torque or velocity with a x 10V command output signal Through its I O and RS 232C port
35. power in a servo system can be quite complicated and time consuming Rather our goal is to easily arrive at a reasonably accurate estimate of power needs and then use this estimate for power supply decisions PEAK POWER A CALCULATION METHOD Servo applications vary widely with many possible move profiles We will show how to calculate power requirements for the most common move profile a trapezoidal move S S RO de e x S E RS v ov d 3 gt 4 S 9 3 Time Trapezoidal Move Profile 118 OEMG670 OEM675 Power Supply Selection In the calculation method we follow these steps Calculate power required for copper losses Calculate shaft power Add shaft power and copper losses for total power e Add 1096 to total power for miscellaneous losses Each of these steps will be explained below To simplify the analysis we make the following assumptions 1 Equal acceleration and deceleration rates L Friction is negligible and can be ignored Power for Copper Losses During the acceleration portion of a trapezoidal move con stant current in the motor produces constant torque With a constant torque applied the motor accelerates at a constant rate until it reaches slew velocity Torque is directly proportional to the current in the motor T T krl or I kr The proportionality constant ic is called the torque constant and is determined by the motor s physical parameters The cu
36. procedure presented above will identify most problems particularly those that affect the LEDs or the fault output Some problems however occur tran siently during a move or do not affect the LEDs Others may be due to wiring mistakes or failure of other components in the system controller encoder motor etc The sections below will help you identify such problems PROBLEMS DURING MOVE Speed Torque Limitations Make sure that you are not commanding a move that requires the motor to go faster than it can or use more torque than it can produce Check the motor s speed torque curve for your operating voltage Weak Power Supply A weak power supply may not produce sufficient power during all parts of the move It can cause an undervoltage problem Undervoltage can affect the drive in two ways m Temporary Fault for the OEM670T OEMO79T the red LED will turn ON and the fault output will go HIGH during the undervoltage condition The fault is not 160 OEM670 OEM675 Troubleshooting latched and will disappear when the voltage goes above approximately 24VDC For the O0EM670SD OEM675SD any undervoltage fault is latched by the controller T Latched Fault The undervoltage trips the short circuit protection The green LED is turned off the Red LED is turned ON and the fault output goes HIGH This is a latched condition For a full description of faults caused by a weak power sup ply see the section on Undervolt
37. rms 43 89 23 91 68 53 34 23 N m amp rms 0 310 0 169 0 484 0 242 Resistance R ohms 7 5 2 01 9 65 2 58 Inductance L millihenries 2 9 0 782 4 08 1 06 Thermal Resistance Ry C watt 1 58 1 5 1 25 1 26 Motor Constant Km oz in Vwatt 15 99 16 86 22 00 21 25 N m watt 0 113 0 119 0 155 0 150 Viscous Damping B oz in Krpm 0 525 0 328 0 778 0 459 N m Krpm 0 004 0 002 0 005 0 003 Torque Static Friction ilis oz in 2 0 2 0 2 25 2 25 N m 0 014 0 014 0 016 0 016 Thermal Time C onstant ti minutes 35 35 40 40 Electrical Time Constant t milliseconds 0 39 0 39 0 42 0 41 Mechanical Time Constant Tm milliseconds 8 6 8 8 5 4 7 0 Rotor Inertia J Ib in sec 0 00082 0 00082 0 00117 0 00117 kg m x 10 92 6 92 6 132 2 132 2 Weight L pounds 3 5 3 5 4 4 4 4 kg kilograms 1 59 1 59 2 00 2 00 Winding Class H H H H 1 9 25 C ambient with 10 x 10 x 25 in aluminum mounting plate 90 C winding temperature At 40 C ambient derate phase currents and torques by 12 With 500 ppr encoders For 1 000 ppr encoders derate to 6 000 rpm For higher speed operation please contact factory 10 line to line Peak value 30 line to line inductance bridge measurement 1 kHz Peak current for 1 second with initial winding temperature of 60 C or less All specifications are subject to engineering change o c o 65 9 Specifications OEM670 OEM675 Motor Specifications NeoMetric N0701 and N0702
38. specific voltage They publish speed torque curves mea sured at that voltage If you select a motor because you need the performance shown in the curves choose a power supply that produces at least as much voltage as that for which the motor was designed For example Compumotor servo motors specified in this user guide are wound for 75VDC operation The speed torque curves were measured with a 75VDC power supply If you want the full performance shown in the curves use a power supply that operates at 75 volts USE AVAILABLE POWER AND CUSTOM WIND A MOTOR In many machines the motion control system is but one component among many in the entire machine Power may be available from a large power supply that runs other parts of the machine We designed the OEM670 OEM675 so that you can take advantage of available power If power is available but at a voltage lower than specified for the motor you have chosen you can contact the manufacturer to see if the motor can be made with the voltage rating you need Motor manufacturers can design a motor s windings so that it can have similar performance characteristics at differ ent voltages For example suppose you decide to use the SM231A motor You want to make moves that lie within the 75VDC speed torque curve but you only have 48VDC available If you cannot get the performance you need from the standard motor at 48VDC you should call Compumotor We can make the motor with a special wind
39. the OEM670 OEMO795 s Hall input with the Hall wire connected to the input and the drive turned on J If no drive is available connect the Hall wire to a 1KQ pullup resistor Connect the resistor to 5VDC Connect Hall 5 and Hall Gnd to your power supply Measure the voltage at the point where the Hall wire is connected to the resistor To understand this drawing examine the rotor position at Hall state 100 The south pole turns Hall 1 on The north pole turns off Hall 2 and Hall 3 The Hall state therefore is 100 Hall 1 ON Hall 2 OFF Hall 3 OFF If current flows into phase B and out of phase A north and south poles form in the stator These poles exert a strong torque on the rotor s north pole and it will turn clockwise If the rotor could turn far enough so that its north pole was aligned with the south pole in the stator the rotor would stop However immediately before the rotor reaches this position the Hall state changes The south pole with a dot on it in this figure moves into position next to Hall 3 and turns it on The Hall state is now 101 Hall 1 ON Hall 2 OFF Hall 3 ON Remember Hall 3 is located between Hall 1 and Hall 2 See the detail at the bottom of the drawing 112 OEM670 OEM675 Hall Effect Sensors If current is now directed into phase B and out of phase C a new set of magnetic fields forms in the stator that exert a strong torque on the rotor s south pole The rotor mov
40. then to alert you about power supply problems Short circuit protection will latch and shut down the drive Undervoltage protection will momentarily turn on the red LED but not turn off the green LED and will not latch UNDERVOLTAGE The undervoltage circuit monitors power supply voltage If the voltage falls below a threshold level 21 5VDC or less the undervoltage circuit will illuminate the red LED and cause the fault output pin 9 to go high The green LED remains illuminated For the OEM670T OEMO75T this condition is not latched If the power supply voltage rises above the threshold the red LED turns off and the fault output goes low For the OEM670SD OEM675SD this condition is latched Undervoltage circuit features are summarized below LJ 21 5VDC threshold Maximum J Red LED is turned ON Illuminated Q Green LED stays ON Illuminated 1 Fault output goes HIGH d Not Latched OEM670T OEM675T Latched OEM670SD OEM675SD The undervoltage circuit ensures an orderly startup and shutdown process During startup when the power supply s voltage is rising the undervoltage circuit will not allow the drive to turn on until the voltage rises above the threshold and there is enough power to maintain the drive s circuits During shutdown when the power supply voltage falls below the threshold the circuit will turn off the drive s circuits in an 78 OEMG670 OEM675 Special Internal Circuits orderly and s
41. there are features in the internal circuitry that keep noise in digital circuits from entering sensitive analog circuits So for noise sensitive signals use the analog grounds Type of Ground Pin Intended Use Analog Ground 16 Command Input 24 Current Monitor Digital Ground 11 Enable Input Fault Output or Misc Digital Circuitry 38 OEM670 OEM675 2 Installation OEM670SD OEM675SD INPUTS AND OUTPUTS Note This section describes inputs and outputs for the OEM670SD and OEM675SD See the previous section for OEM670T and OEMG675T input output descriptions You must connect step and direction enable and encoder signals to the OEM670SD OEM675SD for it to work Connec tions are described below under Required Inputs Use the drive s other inputs and outputs described under Optional Inputs and Outputs for your application s specific require ments CLOCKWISE AND COUNTERCLOCKWISE DEFINITIONS Shaft rotation is defined as the direction the shaft rotates when viewed from the mounting flange end of the motor See the drawing several pages earlier which illustrates the clock wise direction Unlike a step motor system which operates open loop the OEM670SD OEMO6755D is a closed loop servo system It requires feedback from the encoder for stability For each step pulse received while Direction is positive the drive will make the motor turn in the positive direction a distance of one positive encoder count For sta
42. to measure motor current Connect pin 25 to the positive input of your oscilloscope meter etc Use pin 24 asa signal ground for your oscilloscope or meter The OEM670T OEM675T monitors the actual motor current It puts out a voltage on pin 25 that is proportional to current with 1 volt out 1 2 amps of motor current Positive voltages correspond to clockwise rotation as viewed from the mount ing flange end of the motor Negative voltages correspond to counterclockwise rotation 37 Installation OEM670 OEM675 Oscilloscope Meter Internal Controller Etc OEM670 OEM675 Connections I o Current Monitor Orig Current Monitor B 7 WY OOO a i Current Monitor Output Connections GROUND PINS ANALOG AND DIGITAL The OEM670T OEM675T has four ground pins located at pins 7 11 16 and 24 For noise sensitive circuits such as command input and current monitor output use the analog ground pins 16 and 24 For digital circuits such as the enable input or the fault output use the digital ground pins 7 and 11 Why the distinction The analog grounds are for use with signals where electrical noise should be kept to a minimum Digital circuits can be quite noisy If a clean analog ground is connected to a noisy digital ground some of the noise from the digital circuit may be coupled into the analog circuit The four grounds are eventually connected together inside the OEM670T OEM675T but
43. velocity system Too much integral gain can cause overshoot during accelera tion and deceleration which will increase settling time You should use only as much as your application requires if your application does not need any integral gain you should disable it by grounding pin 6 see below Integral Gain Disable Grounding Pin 6 You can permanently disable integral gain by wiring pin 6 to ground Notice on the block diagram that even if you zero the integral gain pot integral gain is not reduced to zero just to a lower value There will still be integral gain in the system because of voltage on resistor R The only way you can eliminate integral gain is to connect pin 6 to ground Or you can use a control signal to temporarily disable integral gain by connecting pin 6 to ground only during acceleration and deceleration This will disable integral gain during those parts of the move which should decrease overshoot and settling time When the system reaches constant velocity or comes to rest use your control signal to break the ground connection which will re enable integral gain TuNING PROCEDURE In the procedure described below you will systematically vary the tuning pots until you achieve a move that meets your requirements for accuracy and response time For the best results make a consistent repetitive move that is representa tive of your application 53 Installation OEM670 OEM675 Access to the pots i
44. 0 OEM675 before installing selectable resistors User Response Resistor Selectable Foldback Resistors Resistors y Jumpers on First Four Positions except on OEM670SD or OEM675SD Selectable Resistor Locations Remove any resistors that are in the sockets and install those that you have selected The next table shows recommended resistors for Compumotor SM and NeoMetric Series motors For full details on further customizing the response and foldback circuits or choosing resistors for non Compumotor motors see Chapter Special Internal Circuits NOTE A 34 pin header is located below the selectable resis tors Four jumpers should be installed in the first four posi tions as shown in the drawing above These jumpers must be installed for the OEM670T OEMO75T to work properly as a torque servo drive Ordinarily these jumpers are installed at the factory and are shipped with the drive The jumpers are removed at the factory when an OEM670T is converted to an OEM670SD or an OEM675T to an OEM675SD 17 Installation OEM670 OEM675 RESISTOR SELECTION FOR COMPUMOTOR MOTORS If your drive is an OEM670 use the first table below to select resistors for use with Compumotor s SM or NeoMetric Series motors If your drive is an OEM675 use the second table OEM670 Resistors for SM and Neometric Motors at 75VDC Motor R22 Response R23 Tet
45. 0 OEMG675 Follow these steps Arbitrarily assign numbers to your motor s three Hall output wires and connect them to Hall 1 Hall 2 and Hall 3 on the OEM670 OEM675 Q Connect Hall 5V and Hall GND G Arbitrarily assign letters A B C to your motor s phase wires and connect them to Phase A Phase B and Phase C on the OEM670 OEM9675 amp If the motor turns find the best phase wiring configura tion L1 Move each phase wire over one position A BC2CAB Compare torque and torque ripple T Move each phase wire one position further CAB BCA Compare torque and torque ripple 1 Use the wiring configuration that gives highest torque and lowest torque ripple If the motor does not turn exchange two of the phase wires The motor should now turn Go to Step 4 compare the three wiring configurations that make the motor turn and use the proper one If your motor turns in the opposite direction than you want you can reverse it using one of several methods LJ Reverse the command input wires LJ Reverse the appropriate encoder connections 1j Exchange two Hall input wires then follow steps 2 through 5 above 116 CHAPTER Power Supply Selection To choose a power supply for the OEM670 OEMG675 you need to answer some important questions 1 How many watts does your system need L1 Will regeneration be a concern L1 At what voltage should your system operate T Should you us
46. 00 8000 33 67 100 133 Speed RPM rps SM162B with OEM670 OEM675 N m oz in 1 14 150 U 2000 4000 6000 8000 33 67 100 133 Speed RPM rps Peak Power Curves SM Motors Frame Size 16 127 Power Supply Selection OEM670 OEM675 SM230A with OEM670 OEM675 SM230B with OEM670 OEM675 N m oz in N m oz in 0 76 100 0 61 80 0 61 80 0 46 comm g 0 46 60 9 s 5 0 30 40 oma ee Pe LLLI LT Tt 20W ag ur LLLLLLLII i 4000 6 33 67 100 133 33 67 100 133 Speed RPM rps Speed RPM rps SM231A with OEM670 OEM675 Torque E 000 T 8 17 83 50 67 83 33 67 100 133 Speed RPM rps Speed RPM rps 2 000 4 000 8 07 25 33 42 7 83 50 67 83 Speed RPM rps Speed RPM rps SM233A with OEM670 OEM675 SM233B with OEM670 OEM675 N m oz in N m oz in 3 81 500 8 05 400 gt 3 05 400 2 28 300 o 2 28 300 o g E 1 52 200 1 52 200 300W 0 76 100 200W 0 76 100 4 0 0 0 0 5 10 15 20 25 8 17 25 33 42 50 Speed RPM rps Speed RPM rps Peak Power Curves SM Motors Frame Size 23 128 OEM670 OEM675 Power Supply Selection NO701D NO341D with OEM670 OEM675 N m oz in 2 28 300 1 90 250 1 52 200 1 14 150 Torque 0 38 50 06 500 1000 1500 2000 2500 3000 3500 8 17 25 33 42 50 58 Speed RPM rps NO702E NO342E
47. 0T OEMG675T monitors an analog voltage signal called command input at its input terminals Command and Command It sends an output current to the motor that is 31 Installation OEM670 OEM675 proportional to the command input signal Your controller s command voltage can range from 10VDC to 10VDC The OEM670T OEMOGO795T will produce 1 2 amps for each volt present at its input terminals A 10 volt command input will result in peak current 12A flowing to the motor Smaller voltages result in proportionally less current with a volt command input resulting in no current to the motor Positive voltages cause the OEM670T OEMO75T to produce currents that turn the motor s shaft clockwise Negative voltages cause currents that turn the shaft counterclockwise As the next drawing shows shaft rotation is defined as the direction the shaft rotates as viewed from the mounting flange end of the motor Clockwise Shaft Rotation Connect your controller s command output signal to the OEM670T OEM675T s command input terminals Pin 1 and Pin 2 as described in the following sections 32 OEM670 OEM675 2 Installation Controller with Single Ended Output If your controller uses a single ended output a single termi nal that produces a voltage ranging from 10VDC to 10VDC connect that output to Command Plus Pin 1 on the OEM670T OEMG795T Connect wires from the OEM670T OEM675T s Command Minus and Ground termina
48. 0W 15A at 70VDC CoNNECTING THE POWER SUPPLY Connect your power supply to the 10 pin screw terminal on the OEM670 OEMG675 The next drawing shows connections for a typical power supply and for an OEM300 Power Module 49 Installation OEM670 OEM675 OEM300 TYPICAL POWER POWER MODULE SUPPLY RESERVED GND Li se00000000 475VDC 2 7A Power Supply Connections 1 Connect the positive DC terminal of your power supply to the VDC input on the OEM670 OEMO75 s 10 pin screw terminal 1 Connect the ground terminal of your power supply to VDC on the OEM670 OEMG675 To reduce electrical noise minimize the length of the power supply wires and twist them tightly together Grounding Internally the Hall Ground and the grounds on the 25 pin D connector pins 7 11 16 24 are connected to VDC Do not connect your power supply s ground to these pins however Connect it only to VDC The shell of the 25 pin D connector and the heatplate are connected internally They are not connected to VDC Hall Ground or the D connector grounds pins 7 11 16 24 Wire size Use 18 AWG 0 75 mm or greater diameter wire for power connections For applications that use high peak power use larger diameter wires 14 AWG 2 5 mm wire is the biggest wire that will fit in the 10 pin screw terminal 50 OEM670 OEM675 Installation Tuning OEM670T OEM675T Torque Drive T
49. 0W peak power from the power supply Moves that lie above the curve will use more torque a faster velocity or both and conse quently will need more peak power Moves that lie below the curve will need less power Compumotor s OEM300 Power Module produces 300W peak and 200W continuous You could use it to power any move on or below the 300W curve You could use it continuously for any move below the 200W curve Compumotor s OEM1000 Power Supply produces 1000W You could use it to power any move within the speed torque curve 126 OEM670 OEM675 Power Supply Selection Peak Power Curves for Compumotor Servo Motors The following drawings show speed torque curves for SM16 SM23 and NeoMetric servo motors with peak power curves added SM160A with OEM670 OEM675 N m oz in 0 38 0 30 g 0 23 g 0 15 0 08 0 2000 4000 6000 8000 33 67 100 133 Speed RPM rps SM161A with OEM670 OEM675 N m oz in 0 61 0 46 o amp 0 30 e 0 15 9 2000 4000 6000 8000 33 67 100 133 Speed RPM rps SM162A with OEM670 OEM675 N m oz in 1 14 150 0 1000 2000 3000 4000 5000 17 33 50 67 83 Speed RPM rps _ SM160B with OEM670 OEM675 N m oz in 0 30 40 2000 4000 6000 8000 33 67 100 133 Speed RPM rps H SM161B with OEM670 OEM675 N m oz in 0 61 80 0 46 60 D lI CE EI a 8 0 30 40 e 0 15 20 0 2000 4000 60
50. 233A n a n a SM233B 220W 242W This move is beyond the speed torque range of four motors Of the remaining motors the SM233B requires a 242W power supply to make the move The other motors need larger power supplies FRICTION GRAVITY AND DIFFERENT MOVE PROFILES The techniques we have discussed so far apply to trapezoidal moves with negligible friction Below we will briefly mention some salient points about other types of moves If your system has moves similar to one of these apply the techniques developed above to your application Friction The presence of friction requires additional torque to over come the friction We will consider Coulomb friction in a trapezoidal move Coulomb friction does not change with velocity Viscous friction which does depend on velocity is much more difficult to analyze During acceleration total torque is equal to the torque re quired for acceleration plus the torque required to overcome friction T T T 130 OEM670 OEM675 Power Supply Selection where Total Torque Acceleration Torque T Ta T Friction Torque The next drawing illustrates how friction affects a system Velocity Friction Observe that friction adds additional plateaus to the drawing The actual shape of the plateau due to frictional shaft power is shown by the dotted lines For simplicity we approximate the shape with a rectangle The equation for peak power becomes 2 E
51. 5T has three pins available to power iso lated outputs on a controller These pins provide Lj 15VDC on Pin 14 T 15VDC on Pin 15 1 GROUND on Pin 16 The next figure shows a typical controller with isolated differ ential outputs and illustrates how you can connect it to the OEM670T OEM675T Controller OEM670T OEM675T Internal Connections L 15VDC In 15VDC Isolated Command Out CMD Output Command Out CMD Circuitry 15VDC In 15VDC GND GND Controller Isolated Output Connections If your controller has an isolated single ended output connect 34 OEM670 OEM675 2 Installation the 15VDC outputs as shown in this figure Connect the command and ground signals as shown earlier in the section on single ended outputs ENABLE INPUT When the enable input of the OEM670T OEM675T is con nected to ground the OEM670T OEMOGO795T is enabled and will function normally To disable the OEM670T OEM675T break the connection to ground or connect the enable input to 5VDC WARNING Dangerous conditions can result if the enable input is not connected to a suitable controller output Many controllers produce uncontrolled command output voltages during power up power down fault or reset conditions Unpredictable and potentially dangerous machine movement may occur if the OEM670T OEM675T s enable input is not properly connected The next figur
52. 60 sq 0 0127 millimeters 47 142 6 35 0 0000 2 91 40 64 224 sq i 73 91 56 9 69 Specifications OEM670 OEM675 Motor Dimensions Compumotor SM Series Size 16 Flying Leads 0000 0 98 24 89 0 2500 0 0000 089 63 37 0 0000 6 35 00197 m y 00788 0 001 20 02 0 025 a aid CN lt 1 30 gt 4x 125 thru holes equally 83 02 Sq spaced on a 671 838 bolt circle 1 60 40 64 Sq 1 Dimensions in inches Cable Options Shaft Options millimeters escription 18 Flying Leads 10 1t Cable QE 00 250 6 35 E 0 530 6 842 Longer lengths available N f F i Consult Compumotor for information None Flat 0 37 9 4 ke Motor Length Motor Sizes Motor Length Model 4 79 121 66 162 Motor 3 79 96 27 161 Motor Motor Dimensions Compumotor SM Series Size 23 Flying Leads Cable Option MS Connectors UM 80 3750 0 s fore fens 9 0 0127 75 95 1 500 0 001 1 856 47 142 Sq 2 25 57 15 sa 4x 0 218 5 537 Shaft Options Cable Options 90 375 0 340 0 60 0 94 Part Description 9 525 8 636 1524 23 88 1 25 31 75 gt FL 18 Flying Leads Fis 30 23 10 10 ft Cable Longer lengths available Consul t Compumotor for information 70 d gt ma q e amp ep L None Flat Sq Key 1 25 31
53. 675 monitors its three Hall inputs It uses internal logic circuitry to assign a rotor position to each of the six Hall states and then direct a motor current that results in rotor movement in the commanded direction The three Hall signals produced by clockwise shaft rotation are shown at the top of the next drawing The Hall states are also listed along with the table of phase currents the OEM670 OEM675 uses for each Hall state 113 Hall Effect Sensors OEM670 OEM675 Hall 3 l 0 gt Clockwise Shaft Rotation as viewed from faceplate end of motor PHASE CURRENTS A B C 101 o0 Sel D eo Y 1 Commutation for Clockwise Shaft Rotation Based on Hall States 114 OEM670 OEM675 Hall Effect Sensors For counterclockwise rotation two changes are made First as the rotor moves counterclockwise it passes through the same Hall states but in the opposite order In this drawing read the Hall states from the bottom up for counterclockwise rotation The drive sends currents through the same coils shown in this picture but the direction of the current is reversed from that shown As a result a torque is produced in each state that causes the rotor to turn counterclockwise CONNECTING MOTORS FROM OTHER VENDORS The previous discussion described Compumotor servo motors and how the OEM670 OEM675 drive operates them If you use a motor from another
54. 70 OEM675 Power Supply Selection SM230A with OEM670 OEM675 N m oz in 0 76 100 ma 100W AES Sy o L25w 2000 4000 6000 8000 33 67 100 133 Speed RPM rps SM231A with OEM670 OEM675 z in Torque o CN 0 1000 2000 3000 4000 5000 17 33 50 67 83 Speed RPM rps zd SM232A with OEM670 OEM675 SM230B with OEM670 OEM675 N m oz in 0 61 80 M 2000 um 8000 33 67 100 133 Speed RPM rps SM231B with OEM670 OEM675 Torque 2000 a 6000 8000 33 67 100 133 Speed RPM rps a SM232B with OEM670 OEM675 0 WC 25W 0 500 1000 1500 2000 2500 8 07 25 33 42 Speed RPM rps SM233A with OEM670 OEM675 N m oz in 3 81 500 8 05 400 2 28 300 o 3 g 1 52 200 0 76 100 Z 5 10 15 20 25 Speed RPM rps 50 M 1000 2000 3000 4000 5000 17 33 50 67 83 Speed RPM rps SM233B with OEM670 OEM675 N m oz in 8 05 400 1 33 Torque a v N e eo 500 1000 1500 2000 2500 3000 8 17 25 33 42 50 Speed RPM rps Peak Regeneration Curves SM Motors Frame Size 23 141 Power Supply Selection OEM670 OEM675 NO701D NO341D with OEM670 OEM675 N m oz in 2 28 300 1 90 250 1 52 200 1 14 150 Torque 0 76 100 0 38 50 0 Ru25W 0 500 1000 1500 2000 2500 3000 3500 8 17 25 83 42 50 58 Speed
55. 70 OEM675 1 14 150 0 95 125 0 76 100 0 57 75 Torque 0 38 50 4 0 19 25 9 2000 4000 6000 8000 33 67 100 133 Speed RPM rps N m oz in SM232B with OEM670 OEM675 2 28 300 1 90 250 1 52 200 1 14 150 Torque 0 76 100 0 38 50 9 1000 2000 3000 4000 5000 17 33 50 67 83 Speed RPM rps N m oz in SM233B with OEM670 OEM675 8 05 400 2 28 300 1 52 200 Torque 0 76 100 0 500 1000 1500 2000 2500 3000 8 17 25 33 42 50 Speed RPM rps For E encoder option 1000 ppr maximum velocity is 6 000 rpm 100 rps With 75VDC bus voltage 25 C 77 F ambient temperature Although speed torque curves are the same for the OEM670 and OEM675 the OEM670 s current compensation loop is optimized for NeoMetric slotted motors the OEM675 s current compensation loop is optimized for SM slotless motors We strongly recommend that you use the OEM670 with NeoMetric motors and use the OEM675 with SM motors This provides the optimum system transient response 68 OEM670 OEM675 9 Specifications Speed Torque Curves NeoMetric Motors NO701D NO341D with OEM670 OEM675 N m oz in 2 28 300 1 90 250 1 52 200 1 14 150 Torque 0 76 100 0 38 50 A 06 500 1000 1500 2000 2500 3000 3500 8 17 25 83 42 50 58 Speed RPM rps NO702E NO342E with OEM670 OEM675 N m oz in 3 81 500 8 05
56. 70SD USER GUIDE OBSOLETED The OEM670SD Step amp Direction Drive previously had its own user guide Information for the OEM670SD and the new OEMO75SD can now be found throughout this user guide OEM670X OEM675X USER GUIDE ADDED Information for the OEM670X previously appeared in this user guide A separate user guide now contains information for the OEM670X and the new OEM675xX RESISTOR SELECTION SIMPLIFIED PG 18 A new table page 18 simplifies selection of response and foldback resistors for Compumotor motors CE AND LVD INFORMATION PG 163 CE and LVD installation information begins on page 163 Product Type OEM670T OEM675T Torque Servo Drive OEM670SD OEM675SD Step amp Direction Servo Drive The above products are in compliance with the requirements of directives 72 23 EEC Low Voltage Directive 93 68 EEC CE Marking Directive The OEM670 OEM675 when installed according to the procedures in the main body of this user guide may not necessarily comply with the Low Voltage Directive LVD of the European Community To install the OEM670 OEM675 so that it complies with LVD you must follow the additional procedures described in Appendix A LVD Installation Instruc tions If you do not follow these instructions the LVD protec tion of the product may be impaired The OEM670 OEM675 Series of drives are sold as complex components to professional assemblers As components they are not required to be complian
57. AWG 2 5 mm maximum wire size Input Output Connector 25 Pin D connector Size 5x1 6x3 5 in 127x41x89 mm approx Dimensions see Chapter QGInstallation Weight 12 ounces 0 35 kg 59 Specifications OEM670 OEM675 Specifications OEM670SD OEM675SD Step amp Direction Drive OEM670SD OEM675SD Step amp Direction Drive POWER INPUT Voltage 24 75VDC Current POWER OUTPUT MOTOR Peak Current 12 amps 12A approx 2 sec maximum duration at 45 C ambient temperature See Current Foldback for details Continuous Current 6A Voltage Peak Power 90VDC maximum 840W 1 1 hp 75V supply voltage Continuous Power 420W 0 56 hp Switching Frequency 20 kHz Bandwidth 2 kHz typical dependant on motor Transconductance 1 volt 1 2 amp Commutation 120 Hall Effect Sensors for Six State Commutation Method or Brushed DC Motor Short Circuit Protected Voltage POWER OUTPUT HALL EFFECT SENSORS Yes 5VDC 0 5VDC Current 50 mA maximum Short Circuit Protected CONTROL INPUTS Step Step Short Circuit Protected NO POWER OUTPUT TO ENCODER Voltage 5VDC Current 200 mA maximum each output NO 5V maximum input Input current 12 mA max 6 3 mA min Direction Direction 5V maximum input Input current 12 mA max 6 3 mA min HALL
58. Constant 5 1 MQ To verify that these resistors are suitable for your application test your system as described below If you experience undesired foldback red LED lights but goes out when the command input voltage is reduced the foldback circuit can be disabled by replacing R25 with a O 10 ohm resistor Even with foldback disabled you can still limit peak current and thus peak torque by installing an appropriate resistor value for R24 I High Torque Not Permitted If your mechanical system cannot withstand the peak torque that the OEM670 OEM675 can produce you can limit peak current and thus peak torque with R24 See the Peak Cur rent table below for appropriate resistor values 99 Special Internal Circuits OEM670 OEM675 Controller Cannot Detect a Jam If your controller cannot detect a jam you should determine foldback resistor values appropriate for your application and install them in your drive When a jam occurs with these resistors installed the OEM670 OEM675 will reduce the motor current to a lower level OEM670SD OEMO6795SD only see CPE Position Error Limits in Chapter 2 Installation If the drive does not detect a jam soon enough with position error limits set then install foldback resistors This mode of operation greatly reduces the rate of motor heating and allows more time for the machine operator to notice that there is a problem and shut the system down As a warning to the operator the
59. Deriv Reduce Isolated o Fault CPE 1 Input Output CPE 2 Input Shutdown nput Velocity rd Monitor spp Encoder Quadrature Channel A Count Channel B Direction o Detect nput Encoder Position Synch Circuitry irection Feedback Block Diagram OEM670SD OEM675SD Step amp Direction Servo Drive The controller accepts step and direction position commands from an indexer It uses encoder signals for feedback Its 11 Q Introduction OEM670 OEM675 internal PID position control loop generates an analog com mand output voltage that is sent to the torque board Indexers intended for use with step motor systems can oper ate the OEM670SD It emulates a stepper drive but can achieve servo system levels of high speed performance and thermal efficiency OEM670X amp OEM675X POSITION CONTROLLER DRIVE The OEM670X OEM675X Controller Drive consists of the OEM670T OEMG675T with a position controller circuit board VDC OEM670T OEM675T TORQUE CIRCUIT BOARD Current Monitor o Fault t Torque Command POSITION CONTROLLER CIRCUIT BOARD ro ENABLE Position Feedback C R O P R Q C E S S O R OEM670X OEM675X Position Controller Drive Block Diagram Inputs outputs and RS 232C communications are internally routed to the
60. ER A GRAPHICAL METHOD Given a speed torque curve for a particular motor you can overlay a family of curves that show peak power levels for various moves To do this start with the equation for peak power that we developed above Next set P equal to a fixed value and then solve for velocity 2aT For any given torque you can determine a velocity such that the peak power required to reach that velocity is equal to P watts The graphical method is illustrated in the next ex ample Example For the SM231A motor at 75VDC we wish to determine a curve that shows all of the possible speed torque combina tions that require 300W peak power So set P 300W We then have T 2 Torque Velocity 300 z R oz in Nm rps y 74 _ 75 0 53 73 27T 100 0 71 45 125 0 88 26 For each torque listed in the table the peak power required to reach the corresponding velocity is 300W In the next drawing we have plotted these values on the speed torque curve for the SM231A motor We have also plotted a similar curve corresponding to moves of 200W peak power 125 Power Supply Selection OEM670 OEM675 SM231A with OEM670 OEM675 N m oz in 1 14 150 Mi ee eS 0 76 100 o amp 0 57 o 0 38 19 00 00 40 00 33 50 67 83 Speed RPM rps 000 17 Peak Power Curves SM231A at 200W and 300W Any move that falls on the 300W curve will require 30
61. In a system without static torque loading you may wish to disable integral gain entirely see above This completes the tuning procedure 55 Installation OEM670 OEM675 56 CHAPTER 9 Specifications Complete specifications for the OEM670 OEM675 Drive are listed in the following pages Specifications are also listed for Compumotor SM and NeoMetric Series servo motors along with speed torque curves and dimensions for the motors The motors are described by the following numbering system Frame Magnet Feedback Length SM Series 161 A D 500 ppr encoder N normal MS military style N none 162 B E 1 000 ppr encoder F flat 10 10 cable V shaft seal 231 H Hall effectonly K keyway 25 25 cable 232 R resolver L extended FL 18 leads 233 TQ TQ amp series 1 includes Hall effect 2 not available on size 16 3 cable is hare wired size 23 w MS or TQ connectors IP65 Feedback NeoMetric Xxxy Identifying D 500 ppr encode N normal FL B brake Series xxx flange dia character E 1 000 ppr encoder F flat MS N none 070 for 70 mm H Hall effect only K keyway TQ V IP65 092 for 92 mm D E F etc R resolver PT W IP67 y magnet length 10 reference 1 to 4 1 92 mm motors only 70 mm motors only The motors are equipped with Hall effect outputs for commu tation feedback Each motor has an encoder for feedback to the controller Th
62. M circuit that controls the power stage The drawing shows a simplified 83 Special Internal Circuits OEM670 OEM675 conceptual representation of how this control is accom plished Voltage from a PWM pulse causes a switch to close Current can then flow from an external power supply through two coils of the motor a sense resistor and to ground When the PWM pulse stops the voltage controlled switch opens which disconnects the power supply from the motor Together the error amplifier PWM circuit and power stage form a voltage to current converter A voltage that represents commanded current is converted to an actual current flowing in the motor Longer PWM pulses will cause more current to flow shorter pulses will cause less current to flow Notice that the motor current goes through a sense resistor before it reaches ground The sense resistor is a current to voltage converter Motor current flowing through it generates a voltage across the resistor This voltage is proportional to actual current It is used as the current feedback signal vfp which is fed back to the summing node This signal is also accessible to the user at the current monitor output MOTOR INDUCTANCE AFFECTS FEEDBACK So far we have seen that there is motor inductance in the feedback loop but we have not discussed its significance To understand how inductance can affect a circuit let us first look at a very simple circuit ev
63. Monitor the waveforms until you get the response you want 92 OEMG670 OEM675 Special Internal Circuits CURRENT FOLDBACK A mechanical jam in a servo system can cause the motor to overheat In contrast to a stepper motor which does not run hotter when jammed a servo will apply full current for full torque while it attempts to move as commanded Usually this current will be much higher than the motor can withstand continuously If it persists indefinitely it may damage the motor s windings To help protect the motor from overheating the OEM670 OEMG675 has a current foldback circuit If high motor current continues for too long the circuit reduces the current to a lower level which decreases the rate of motor heating You can adjust the foldback circuit by changing three resis tors on the drive s circuit board R23 R24 and R25 Foldback Current Level R25 2 AA Q Peak Current Level R24 RA Thermal Time Constant R23 kaS SZ Foldback Resistor Locations See Installing Selectable Resistors in Chapter Installation for an explanation on how to change foldback resistors You have two options for choosing resistors for current foldback T Select resistors to use with Compumotor SM and NeoMetric Series motors T Select resistors to use with motors from other vendors The following sections will explain when you should use foldback how the current foldback circuit works and how to c
64. OEM670T OEM675T OEM670SD OEM675SD Servo Drive User Guide Compumotor Division Parker Hannifin Corporation p n 88 013599 01 E o O Q O Q Important User Information Installation amp Operation of Compumotor Equipment It is important that Compumotor motion control equipment is installed and operated in such a way that all applicable safety requirements are met It is your responsibility as a user to ensure that you identify the relevant standards and comply with them Failure to do so may result in damage to equipment and personal injury In particular you should review the contents of the user guide carefully before installing or operating the equipment Under no circumstances will the suppliers of the equipment be liable for any incidental consequential or special damages of any kind whatsoever including but not limited to lost profits arising from or in any way associated with the use of the equipment or this user guide Safety Warning High performance motion control equipment is capable of producing rapid movement and very high forces Unexpected motion may occur especially during the development of controller programs KEEP CLEAR of any machinery driven by stepper or servo motors and never touch them while they are in operation High voltages exist within enclosed units on rack system backplanes and on transformer terminals KEEP CLEAR of these areas when power is applied to the equipment Parker Compumotor
65. ON CIRCUITS Green Power LED Short Circuit Red Fault LED Enable In Pra Undervoltage Over Temperature Fault Output 4 Excess Regeneration Low No Fault 22KQ Block Diagram OEM670T amp OEM675T Torque Servo Drive OEM670 OEM675 Introduction Input to the drive is a voltage signal called command input It can range from 10VDC to 10VDC Output current is scaled so that each volt of command input corresponds to 1 2A of output current For example a command input of 5V results in a 6A output current The maximum command input of 10V results in the full 12A output current The command input terminals can accommodate single ended differential or isolated controller wiring systems When the command input signal enters the drive it is ampli fied sent through a foldback circuit which may or may not be active and an inverter and summed with a current feedback signal that is proportional to the actual output current An error signal the difference between commanded and actual output current goes through an error amplifier The amplifiers output controls a pulse width modulation PWM circuit If actual current is too low the PWM circuit will send longer pulses to the power stage These pulses keep the stage turned on longer which results in more output current If actual current is too high the PWM circuit sends shorter pulses resulting in less current A response resistor affects the
66. SUPPLY CHOICES If you have worked through the previous sections then by this point you have T Determined how much power your system needs T Determined whether regeneration is a concern T Selected a power supply voltage Armed with this information you are now ready to choose a power supply You have three main choices 145 Power Supply Selection OEM670 OEM675 1 Linear Unregulated Power Supply OEM1000 Qd Switching Power Supply Qd OEM300 Power Module In the following sections we will explain the advantages and disadvantages of linear and switching supplies We will also present information about Compumotor s OEM300 Power Module and OEM1000 Power Supply LINEAR POWER SUPPLY The simplest linear power supply consists of a transformer bridge rectifier and capacitor The transformer changes the level of the AC input voltage Diodes in the rectifier change the AC to DC The capacitor filters the DC and stores energy Such linear supplies are unregulated Some models have a fuse to provide overcurrent protection To improve the transient response the single output capacitor can be replaced by combinations of capacitors and inductors Compumotor s OEM1000 is a linear power supply Advantages of Linear Power Supplies 1 SIMPLICITY Linear supplies are simple robust and repairable They have very few parts Once the supply is working it usually keeps working for a long time If a part fails diagnosing
67. Short circuit in load or cabling or bad Hall state all low or a transient undervoltage OFF ON HI OEM670SD OEM675SD only Short on 5VDC OEM670SD OEM675SD only Short on 5VDC LED is ON Illuminated or Fault Output is HIGH 5VDC to 24VDC LED is OFF Not Illuminated or Fault Output is LOW VDC or Ground LED turns ON then turns OFF or Fault Output goes LOW then goes HIGH For a detailed description of the various fault conditions see the basic troubleshooting procedure below 154 OEMG670 OEMG675 Troubleshooting OTHER POSSIBLE PROBLEMS If the drive is powered up enabled and operating properly 1 The green LED is ON 1 The red LED is OFF L The fault output is LOW These conditions indicate that the OEM670 OEMO675 is probably not the source of the problem The next table sum marizes other possible sources of problems TROUBLESHOOTING TABLE Possible Source of Problem SOLUTION CONTROLLER Verify that controller delivers proper command input voltage INDEXER OEM670SD OEM675SD cycle power to clear fault latch Verify step pulses at 25 pin D connector MOTOR Check for motor problems Check motor coils for continuity shorts proper resistance Check Hall and Phase wiring MECHANICAL SYS Check for jams binds increased friction etc Check motor wiring Phases Hall Effects Check power supply wiring Check controller wiring OEM670SD OEM675SD c
68. Supplies Regenerated energy flowing from the load to a switching supply may cause the supply to behave erratically and unpre dictably Accommodating regeneration is more difficult with a switching supply than with a linear supply You may need to install a blocking diode if regeneration causes problems with your switching supply The next draw ing shows where the diode should be positioned Blocking OEM670 OEM675 Diode VDC Power l Supply GND Il Extra 1 Capacitor Blocking Diode with Extra Capacitor The blocking diode will prevent regenerated energy from entering the power supply This energy must go somewhere If it is not absorbed by the supply it will charge up the drive s internal capacitors and cause an overvoltage fault In a vertical application it may damage the drive The drawing above shows one possibility for removing regen erated energy You can install extra capacitors on the power bus and allow the energy to charge up the capacitors The next drawing shows another possibility for removing regenerated energy You can install a power dump resistor and circuitry to monitor the voltage on the power bus 149 Power Supply Selection OEM670 OEM675 Blocking OEM670 OEM675 Diode Y VDC nd Power gt i M Supply GND T N P Power Dump Control Circuit Power Dump Resistor V Blocking Diode with Power Dump Des
69. These are differential inputs therefore your encoder should have differential outputs Single ended operation is possible but is more susceptible to electrical noise and is not recommended If you use an OEM Series motor see Specifications Encoder in Chapter 9 Specifi cations for the pinout of the encoder connector Up to 200 mA at 5 volts is available on pin 17 to power encoder electronics Motor OEM670SD Internal Connections OEM675SD l 200mA max at 5V available on pin 17 to power encoder electronics Encoder Ground 5V to encoder I I I I I A Org 6810 6810 I Oz B I e Ss DE e os i Oo 261932 Maximum low input 0 8V O o 6810 Minimum high input 2 0V O i Maximum input frequency 1 MHz Oo O V l A Leads B CW Rotation Oo O Internal Connections for CHA 18 19 i I B Leads A CCW Rotation and CHB 20 21 are identical Encoder Input 42 OEM670 OEM675 2 Installation OPTIONAL INPUTS AND OUTPUTS Connect any of the optional inputs and outputs that your application requires Each is described below Shutdown Input Use the isolated shutdown input on pins 12 and 13 if you need to temporarily disable the drive during normal opera tions You may wish to do this for example to manually move the load to a desired position Make connections according to the following diagram The inputs are designed for 5V opera tion Yo
70. age and the section on Short Circuit Protection in Chapter Special Internal Circuits Excessive Friction Too much friction in your system might cause move problems Excessive friction can cause trouble when mechanical compo nents in a system age As friction increases problems may occur in a system that had previously been working well MECHANICAL PROBLEMS Check for binds jams increased friction or other problems in the mechanical system If a system was working properly but then suddenly develops new problems check for changes in the mechanical system that could be causing the problems ENCODER PROBLEMS Encoders that are miswired or malfunctioning can cause problems during a move Check wiring from the encoder to the controller or to the OEM670SD OEM675SD To isolate a malfunctioning encoder rotate the motor shaft a known distance and check the encoder readout ELECTRICAL NOISE PROBLEMS Electrical noise can cause problems depending on the appli cation and the sensitivity of equipment in the system For more information on identifying problems caused by electrical noise and solutions to those problems consult the technical section in Compumotor s EMC Installation Guide 161 Troubleshooting OEM670 OEM675 PRODUCT RETURN PROCEDURE If you must return the O0EM670 OEM675 for repairs use the following steps 1 Get the serial number and the model number of the defec tive unit and a purchase order n
71. ance while keeping other compo nents unchanged Increasing the inductance will cause overdamping decreasing the inductance will cause underdamping Arrows on the right side of the drawing show the effects of changing the response resistor while keeping other compo nents unchanged Increasing the resistance will make your system overdamped decreasing the resistance will make it underdamped 90 OEM670 OEM675 Special Internal Circuits g Command ES Input BS Over damped HIGHER HIGHER MOTOR RESISTOR INDUCTANCE VALUES Optimum Under LOWER damped LOWER MOTOR RESISTOR INDUCTANCE VALUES Oscillate t E 3 Very Low Q Zero Ohms Inductance Time Response Waveforms 91 Special Internal Circuits OEM670 OEM675 Viewing the Response Waveform You can view your system s response waveforms on an oscillo scope and compare them to the drawings we have presented throughout this section Connect an oscilloscope to the drive s current monitor output as shown in the next drawing Oscilloscope Meter Internal Controller Etc OEM670 OEM675 Connections I O oO i Current Monitor Ong Ll IN Ose V c e WW e urrent Monitor O 10KQ i OOO a i Current Monitor Output Connections From the picture on your oscilloscope screen you can see if your system is overdamped or underdamped If necessary change the value of the response resistor to improve perfor mance
72. at actually occurs in the motor Circuit limitations and differences in application conditions can cause widely varying results Some conditions that affect motor temperature are T Ambient temperature T Air flow on the motor T Heatsinking of motor size composition and tempera ture of the motor mounting surface T Move profile and duty cycle T Motor core losses Other conditions may be important in your system Because many variables affect motor temperature we recom mend that you treat the suggested resistor values as a start ing point in developing your thermal management strategy You may need to determine the best values empirically For optimum motor protection choose values as conservatively as possible Finally test your system as described below Application Examples If you have a load that is primarily frictional for example a spindle drive you can set the peak current limit resistor R24 to a value that will keep the current below the continu ous current rating of your motor This will ensure that the current cannot exceed the motor s rating Check the motor temperature under actual operating conditions If you have a load that is primarily inertial for example a point to point move with low friction you can set the 101 Special Internal Circuits OEM670 OEM675 foldback current resistor R25 to a low value that will protect against a jam but still allow full peak current for the accelera ti
73. atures you may need to mount the drive in a way that removes heat from it The drive uses a heatplate design as a pathway to dissipate its excess heat it should be mounted to a heatsink or a suitable heat sinking surface The OEM670 OEMG675 is overtemperature protected See Chapter Special Internal Circuits for more information Mounting Without a Heatsink The next drawing shows the recommended panel layout for mounting the OEM670 OEMO75 without a heatsink 0 375 us 9 52 Dimensions in inches millimeters 2 50 80 Minimum Panel Layout Without a Heatsink 21 Installation OEM670 OEM675 Mounting With Compumotor Heatsink OEM HS1 A heatsink designed to work with the OEM670 OEM675 can be purchased from Compumotor Part Number OEM HS1 This heatsink is sufficient for most applications operating in 45 C 113 F or lower ambient temperatures The drive may be mounted in two different configurations One configuration uses a minimum amount of mounting area minimum area The other configuration uses a minimum amount of mounting depth minimum depth Heatsink dimensions are shown in the next drawing 2x 118 32 UNC 2B 4 650 0 200 Thru One Fin 118 11 0 175 5 08 2x 0 187 4 75 Thru 4 44 2x 8 32 UNC 2B Thru 0 637 16 18 zei ot 0 450 11 43 118 11 ee as 5 2 100 ls 2 000 4 0 200 k 5 000 50 8 5 08 127 00 Dimensions in OEM HS1 Hea
74. ause resonance problems however These conflicting requirements are summarized below T Maximum Stiffness in the mechanical system QO Flexibility to accommodate misalignments T Minimum Resonance to avoid oscillations The best design solution may be a compromise between these requirements 25 Installation OEM670 OEM675 MISALIGNMENT amp COUPLERS The type of misalignment in your system will affect your choice of coupler Parallel Misalignment The offset of two mating shaft center lines although the center lines remain parallel to each other Angular Misalignment When two shaft center lines intersect at an angle other than zero degrees End Float A change in the relative distance between the ends of two shafts There are three types of shaft couplings single flex double flex and rigid Like a hinge a single flex coupling accepts angular misalignment only A double flex coupling accepts both angular and parallel misalignments Both single flex and double flex depending on their design may or may not accept endplay A rigid coupling cannot compensate for any misalign ment Single Flex Coupling When a single flex coupling is used one and only one of the shafts must be free to move in the radial direction without constraint Do not use a double flex coupling in this situa tion it will allow too much freedom and the shaft will rotate eccentrically which will cause large vibrations and cata stroph
75. ay be hot A typical caution note is shown below CAUTION Do not turn on power unless the motor s Hall effect sensors Hall 5 and Hall GND are connected to the drive The motor may be destroyed by overheating if these connections are not made Q9 CHAPTER D Introduction OEM670T OEM675T DESCRIPTION The OEM670T OEMOGO79T is a torque servo drive designed to operate standard 3 phase brushless DC servo motors equipped with Hall effect sensors or equivalent feedback signals It can also operate brushed DC servo motors It is a high performance module around which the Original Equip ment Manufacturer OEM can design a motion control sys tem The drive offers a basic set of features designed to meet the needs of most customers It is compatible with standard industry servo controllers and is intended to be used in positioning applications It uses three state current control for efficient drive performance and cooler motor operation The OEM670T OEMG675T is small and convenient to use It installs with only two screws the screws also provide ground ing and captivate the cover Its rightangle screw terminal allows side by side mounting and its small footprint maxi mizes cabinet space The snap on molded cover is removable for drive configuration and helps provide a barrier against environmental contamination The drive is the same size as a 3U Eurorack card Its standard 25 pin D connector is com pati
76. bility it is important that you connect your system so that a positive step command causes the encoder position to increment not decrement If the system is connected incorrectly each step pulse will cause the encoder to move in the wrong direction causing increasing position errors This could lead to instability and a motor runaway in which the motor spins faster and faster eventually going out of control 39 Installation OEM670 OEM675 Velocity Monitor 1 Ce u ep Egi CPE2 Position Error 2 e e SEES lt Stepi 3 e irection e 16 Encoder GND OEM Direction 4 series e 17 Encoder 5V Derivative Gain Reduction 5 e e 18 Encoder A ncoder A gt Integral Gain Disable ble e ERST ncoder A Ground 7 e e 20 Encoder B CPEi PostionEmo 8 e e ENDE ncoder B 4 Fault not isolated 9 e 22 Fault lisolated me i e ault isolate gt gt 23 Fault isolated Ground 11 e bd 24 Current Monitor Shutdown 12 e e e 25 Current Monitor gt Shutdown 13 d m OEM670SD OEM675SD Inputs amp Outputs and Internal Connections REQUIRED INPUTS Step amp Direction Inputs Connect your indexer to the step and direction inputs as shown in the next drawing These inputs are optically iso lated For best performance your indexer should drive the inputs differentially Single ended operation is also possible
77. ble with universally available connectors The drive is designed for manufacturability and reliability It uses surface mount components and a custom designed ASIC to conserve space reduce cost and improve reliability More than 90 of the components are auto inserted which reduces assembly time and cost and further improves reliability OEM670T OEM675T OPERATION amp BLOCK DIAGRAM The OEM670T OEMG675T Torque Drive requires a single external power supply The drive accepts 24VDC to 75VDC for 7 Q Introduction OEM670 OEM675 its power input Its internal DC to DC converter produces 5V to power Hall effect sensors 15V to power isolated outputs and all internal voltages used for the drive s circuits The drive operates in torque mode which means it provides a commanded amount of current to a motor This current causes torque in the motor The drive s block diagram is shown in the next drawing VDC 24VDC 75VDO DC to DC Converter Hall 5V voc Groun d Current Loop Input Signals Foldback Circuit Error Response Can Range From Can Clamp Amplifier Resistor R22 10VDC to 10VDC Torque Command User Select 1 able II Command 10KQ POWER WwW STAGE 10KQ Sioko Command CURRENT T Current Feedback FOLDBACK CIRCUIT User Selectable Resistors Current Monitor Ground to Enable Current Monitor 5V Y 2 49KQ FAULT amp PROTECTI
78. cribe how to choose resistor values for other motors Selecting Foldback Resistors The OEM670 ships with resistors already installed the OEM675 ships without resistors Default Foldback Resistors as shipped Res Function OEM670 OEM675 R25 Foldback Current 23 7 KO 6A none installed R24 Peak Current Q 12A none installed R23 Time Constant 5 1 MQ none installed If you use an OEMO670 the values above may not be suitable for your application If your system cannot withstand the peak torque if your controller cannot detect a mechanical jam or if you use an OEM675 you should determine foldback resistor values appropriate to your application and install them in your drive For full details about how to choose foldback resistor values and about how the foldback circuit works see Chapter Special Internal Circuits Selecting a Response Resistor The OEM670 ships with a response resistor already installed the OEM675 ships without a response resistor Default Response Resistor as shipped Res Function OEM670 OEM675 R22 Optimize gain and 100 KQ none installed frequency response If you use an OEM670 and your motor is not well matched to the default resistor your system might not perform as well as you expect In this case or if you use an OEM675 improve your system s performance by selecting an appropriate re sponse resistor and installing it in the drive For full details about how to choose a va
79. ctifier will continue to operate during regeneration During regeneration the supply s capacitors will absorb energy from the load As the energy is stored in the capaci tors the supply s output voltage will rise If it goes higher than the threshold of 90VDC the OEM670 OEMO75 s over voltage protection will disable the drive To avoid overvoltage shutdowns you can use larger capacitors to store more energy or use a power supply that operates at a lower bus voltage SWITCHING POWER SUPPLY A switching power supply takes an AC input voltage at power line frequency and uses switching transistors to increase the frequency Various techniques are used to modify the high frequency voltage and obtain the desired DC output voltage The chief advantage of operating at higher frequency is that many components particularly transformers and capacitors can be much smaller and operate more efficiently 147 Power Supply Selection OEM670 OEM675 A switching power supply is regulated It actively monitors the input line voltage and keeps its output voltage constant even when the input voltage varies If the load demands more power the supply will increase its output current but its output voltage will stay at a constant level Advantages of Switching Power Supplies a REGULATION The supply will try to keep its output at a constant voltage regardless of line or load variations There are limitations on how well it can do this
80. d current level it is time for the next sample The control circuit compares commanded with actual current and makes an adjustment There is little overshoot with a minimum settling time before actual current reaches commanded current 88 OEM670 OEMG675 Special Internal Circuits If you change one component in this well matched system motor inductance for example you may need to adjust some other component to maintain the system s optimum response SELECTING A RESPONSE RESISTOR In the previous section we discussed the effect different motors have on the drive s response Once you have chosen a motor the inductance in your system is fixed it is no longer a variable To adjust the response of your system for the motor you have chosen you can install the correct response resistor If yours is a Compumotor motor use the response resistor recommended for your motor in Installing Selectable Resistors in Chapter Installation If yours is a non Compumotor motor examine the motor specification tables for Compumo tor motors in Chapter Specifications find a motor with inductance and resistance similar to yours and use the resistor recommended for that motor In either case you may have to make further adjustments as described below Once you have chosen a resistor there are three possibilities for what to do next based upon the response of your system 1 OPTIMUM RESPONSE Use the resistor you have chosen
81. dels the motor s thermal time constant Low Resistance High Resistance 63 op Time Tc Time Capacitor Voltage Vc Foldback Time Constant 97 Special Internal Circuits OEM670 OEM675 In this circuit the voltage source v is proportional to heat in the motor v e I 2 2 ae I o where is a scaled replica of the motor current I replica represents heat entering the motor replica Moana represents heat leaving the motor v the voltage on the capacitor represents motor tempera ture R23 controls how fast v can change If you select an appropriate value for R23 the RC time con stant of the circuit will match the thermal time constant of your motor In the drawing above the two graphs on the right show that a low resistance produces a time constant similar to a small motor s time constant a high resistance gives a longer time constant similar to that in a large motor R23 therefore controls the time constant in the foldback circuit It is scaled to one second per megohm Very small motors should use a lower faster value for R23 For larger motors that need peak power for long acceleration times you can increase R23 to as high as 10 megohms Values higher than this are not recommended These points are summarized below CL SCALING 1 sec per MQ CL MAXIMUM 10 MQ Notice that the time constant averages the flow of heat in the motor This means t
82. e Power Flow During Deceleration Energy During Regeneratiori rer rentrer ens Regeneration GUEFWeS res aeaaea e Ek EE ER aee in ee EUREN EYE What Voltage Do You Need Power Supply Choices Powering Multiple Axes nente eor erinnern ra 7 IBOUBLESHOOTINQL irataninkan ni ina ad dind uasa auta cdd n Basic Troubleshooting Method 5 n nnns Miscellaneous Problems Product Return PEFOCedlle cceee oer rere traer eh never yer ere le ey va va E Fu YER VENERE Y APPENDIX LVD INSTALLATION PREFACE ABOUT THIS USER GUIDE You may not need to read this user guide from cover to cover You can find essential information in the first three chap ters a product description in Chapter 1 installation instruc tions in Chapter 2 and specifications for the drive and motors in Chapter 3 This may be all you need to use the OEM670 OEM675 Later chapters contain additional information about selected topics Read them if you need a deeper understanding about these topics Special internal circuits including an extended discussion of the current foldback circuit and the response circuit are covered in Chapter 4 This chapter may interest you if you want to achieve optimum performance from the drive by adjusting the selectable resistors Hall effect sensors and the way they affect commutation in brushless servo motors are described in Chapter 5 If you use motor
83. e zero each pot 2 Turn the proportional gain pot 3 turns clockwise 3 Leave the integral gain pot at zero 4 Turn the derivative gain pot 41 2 turns clockwise These settings will provide a stable but mushy response with most motors and light loads amp Increase Proportional Gain Increase proportional gain until the system oscillates or becomes unstable then decrease the gain until the system returns to stability at least 4 turn counterclockwise Increase Derivative Gain Increase derivative gain until the system oscillates or becomes unstable then decrease the gain until the system returns to stability at least 2 turn counterclockwise Repeat Step 2 and Step With the increased damping from step you should now be able to increase proportional gain further With higher proportional gain you may need higher derivative gain So iteratively repeat steps and until your system is criti cally damped In general you will want values for propor tional and derivative gain that are as high as possible without producing unacceptable motor vibrations over shoot or ringing Adjust Integral Gain If you need integral gain in your application adjust it now You should set integral gain to the lowest value that will correct following errors and static position errors but not increase overshoot or settling time Adjusting integral gain may require you to readjust the derivative and integral gain pots
84. e a linear power supply or a switching power supply The sections in this chapter will help you answer these ques tions A Word About Units We want a solution for power that is expressed in watts To be consistent with watts we will express all quantities in SI metric units derived from kilograms meters and seconds The quantities and units we will use are UANTITY Torque Shaft Velocity Shaft Acceleration Motor Resistance Torque Constant Current Inertia SYMBOL C WoeP g d UNITS Nm newton meter rps revs per second rad s 2mv rps revs per sec rad s 2ma o ohms Nm A A amps kg m2 If you want to use other units apply conversion factors in the appropriate places 117 Power Supply Selection OEM670 OEM675 HOW MUCH POWER DOES YOUR SYSTEM NEED The first step in choosing a power supply is to analyze your motion control system and determine two quantities d Peak Power Ll Average Power Peak power is the maximum number of watts the power supply must provide during the most demanding part of the move Average power is the number of watts required for a repetitive move averaged over the entire move cycle including time spent at rest In the sections below we show several ways to determine how much power your system needs a calculation method a graphical method and an empirical method It is not our goal to calculate power precisely A full analysis of
85. e motors are available with NEMA flanges for compatibility with standard X Y stages and gear boxes Encoder specifications and pinouts are listed after the motor specifications 57 Specifications OEM670 OEM675 Specifications OEM670T OEM675T Torque Drive OEM670T OEMG675T Torque Drive Specifications POWER INPUT Voltage 24 75VDC Current POWER OUTPUT MOTOR Peak Current 12 amps 12A approx 2 sec maximum duration at 45 C ambient temperature See Current Foldback for details Continuous Current 6A Voltage 90VDC maximum Peak Power 840W 1 1 hp 75V supply voltage Continuous Power 420W 0 56 hp Switching Frequency 20 kHz Bandwidth 2 kHz typical dependant on motor Transconductance Commutation 1 volt 1 2 amp 120 Hall Effect Sensors for Six State Commutation Method or Brushed DC Motor Short Circuit Protected Yes POWER OUTPUT HALL EFFECT SENSORS Voltage 5VDC 0 5VDC Current 50 mA maximum Short Circuit Protected NO POWER OUTPUT TO CONTROLLER OUTPUT STAGE Voltage 15VDC 1 5VDC 15VDC 1 5VDC Current 10 mA maximum each output Short Circuit Protected CONTROL INPUTS Command Input NO 10V to 10V analog voltage 1 volt input 1 2 amp output Enable Input Active LOW 0 8V 2mA When disabled Internal 2 49 KQ HALL INPUTS Low State
86. e shows how to connect a controller with an open collector enable output to the OEM670T OEMGO795T When the transistor in the controller is on the controller s enable output is effectively tied to ground This grounds the OEMO670T OEMGO75T s enable input and the OEM670T OEMG675T is enabled Controller OEM670T Internal Connections Manual Disable OEM675T 0 normally closed 5V l O 2 49KQ Enable Out ENABLE IN le gt m lO 22KQ ogo O ex OO Ground GND 22KQ I apr Enable Input Connected to a Controller This figure also shows an optional switch that can be used as a manual disable switch The switch is normally closed When it is opened the drive will be disabled Installation OEM670 OEM675 As the next figure shows the OEM670T OEM675T could also be enabled simply by closing a switch that connects its enable input to ground OEM670T OEM675T Internal Connections Enable Out ENABLE IN fio m Ground GND ooeeo E Enable Input Connected to a Switch Connecting a jumper between the OEM670T OEMO675T s enable input and ground is a quick way to temporarily enable the OEM670T OEM675T You may wish to do this for ex ample if you need to test the OEM670T OEM675T when it is not connected to a controller Enabling the drive in this manner may be dangerous however see the warning above FAULT OUTPUT When the OEM670T OEM675T is operating norma
87. ement for a step motor you may need to modify your mechanical coupling system to reduce resonance For example we recommend using a bellows style coupler with servo motors rather than the helical style coupler that is often used with step motors Helical couplers are often too flexible with resonant frequen cies that can cause problems Bellows couplers are stiffer and perform better in servo systems 27 Installation OEM670 OEM675 CONNECTING A MOTOR TO THE DRIVE The OEM670 OEMG675 drive is designed to work with three phase brushless motors equipped with Hall effect sensors or equivalent feedback signals The typical motor has a perma nent magnet rotor with four poles two pole pairs Connect your motor s phase wires and Hall effect sensor wires to the 10 pin screw terminal on the OEM670 OEM675 Each terminal is labeled with the name of the wire you should connect to it Hall Effect Connections PHASE A mma Motor Connections PHASE B PHASE C 10 Pin Screw Terminal 14 AWG 2 5 mm is the maximum wire size that can fit in the connector CAUTION Do not turn on power unless the motor s Hall effect sensors Hall 5 and Hall GND are connected to the drive The motor may be destroyed by overheating if these connections are not made If the Hall effects are not connected the drive determines that it is configured to run a brushed servo motor With power and a command input appl
88. enerated energy 136 OEM670 OEM675 Power Supply Selection PowER FLow DuRING DECELERATION In the trapezoidal moves we have analyzed we used the convention that torque and velocity are positive during accel eration During deceleration however torque is applied in the opposite direction Therefore torque is negative and shaft power the product of torque and shaft velocity is also nega tive P shaft o T 2zv T Negative shaft power means that power flows from the motor back to the drive Does this mean that deceleration always causes regeneration Not necessarily Current must flow in the motor to produce the negative torque The heat that this current produces is proportional to the square of the torque Copper losses therefore are always positive 2 T Popper n R T The total power during deceleration then is the sum of shaft power and copper losses 2 T P Loi amr R T If the magnitude of the first term is larger than the magnitude of the second term then the net power is negative power will flow from the system and back into the power supply When the second term is larger than the first the power supply must provide power for deceleration ENERGY DURING REGENERATION The power supply must be capable of absorbing or dissipating energy that flows into it during regeneration The amount of energy is related to the power that we discussed above Recall from physics that the joule i
89. ent 10 mA 20 mA Active Level No Fault Transistor on current flows Fault Transistor off no current flows When the OEM670SD OEMG675SD is operating normally each fault output s internal transistor is in the on state and conducts current If the OEM670SD OEM675SD detects a fault it turns off the transistors and current stops flowing 47 Installation OEM670 OEM675 You can use the OEM670SD OEMO675SD s fault output as a signal to an indexer or PLC that a fault has occurred The following conditions will activate the fault output LED Status Fault Condition Red Green Drive Not Enabled On On Over Temperature latched On On Overvoltage latched On On Undervoltage latched On On Excess Position Error latched On On Short Circuit latched On Off Power Supply Fault latched On Off Foldback Foldback is not a fault the red LED is ON during foldback but the fault output is not activated Latched means you must cycle power before the drive will operate again You can also use the shutdown input to clear position error faults and to clear some undervoltage faults Current Monitor The OEM670SD OEM675SD s current monitor output is identical to the OEM670T OEM675T s current monitor out put See the current monitor description in the previous section OEM670T OEMG675T Inputs and Outputs for more information CONNECTING A POWER SUPPLY The OEM670 OEMG675 requires a single external power supply with these
90. es further in a clockwise direction and when it turns far enough the Hall state changes to 001 At this point directing current into phase A and out of phase C will keep the rotor turning to state 001 The next Hall states the rotor will pass through are 010 and 110 When the south pole without the dot reaches state 100 a complete electrical cycle has occurred and the rotor has rotated through 360 electrical degrees Physically it has rotated through 180 mechanical degrees At this point the same sequence of Hall states begins again Notice that the Hall states are not determined by the current flowing in the stator They simply report information about the position of the rotor Whether you turn the rotor by hand or cause it to turn by directing current through the motor s coils the Hall effect sensors are influenced only by the mag netic fields of the rotor The Hall effect outputs in Compumotor servo motors divide the electrical cycle into three equal segments of 120 electrical degrees not mechanical degrees Outputs used in this ar rangement are called 120 Hall effect outputs The Hall states 111 and 000 never occur in this configuration Another arrangement rarely used in modern servo motors uses a 60 Hall effect sensor configuration in which the states 111 and 000 can occur Do not attempt to use such a motor with the O0EM670 OEM675 It will not operate properly COMMUTATION BASED ON HALL STATES The OEM670 OEM
91. escription OEM670 OEM675 7 Differential Inputs 40 Differential Output 33 Digital Ground 38 Dimensions motors 69 OEM HS1 Heatsink 22 OEM670 OEM675 20 Direction Input 40 Disable 35 41 Double Flex Coupling 26 Drive Dimensions 20 Drive Mounting 20 167 Index OEM670 OEM675 E Electrical Noise 50 161 Electromagnetic Compatibility Directive 2 Enable Input 35 41 Enclosure Installation 165 Encoder input 42 problems 161 specifications 72 End Float 26 Error Signal 9 83 Eurorack Card 7 F Fault Output 36 Fault Output Isolated 47 Fault Output Non isolated 47 Fault Table 154 Foldback See Current Foldback Foldback Resistors 16 100 Friction 130 G Gravity 132 Ground Pins 38 Grounding 30 H Hall Effect 106 Hall Effect Sensors 107 inside brushless motors 108 Hall Effect Specifications 72 Hall States 110 Heatplate 21 Heatsink Dimensions 22 Heatsink OEM HS1 22 Heatsink Temperature 21 81 l O 31 39 168 Inductance Range of Motors 82 Input Scaling 32 Input Voltage Range 48 Inputs and Outputs 31 39 Installation Steps 15 Installing Selectable Resistors 16 Integral Gain 53 Integral Gain Disable 47 53 Isolated Output 34 L Latched definition 37 48 76 LED Fault Table 154 Linear Power Supply 146 Low Voltage Directive 2 LVD installation 2 163 Manual Disable 35 41 Maximum Temperatures 21 Maximum Wire Size 28 Mechanical Problems 161 Misalignment amp Couplers 26
92. ess servo motor 24 OEM670 OEM675 2 Installation is dissipated in the stator the outer shell of the motor Performance specifications usually state the maximum allow able case temperature Exceeding this temperature can permanently damage the motor If yours is a demanding application your motor may become quite hot The primary pathway through which you can remove the heat is through the motor s mounting flange Therefore mount the motor with its flange in contact with a suitable heatsink Specifications for Compumotor SM and NeoMetric Series servo motors apply when the motor is mounted to a ten inch by ten inch aluminum mounting plate 1 4 inch thick To get rated performance in your application you must mount the motor to a heatsink of at least the same thermal capability Mount ing the motor to a smaller heatsink may result in decreased performance and a shorter service life Conversely mounting the motor to a larger heatsink can result in enhanced perfor mance ATTACHING THE LOAD Your mechanical system should be as stiff as possible Be cause of the high torques and accelerations of servo systems the ideal coupling between a motor and load would be com pletely rigid Rigid couplings require perfect alignment how ever which can be difficult or impossible to achieve In real systems some misalignment is inevitable Therefore a certain amount of flexibility may be required in the system Too much flexibility can c
93. exert an additional torque to counter act this force This is similar to a system that has friction where the motor must exert an additional torque to overcome the friction One possible difference can occur if the motor must provide holding torque while the load is stationary to prevent the load from moving downward In this case the 132 OEM670 OEM675 Power Supply Selection supply must provide power for the copper losses due to the holding torque even when the motor is not moving The analysis for lowering a load can be much more compli cated The basic power equation can still be used but you must take care to use the proper algebraic sign for the various torques forces velocities etc A full analysis of the calcula tion method is beyond the scope of this text The easiest way to determine your system s power needs may be the empirical method discussed in the next section As an example of the complexity of the calculation involved consider just one part of the move profile acceleration from rest with the load moving downward Depending upon whether the acceleration is faster slower or equal to gravita tional acceleration net power can be positive negative regen eration or even zero Other parts of the move profile are equally complicated Other Move Profiles Many other move profiles and application conditions are possible For example moves can be sinusoidal s curve or random with or without friction w
94. fault output will become active no current will flow through it To reset the drive reestablish the connection between enable and ground and cycle power In most applications you can permanently wire the enable input to ground If you need to disable the drive during nor mal operations you should use the shutdown input it allows you to re enable the drive from the indexer without cycling power The shutdown input is described later in this section If you need to disable the drive in an emergency use the enable input not the shutdown input Connect a manual disable switch to the enable input as the next drawing shows The switch is normally closed When it is opened the drive will be disabled The load can freewheel therefore you should use a brake to stop the motor immediately in applica tions where a freewheeling motor can cause injury or damage 41 Installation OEM670 OEM675 OEM670SD Internal Connections Manual Disable OEM675SD i normally closed i 5V 1 ET 2 49KQ I ale Enable AM 22 22KQ Ground V V l l Enable Input Connected to a Switch WARNING Do not use the ENABLE INPUT by itself as an emergency stop The motor can freewheel when the drive is disabled and may not stop immediately Use a mechanical brake or some other method to stop the motor quickly Encoder Input Connections You must connect an encoder to the OEM670SD OEM675SD s encoder inputs
95. g in the motor These distinctions can be confusing To help clarify the situa tion think of the equation as an accounting system All terms on the right side of the equation represent places where power is used in the system motor heating shaft power drive losses hysteresis etc We add up these amounts of power find the total and then insist that this total power must have come from the power supply Therefore the equation shows how much power the supply must provide for every use on the right side of the equation What about Acceleration and Inertia To use the equation we have developed you only need four pieces of information about your system T Torque v Velocity kr Motor Torque Constant R Motor Resistance You may be wondering why acceleration rotor inertia or load inertia do not appear in the equation and what effect these parameters have on power requirements The answer is that acceleration and inertia are in the equa tion they are hidden within the values for torque and veloc ity Recall that torque is equal to the product of acceleration and inertia T Od 2naJ When you analyze your system you can derive torque and velocity terms based on acceleration requirements load inertia and rotor inertia Acceleration and inertia therefore are implicit in the equation we have developed and are also implied in speed torque curves for motors 124 OEM670 OEM675 Power Supply Selection PEAK POW
96. hat previous circuit behavior will affect foldback If the motor has been working hard then suddenly demands peak current the time to foldback will be short On the other hand if the motor has been idle much of the time its average heat will be low The circuit will recognize this if the motor demands peak current the time before foldback occurs will be longer As a general guideline if you reduce R23 by half then time to foldback will be cut almost in half 98 OEMG670 OEM675 Special Internal Circuits RESISTOR SELECTION The following sections describe three application situations 1 High Torque Permitted Controller Can Detect a Jam 1 High Torque Not Permitted T Controller Cannot Detect a Jam To select foldback resistors determine which of the situations apply to your system and follow the instructions in the relevant section below High Torque Permitted Controller Detects Jam If your mechanical system can withstand the peak torque of your motor with 12 amps in it and your controller can detect a jam you can probably use the resistors in the table below These resistors allow 12 amps peak current for 0 5 2 sec onds before foldback occurs depending on the level of current before the peak and will allow currents up to 6 amps con tinuously Foldback Resistors for 12A Peak 6A Continuous Res Function Resistor Value Current R25 Foldback Current 23 7 KQ 6A R24 Peak Current 14 Q 12A R23 Time
97. he OEM670T OEMG675T Torque Drive requires no tuning adjustments See your controller s user guide for instructions on controller tuning adjustments Tuning OEM670SD OEM675SD Step amp Direction Drive You must tune the OEM670SD OEMO75SD s internal Propor tional Integral Derivative PID servo control loop for optimum system performance A properly tuned system will exhibit smooth motor rotation accurate tracking and fast settling time TuNING THEORY The OEM670SD OEMOG675SD generates a move profile based on step and direction signals from the indexer Incoming steps represent commanded position and go to a summing node Incoming encoder counts represent actual position and also go to the summing node During a move actual position will differ from commanded position by at least several encoder counts Actual position is subtracted from commanded posi tion at the summing node the resulting difference is the position error which is converted into an analog voltage This analog error signal is the input to the PID control loop whose block diagram is shown below he eve o Integral Proportional Integral Gain Gain Adjust Gain Adjust md pin Ri 3 Torque ibo l p Error Command bp P Loop Gain fixed Signal E from DAC Za i gt b AR Kp E V Gain Reduction _____ Derivative HANC Control Circuit Gain Derivative Reduction Gain Adjust V pin 5 o PID Control L
98. heck indexer wiring enable input OVERHEATING Verify that drive s heatplate has good thermal contact with heatsink Check mounting screws Provide sufficient ventilation POWER SUPPLY Verify power supply delivers enough power during entire move without undervoltage or overvoltage caused by regeneration MOVE PROBLEMS Check speed torque limitations Check for excessive friction regeneration problems with gravity transient undervoltage etc ELECTRICAL NOISE Check for problems caused by electrical noise Consult Compumotor s EMC Installation Guide for possible solutions Details on these problems are discussed after the next sec tion 155 Troubleshooting OEM670 OEM675 BASIC TROUBLESHOOTING METHOD To identify the cause of a problem find the condition below that matches your situation Then follow the detailed proce dure listed under that condition ARE BorH LEDs OFF Possible Problems 4 No power from power supply T Short circuit on 5VDC or on 15VDC Procedure Remove power Disconnect all wiring except VDC and VDC Reapply power Verify that power supply voltage is in the 24VDC 75VDC range Is the green LED now on Q If so the problem is a short circuit on 15VDC on the D connector or on Hall 5VDC Find and fix the short and cycle power If the green LED is still off return the drive to Compu motor ARE BorH LEDs OFF BUT INTERMITTENTLY TURN ON THEN OFF Po
99. herm R24 Dus R24 I iat R25 I SM160A 100 KQ 5 1 MO 348 KO 5A 150 KQ 7 5 A 500 KQ 1 5 A SM160B 500 KQ 10 MQ 64 9 KO 10 A 0 Q 12A 00 KQ 2 8A SM161A 100 KQ 5 1 MO 450 KO 4A 249 KO 6A 500 KO 1 5 A SM161B 301 KQ 10 MQ 24 KO 8A 0 Q 12A 00 KO 2 8 A SM162A 90 9 KQ 5 1 MO 450 KO 4A 249 KO 6A 500 KO 1 5 A SM162B 205 KQ 10 MO 24 KO 8A 0 Q 12A 00 KO 2 8 A SM230A 100 KQ 5 1 MO 348 KO 5A 150 KQ 7 5 A 500 KO 1 5 A SM230B 301 KQ 10 MQ 64 9 KO 10 A 0 Q 12A 00 KO 2 8 A SM231A 64 9 KQ 5 1 MO 450 KO 4A 249 KO 6A 500 KO 1 5 A SM231B 205 KQ 10 MQ 24 KO 8A 0 Q 12A 00 KQ 2 8A SM232A 40 2 KQ 5 1 MO 450 KO 4A 249 KO 6A 500 KQ 1 5 A SM232B 150 KQ 10 MQ 24 KO 8A 0 Q 12A 00 KO 2 8 A SM233A 30 1 KQ 5 1 MO 450 KO 4A 249 KO 6A 500 KO 1 5 A SM233B 100 KQ 10 MO 24 KO 8A 0 Q 12A 00 KO 2 8 A NO701D NO341D 205 KQ 10 MQ 249 KO 6A 90 9 KO 9A 165 Ko 2 0 A NO701F NO341F 750 KQ 10 MQ 90 9 KO 9A 0 Q 12A 00 KO 2 8 A NO702E NO342bE 750 KQ 10 MQ 82 KO 7A 64 9 KQ 10 A 65 KQ 2 0 A NO702F NO342F 604 KQ 10 MO 90 9 KO 9A 0 Q 12A 00 KO 2 8 A OEM675 Resistors for SM Motors at 75VDC Motor R22 Response R23 7 therm R24 Tyke Hine R24 Thkefi final R25 Tola SM160A 249 KQ 5 1 MO 348 KO 5A 150 KQ 7 5 A 500 KQ 1 5 A SM160B 750 KQ 10 MQ 64 9 KO 10 A 0 Q 12A 00 KO 2 8 A SM161A 301 KQ 5 1 MO 450 KO 4A 249 KO 6A 500 KQ 1 5 A SM161B 750 KQ 10 MQ 24 KO 8A 0 Q 12A 00 KQ 2
100. hoose resistor values 93 Special Internal Circuits OEM670 OEM675 WHEN Do You NEED FOLDBACK If you have properly sized the motor for your application and you use a controller that can detect a mechanical jam you do not need foldback The controller can protect the motor more quickly and completely than a foldback circuit can It can also keep the machine from producing bad parts which sometimes happens when one axis folds back and others continue to run normally In the most common method of detecting a jam the controller shuts down the system if the actual position is significantly different from the commanded position All servo applications should include a position error shutdown if possible If your controller cannot detect a jam or if you need to limit peak torque in your system you should use the foldback circuit CURRENT FOLDBACK How Does IT WORK The OEM670 OEM675 does not directly measure motor temperature Instead it uses an electrical circuit to model the motor s thermal performance Actual current flows in the motor a replica of the actual current flows in the foldback circuit Current in the motor is converted to heat and the motor temperature rises current in the foldback circuit charges a capacitor and the voltage on the capacitor rises The drive uses the capacitor voltage to represent motor tem perature The following drawing shows the relationship between cur rent heat and temperature
101. horts shorts to the case etc G If you cannot rotate the shaft disable the drive Try to rotate the shaft manually If you can rotate the shaft then Hall wires are probably miswired Check them and check the motor tempera ture Without proper Hall inputs the drive may com mand maximum current and overheat the motor but no motion will result If you cannot rotate the shaft the machine is mechani cally jammed 158 OEM670 OEM675 Troubleshooting ARE GREEN AND RED LEDs BOTH ON Possible problems T Not Enabled T Foldback 1 Power Supply problem T Overvoltage CL Overtemperature Procedure Check the enable input to see if it is low grounded If not then the drive is not enabled With the drive enabled reduce command input to VDC OEM670SD OEMO75SD stop sending step pulses from your indexer If the red LED goes out within 10 seconds then foldback was the problem Check motor tempera ture Check for a mechanical jam in your system NOTE The fault output stays LOW during foldback Foldback is the only condition that turns the red LED ON but keeps the fault output LOW If red LED is still on with a OVDC command input or no step pulses measure power supply voltage at the drive terminals VDC and VDC It should be in the 24VDC 75VDC range If not there is a power supply or power cabling problem With proper power supply voltage at the drive measure the temperature of
102. ic failure Do not use a single flex coupling with a parallel misalignment this will bend the shafts causing excessive bearing loads and premature failure Double Flex Coupling Use a double flex coupling whenever two shafts are joined that are fixed in the radial and angular direction This is the most common situation It results from a combination of angular and parallel misalignment Rigid Coupling As mentioned above rigid couplings would be ideal in servo systems but are not generally recommended because of 26 OEM670 OEM675 Installation system misalignment They should be used only if the motor or load is on some form of floating mounts that allow for alignment compensation Rigid couplings can also be used when the load is supported entirely by the motor s bearings A small mirror connected to a motor shaft is an example of such an application RESONANCE ISSUES A coupler that is too flexible may cause a motor to overshoot its commanded position When the encoder sends a position feedback signal the controller will command a correction move in the opposite direction If the resonant frequency of the system is too low too flexible the motor may overshoot again and again In extreme cases the system could become an oscillator To solve resonance problems increase the mechanical stiff ness of the system to raise the resonant frequency so that it no longer causes a problem If you use a servo as a direct replac
103. ied the drive will send the commanded DC current through the motor If the motor is a brushless motor it will not turn Full current may flow in the motor and cause overheating or destroy the motor within a short period of time 28 OEM670 OEM675 Installation CONNECTING COMPUMOTOR SM AND NEOMETRIC SERIES MOTORS To connect a Compumotor SM or NeoMetric Series motor to the OEM670 OEM675 follow the color code shown below for flying lead or cable versions These motors have additional wires not used by the OEM670 OEM675 See Chapter Specifications for colors and functions of the additional wires Function Wire Color Hall Ground White Green Hall 5V White Blue Hall 1 White Brown Hall 2 White Orange Hall 3 White Violet Phase A Red Yellow Phase B White Yellow Phase C Black Yellow Connect each motor wire to its appropriate screw terminal on the OEM670 OEM675 Wire sizes used for Compumotor motors are Phase 18 AWG 0 75 mm Hall Encoder 24 AWG 0 25 mm CONNECTING MOTORS FROM OTHER VENDORS Before connecting a motor from another vendor you must determine which motor phase wires correspond to Phase A Phase B and Phase C on the OEM670 OEM675 Similarly you must determine which Hall effect wires correspond to Hall 1 Hall 2 and Hall 3 Connect each wire to its appropriate terminal on the OEM670 OEM675 Ensure that the Hall effect sensors accu rately transmit information about rotor position and that motor curren
104. ign the circuit so that when regeneration causes a voltage rise the power dump will turn on and dissipate regenerated energy in the resistor OEM300 PowER MODULE The OEM300 Power Module is a Compumotor product that contains a switching power supply and several additional circuits that make it an ideal power supply for many servo applications Its features are summarized below For addi tional information contact Compumotor at 800 358 9070 and request a copy of the OEM300 User Guide Power Supply The switching power supply in the OEM300 has characteris tics that are highly compatible with OEM Series Servo Drives and microstepping drives It can provide 300W peak 200W continuous power at 4 0A 2 7A respectively The transient response of the OEM300 is matched to that of OEM Series drives Power Dump The OEM300 contains a power dump circuit that turns on at 85VDC The power dump can dissipate as much as 400 joules of energy at a peak dissipation rate of 722 5 watts Short Circuit Protection The OEM300 will shut down its output if its current exceeds 9 amps 150 OEM670 OEM675 Power Supply Selection Overtemperature Protection An internal temperature sensor will shut down the OEM300 if its temperature reaches 60 C 140 F Overvoltage Protection The OEM300 will shut down its output if an overvoltage condition lasts longer than 0 5 seconds POWERING MULTIPLE AXES So far in this chapter we have presented se
105. in the motor For clarity only positive motor currents are shown 94 OEMG670 OEM675 Special Internal Circuits Heat due to Motor Current Continuous Foldback ts Time Maximum Rated Motor Temperature Temperature Time Motor Temperature Current Foldback The current waveforms for several moves are shown The rotor becomes locked at time t and peak current flows in the motor for maximum torque Current is converted to heat and the motor temperature rises When the temperature reaches the motor s maximum rating at time t the foldback circuit takes control and reduces motor current to a lower level The motor can then cool down At times t and t the foldback circuit permits full current to flow again Because the rotor is still locked the foldback cycle repeats By time t however the rotor has been released Normal operations can now continue Note Sometimes when the drive goes into foldback it stays in foldback until the command input voltage is reduced The system s parameters determine whether the drive goes in and out of foldback as shown in the drawing above or stays in foldback While the rotor was locked the foldback circuit reduced the rate of motor heating Notice the relationship between current heat and motor temperature Current is converted to heat in the motor The 95 Special Internal Circuits OEM670 OEM675 heat s magnitude is proportional t
106. ing to obtain performance similar to that shown in the 75VDC speed torque curve but at 48VDC USE AVAILABLE POWER AND AN AVAILABLE MOTOR You can use a power supply whose voltage is less than the voltage at which your motor s speed torque curve was speci fied The motor will not be able to perform the full range of moves shown on the speed torque curve however 144 OEM670 OEM675 Power Supply Selection The next drawing shows how varying the power supply voltage affects a motor s speed torque curve The speed torque curve can be approximated by two asymptotes labeled A and A in the curve on the left A is not affected by voltage changes but A is As the voltage is decreased A will shift to the left The slope of A will not change A will move a distance proportional to the decrease in voltage If the voltage is cut in half A will move halfway to the origin If voltage is reduced by two thirds A will move two thirds of the way toward the origin A SM231A with OEM670 OEM675 uc N m oz in a 1 14 150 75VDC 0 95 125 3 Q7 100 i m amp 0 57 75 R E e 0 38 50 A zu e 0 19 25 Varies with Voltage E 1000 2000 000 4000 5000 q lt i 7 83 50 67 83 Speed RPM rps Speed Voltage Affects the Speed Torque Curve To illustrate how voltage affects performance for a specific motor the drawing shows the speed torque curve for the SM231A motor at 75VDC 48VDC and 24VDC POWER
107. ith or without or gravity To calculate power needs for moves such as these you may be able to follow the methods we have developed above and modify the equations to suit your application Or you may need to use the empirical method presented below POWER REQUIREMENTS AN EMPIRICAL METHOD You can use an empirical approach to measure the voltage and current going from a power supply to an OEM670 OEM675 and directly determine your system s power require ments You will need the following equipment T DC Current Probe T Oscilloscope T Large Power Supply This method also requires that you make a prototype of your system 133 Power Supply Selection OEM670 OEM675 Prototype Your System Make a working prototype of your system For the power supply temporarily use a large power supply that is capable of providing enough power for all the moves your system makes The temporary power supply should operate at the same voltage at which you intend your final system to run Once you determine the power requirements you can replace the temporary power supply with a permanent one Measure Current Connect a current probe to one channel of an oscilloscope Connect the probe in the correct direction With the motor at rest the probe should measure positive current Measure current going from the power supply to the OEM670 OEM675 while your system performs its moves under actual operating conditions Current going from the
108. lect a supply that can deliver enough power 135 Power Supply Selection OEM670 OEM675 AVERAGE POWER CALCULATIONS Many power supplies have a peak power rating and an aver age power rating The peak power may be much higher than the average power rating For example the OEM300 Power Module can deliver 300W peak for 30 seconds at a 10 duty cycle It can deliver 200W continuously To determine the average power in your system calculate the area under the graph of power and multiply by the repetition frequency Example Consider a trapezoidal move with acceleration a velocity v and repetition frequency fep Ignore friction and assume that regeneration provides power for deceleration Therefore the power supply only delivers power during acceleration The average power is 2 v T Pay Jon sien 7 1 If your system needs power to decelerate you should add a term to the equation that represents power needed to deceler ate and include this power in the average REGENERATION At certain times during a move particularly during decelera tion or while lowering a load energy can be transferred from the motor and load and back to the power supply This is called regeneration The following sections will describe methods to calculate the power and energy that regeneration can produce during deceleration in a trapezoidal move You can use this informa tion to help you select a power supply that can deal with reg
109. line Peak value 5 30 line to line inductance bridge measurement 1 kHz Peak current for 2 second maximum with initial winding temperature of 40 C 7 For E encoder option 1000 ppr maximum velocity is 6000 RPM All specifications are subject to engineering change 66 OEM670 OEM675 9 Specifications Speed Torque Curves SM 160 SM161 and SM162 SM160A with OEM670 OEM675 N m oz in 0 38 50 paate BI E MINI UR ses adis E ESSET ex all I A 0 08 10 T 531 4 mr I A IRL 2000 4000 6000 8000 33 67 100 133 Speed RPM rps Torque SM161A with OEM670 OEM675 N m oz in 0 61 80 0 46 60 0 30 40 Torque 0 15 20 06 2000 4000 6000 8000 33 67 100 133 Speed RPM rps SM162A with OEM670 OEM675 N m oz in 1 14 150 0 95 125 0 76 100 0 57 75 Torque 0 38 50 0 19 25 00 1000 2000 3000 4000 5000 17 33 50 67 83 Speed RPM rps SM160B with OEM670 OEM675 N m oz in 0 30 0 23 o B 0 15 2 0 08 0 2000 4000 6000 8000 83 67 100 133 Speed RPM rps SM161B with OEM670 OEM675 N m oz in 0 61 80 0 46 60 L 0 30 40 e 0 15 20 0 2000 4000 6000 8000 33 67 100 133 Speed RPM rps SM162B with OEM670 OEM675 N m oz in 1 14 150 0 95 125 9 2000 4000 6000 8000 33 67 100 133 Speed RPM rps 1 For E encode
110. lly its fault output is low Under these conditions an internal transistor acts as a switch and grounds the fault output To signal a fault the OEM670T OEMO75T will turn off the transistor and the fault output will float The next drawing shows this circuit 5VDC to 24VDC Internal Controller OEM670T Connections Pull up OEMG7ST ON Normal Resistor 1 OFF Fault _ y Fault Input FAULT OUTPUT Q e Can sink 20 mA O O O O Fault Output 36 OEM670 OEM675 Installation Use a pull up resistor connected to a DC voltage source to ensure the appropriate signal level at your controller s fault input The OEM670T OEMGO75T can sink 20 mA maximum Use the following formula to calculate the value of your pull up resistor Rpull up Vs 5mA where Vs is the value of your DC voltage source You can use the OEM670T OEM675T s fault output as a signal to your controller that a fault has occurred The follow ing conditions will cause the fault output to go high LED Status Condition RED GREEN Drive Not Enabled On On Over Temperature Latched On On Overvoltage Latched On On Undervoltage On On Short Circuit Latched On OFF Power Supply Fault Latched On OFF The foldback circuit illuminates the red LED but it does not make the fault output go high Latched means you must cycle power before the drive will operate again CURRENT MONITOR You can use the OEM670T OEM675T s current monitor output
111. ls to the controller s ground termi nal If you connect the wires as shown in the next drawing you will minimize electrical noise in the circuit Controller OEM670T OEM675T Internal Connections Command Out EM 10VDC to 10VDC Command GND GND GND Controller Single Ended Output Connections Bring both wires from the OEM670T OEMO795T to the control ler and connect them both to the controller This will ensure that the OEM670T OEMG675T s Command Minus input and Ground input are both referenced to the controller s ground terminal Controller with Differential Output If your controller has a differential output then it has two command signals One is a signal that ranges from 5VDC to 5VDC The other signal ranges from 5VDC to 5VDC The two signals mirror each other their magnitudes are equal but they have opposite signs Your controller should also have a ground terminal to use as a reference for the positive and negative command outputs 33 Installation OEM670 OEM675 Controller OEM670T OEM675T Internal Connections I Command Out Command Out Command GND Controller Differential Output Connections The figure above shows how to connect these three outputs to the OEM670T OEM675T Controller with Isolated Output Some controllers have isolated command outputs and may require a voltage source to power their outputs The OEM670T OEM67
112. ltage Range command input 32 power supply 48 W Warnings 6 Wire Size 50 Wiring Information 73 FAULT PROTEC 4 Current TION CIRCUITS Monitor o Fault OEM670T OEMG675T Block Diagram see page 8 Inputs amp Outputs see page 31 SD page 3 Removal see page 16 Power Supply Connections see page 48 Motor Connections Power Curr Mon Curr Mon Foldback Current R25 Peak Current R24 Time Constant R23 Selectable Resistors page 16 Foldback Circuit page 93 Response Circuit page 82 OEM670T OEM675T Inputs Outputs Internal Connections Cmd 10KQ Cmd 2 10KQ W WA Ww 15V Out 14 15V Out 24 bka GND 484 j ol 1 ojojo OJO 00 9 GND 2 Fault Out 2 Enable In 12 GND 1 24 25 ooleeeoeoo t s LEDs amp Faults POWER page 154 FAULT VDC Supply see page 28 HALL GND all HALL 5 H Motor Color Code Effect see page 29 73 HALL 1 Ss HALL 2 HALL 3 Motor Specifications see page 62 Encoders see page 72 PHASE A Motor PHASEB Phases PHASEC
113. lue for the response resistor and about how the circuit works see Chapter Special Internal Circuits 19 Installation OEM670 OEM675 DRIVE MOUNTING This surface must be thermally coupled to a cold plate in most applications 2x 0 177 4 496 thru clearance for 8 M4 mounting screw 1 625 41 28 0 812 20 62 3 555 90 30 3 315 84 20 1 000 25 40 5 000 127 00 7 000 177 80 Mounting Clearance 1 000 25 40 Exposed aluminum for electrical grounding 2 000 50 80 Mounting Clearance Dimensions in inches millimeters 0 335 8 51 OEM670 OEM675 Dimensions DRIVE DIMENSIONS The OEM670 OEMG675 is designed to minimize panel area or footprint in an equipment cabinet Dimensions are shown in the drawing You can mount the drive in a minimum depth configuration if you use an optional heatsink See below 20 OEM670 OEM675 Installation PANEL LAYOUT Move profiles and loads affect the amount of heat dissipated by the OEM670 OEMO75 Applications with low average power less than 3 Amps continuous motor current and mild ambient temperatures may not require a heatsink The OEM670 OEM675 is designed to operate within the following temperature guidelines L Maximum Ambient Temperature 45 C 113 F T Maximum Heatsink Temperature 45 C 113 F For applications with higher power or elevated ambient tem per
114. nse resistor and motor and cabling resistance Most importantly the switch is no longer controlled manu ally it is now automatically controlled by a feedback loop The most important control elements are shown together in the box labeled Control Circuitry In the feedback loop commanded current is compared with actual current 20 000 times each second After each compari 85 Special Internal Circuits OEM670 OEM675 son the control circuit increases or decreases current flow by changing the width of PWM pulses Feedback about results of the change is not instantaneous however because time delays are built into each step of the feedback loop Each PWM setting is maintained for 50 microseconds until the next comparison is made At that time the control circuit com pares the feedback signal to the command signal adjusts PWM pulses and the whole process repeats How does motor inductance affect feedback and the current control process We will consider several situations in which the only variable that changes is motor inductance In each of the following examples assume that the power supply voltage and error amplifier gain do not change Response with Low Inductance Motor The first drawing shows what can happen when the motor s inductance is low Commanded Current eee att Current Underdamped Response Recall that a low inductance permits a fast current rise In this drawing the system is given a c
115. o a reliable protective earth This connection provides a protective earth for the motor contact point The motor s protective earth connection is important for safety reasons and must not be omitted Make connections according to the following instructions and diagram Safety Earth Cable green yellow 164 OEM670 OEM675 LVD Installation Instructions Use a ring terminal in combination with a star washer and mounting bolt to make good contact with the bare metal surface of the motor s mounting flange Use a VDE approved green yellow protective conductor termi nal wire to make the connection between the motor and earth Wire gauge must be no thinner than the current carrying wire in the motor s power cable G Resistance between the motor and earth must be no greater than 0 1 ohm Use thicker gauge wire if the resistance is too high MECHANICAL Installing in an Enclosure The OEM670 OEM675 must be installed within an enclosure The enclosure s interior must not be accessible to the operator The enclosure should be opened only by skilled or trained service person nel Do Not Operate the OEM670 OEM675 Without Cover The cover provides mechanical support to the circuit assemblies inside SERVICING THE OEM670 OEM675 Changing Firmware Only skilled or trained personnel should change firmware THERMAL SAFETY The Motor May Be Hot The motor may reach high temperatures during normal operations and may remain ho
116. o the square of the current As this heat is dumped into the motor the motor s tempera ture rises The temperature is the accumulation over time of the net heat in the motor It is also proportional to the square of the motor current You can match the foldback circuit to your particular motor and application by selecting three resistors The following sections describe the function of each resistor Peak Current I R24 Peak current is the maximum current the O0EM670 OEM675 will produce in the motor You can set it as high as 12 amps For Compumotor SM motors with A windings and NeoMetric motors with D or E windings recommended peak currents are in the 6 10 amp range In applications where you wish to limit peak current or the peak torque applied to mechanical assemblies use R24 to reduce the peak current the drive supplies to your motor Foldback Current I a R25 When the foldback circuit takes control it reduces motor current to a lower level which is called the foldback current R25 sets the foldback current level To ensure that the rate of motor heating is reduced the foldback circuit enforces a limited duty cycle between opera tions at high current and operations at foldback current The average power in the motor during this period is approxi mately equal to the power that would be produced if the motor operated at its rated continuous current level for the same period of time The motor s continuous cu
117. of the regeneration triangle 2 E ein 4 2avT E R Z ER z in joules 5 kr a 2nakr In this equation v is the slew velocity and a is the decelera tion rate 139 Power Supply Selection OEM670 OEM675 REGENERATION CURVES In the following version of the regeneration equation v T 2 R 2aT if we set power equal to a specific value and solve for velocity at various torques we can plot a family of curves that repre sent peak regeneration watts We have done this below for Compumotor servo motors _ SM160A with OEM670 OEM675 N m oz in 0 38 fow 8000 133 4000 6000 33 67 100 Speed RPM rps _ SM161A with OEM670 OEM675 N m oz in 0 61 80 100W DER 50W 0 i TE 25W 0 2000 4000 6000 33 67 100 Speed RPM rps 133 orm SM162A with OEM670 OEM675 0 1000 2000 3000 4000 5000 17 33 50 67 83 Speed RPM rps SM160B with OEM670 OEM675 N m oz in 0 30 40 PAON LAA 50W 25W tow 5000 133 0 2000 4000 6000 33 67 100 Speed RPM rps SM161B with OEM670 OEM675 N m oz in 0 61 80 0 46 60 L LIU TRE ZZ amp 0 30 40 E 0 15 200m 4000 6000 33 67 100 Speed RPM rps 133 ein SM162B with OEM670 OEM675 4000 6000 33 67 100 Speed RPM rps 8000 133 Peak Regeneration Curves SM Motors Frame Size 16 140 OEM6
118. oltage to be generated across the strip This alternating voltage waveform is fed into circuitry that shapes the waveform The output of the circuitry is a digital signal that is either 5VDC or VDC Sensors are available with a variety of output voltages and polarities In the following discussion we assume that the sensor is turned ON by a south magnetic pole and remains on after the south pole is removed When a north magnetic pole approaches the north pole will turn the sensor OFF 107 Hall Effect Sensors OEM670 OEM675 Note from the drawing that the sensor requires power connec tions for its internal circuitry 5VDC and Ground Also note that although the actual Hall effect voltage generated inside the sensor is an analog signal the output from the sensor is a digital signal that is either ON or OFF HALL EFFECT SENSORS USED INSIDE BRUSHLESS MOTORS There are three Hall effect sensors inside of a motor The next figure shows a conceptual drawing of the inside of the motor and the three sensors Hall Sensor Output and Power Wires Hall 2 Output Hall 3 Output Hall 1 Output 5 VDC Ground Hall Sensor Stator shown without coil windings gt Rotor with Permanent Magnets Hall Sensor Location Shown Mounted Above Stator Pole Faces For clarity the stator is depicted in simplified form without its coil windings The Hall effect sensors are located at one end of the stator near the
119. ommanded current The drive compares actual current with commanded current sees a large error and directs the PWM circuit to produce maxi mum current Motor inductance barely opposes current rise because of the error amplifier s high gain the current quickly rises to a level higher than commanded current At time t the drive again compares actual with commanded current and sees that actual current is too high As a result it reduces the power stage s current output The change quickly results in an actual current that at the next sample 86 OEMG670 OEM675 Special Internal Circuits time t2 is too low Current is increased and by the next sample point time t3 it is once again too high Adjustments continue in this manner and eventually the amount of actual current settles near the commanded current level This type of response is called an underdamped response For a given loop gain and power supply voltage the main compo nent influencing this response is the inductance of the motor If the inductance is very low the system can oscillate with actual current never settling near commanded current The next drawing shows this case Commanded Actual Current Current x ee TECCETT Current Time Oscillating Response Here we see that current rise is so fast that the current output saturates at its maximum level before each successive sample With 12A set as the maximum current for example
120. on portion of the move If the move duty cycle is low the overall average power will also be low even though the peak power may be quite high Therefore you can use a low foldback current setting TEST YOUR SYSTEM Once you have selected and installed foldback resistors you should perform two tests to verify that the foldback circuit adequately protects your motor I Measure Motor Temperature T Simulate a Jam These tests are described below Measure Motor Temperature Measure the motor case temperature under actual operating conditions Make your measurements after the motor tem perature has reached equilibrium which can take several hours Compare the results with the motor s ratings Compumotor servo motors have an internal thermoswitch with normally closed contacts If the motor windings exceed predetermined temperature levels the contacts will open Monitor the thermoswitch to verify that the contacts remain closed during operating conditions Simulate a Jam to Verify Resistor Values Set controller position error shutdown limits to appropriate values To avoid motor overheating follow these steps 1 With foldback resistors installed start your test with a cold motor Command full current while you simulate a jam 3 Monitor the red LED It will illuminate when the drive goes into foldback Do not overheat the motor f the drive does not go into foldback when you expect it to stop the test immediately 4 Monito
121. oop Block Diagram 51 Installation OEM670 OEM675 You can adjust three potentiometers pots to tune the PID loop These pots control the settings for proportional gain integral gain and derivative gain You have two other options you can connect pin 5 to ground to reduce derivative gain and you can connect pin 6 to ground to disable integral gain Each tuning parameter is described in the following sections Proportional Gain Proportional gain provides a torque that is directly propor tional to the magnitude of the error signal Proportional gain is similar to a spring the larger the error the larger the restor ing force It determines the stiffness of the system and affects the following error High proportional gain gives a stiff re sponsive system but can result in overshoot and oscillation Damping provided by derivative gain can reduce this overshoot and oscillation Notice from the block diagram that adjusting proportional gain affects the loop gain This means that integral gain and derivative gain are both affected by changes in the propor tional gain tuning pot This arrangement simplifies tuning once you set the integral and derivative gains in the correct ratio to proportional gain you only need to adjust propor tional gain integral and derivative gain will follow Derivative Gain Derivative gain provides a torque that is directly proportional to the rate of change of the error signal When the e
122. or torque CAUTION The overvoltage protection circuit can shut down current to the motor This can cause a sudden and unexpected loss of motor torque The motor will freewheel to a stop Consider using a brake to arrest motion if your system regenerates energy Another possible concern is power supply overvoltage The overvoltage circuit only monitors voltage at the output termi nals to the motor It does not monitor power supply voltage This means that the drive is not protected from a defective power supply that produces excessive voltage To protect the drive in this situation use a power supply with built in overvoltage protection on its outputs such as Compumotor s OEM300 Power Module OVERTEMPERATURE The overtemperature circuit protects the OEM670 OEM675 from damage due to overtemperature conditions This circuit 80 OEMG670 OEM675 Special Internal Circuits monitors the temperature of the drive s heatplate A tempera ture rise above 50 C 122 F will cause an overtemperature fault The protection circuit will disable power output to the motor turn on the red LED and activate the fault output This is a latched condition Other power outputs Hall 5 15VDC 15VDC remain on Overtemperature circuit features are listed below Tm 55 C 5 C 1381 F 9 F threshold 1 Power to motor is turned OFF A Red LED is turned ON Illuminated LJ Green LED stays ON Illuminated 1 Fault output goes
123. pending on motor current P lave 12 A 30 W Cover 3 watts maximum MECHANICAL Power Connector 10 pin screw terminal 14 AWG 2 5 mm2 maximum wire size Input Output Connector 25 Pin D connector Size 5x1 6x3 5 in 127x41 x89 mm approx Dimensions see Chapter Installation Weight 14 ounces 0 4 k 61 9 Specifications OEM670 OEM675 Motor Specifications SM160 Parameter Symbol Units SM160A SM160B Stall Torque Continuous Mes Ib in oz in 0 88 14 1 0 89 14 2 N m 0 10 0 10 Stall Current Continuous Im amperes rms 2 6 5 1 Rated Speed rpm 7500 7500 Peak Torque Tu b in oz in 2 65 42 4 2 67 42 7 N m 0 30 0 30 Peak Current rms m amperes 7 8 15 2 Torque Rated Speed T b in oz in 0 66 10 5 0 66 10 5 N m 0 075 0 075 Rated Power Output Shaft P watts 58 58 Voltage Constant K X volts radian sec 0 0384 0 0198 Voltage Constant K volts KRPM 4 02 2 08 Torque Constant K oz in amp rms 5 43 2 81 N m amp rms 0 038 0 020 Resistance R ohms 3 43 0 9 Inductance L millihenries 0 53 0 13 Thermal Resistance Ri C watt 3 2 3 2 Motor Constant Km oz in Nwatt 2 93 2 96 N m watt 0 021 0 021 Viscous Damping B oz in Krpm 0 267 0 267 N m Krpm 0 002 0 002 Torque Static Friction T oz in 1 0 1 0 N m 0 007 0 007 Thermal Time Constant Th minutes 23 23 Electrical Time Constant t milliseconds
124. pole faces of the rotor They are positioned approximately as shown in the figure Five wires are shown for making connections to the Hall sensors Three wires are for individual outputs The fourth and fifth wires are for 5VDC and Ground which are inter nally connected to all three sensors Note that Hall 3 is positioned between Hall 1 and Hall 2 108 OEM670 OEM675 Hall Effect Sensors Do Compumotor Motors Have Hall Effect Sensors Most Compumotor servo motors do not use Hall effect sen sors Instead the motor s encoder has an extra commutation track with three outputs These outputs mimic signals that would be obtained from Hall sensors in fact the outputs are called Hall outputs For conceptual reasons in the discussion that follows we assume the motor contains Hall sensors Keep in mind that no matter how the original signals are gener ated from sensors or from an encoder the result is the same three output wires that deliver commutation informa tion to the drive WINDINGS IN A THREE PHASE BRUSHLESS MOTOR The next drawing depicts an end view of the motor with the separate phase windings shown in their relative positions around the stator The three phases share a center connec tion as the detail within the dotted line shows Phase C Phase B Phase A Hall Effect Sensor Mounted Above Stator Pole Face C Equivalent Motor Coil Schematic 3 Phase Servo Moto
125. pply 147 and switching power supply 149 Regeneration Charts 140 Remove Cover 16 Resistor Selection 18 Resonance Issues 27 Response Resistor 16 83 selection 89 Rigid Coupling 26 Rotation Direction 32 S Scaling 32 Screw Terminal 28 Selecting Resistors 18 Servo Controller 13 Shaft Power 120 Shaft Rotation 32 169 Index OEM670 OEM675 Shielded Motor Cables 30 Ship Kit 15 Short Circuit troubleshooting procedure 157 Short Circuit Protection 75 Shutdown Input 43 Single Ended Controller Output 33 Single Ended Inputs 40 Single Flex Coupling 26 Six State Commutation 110 Specifications encoder 72 Hall effect 72 motor 62 OEM670SD OEM675SD 60 OEM670T OEM675T 58 Speed Torque curve and voltage 145 Speed Torque Curves 67 Step amp Direction Command 11 Step amp Direction Servo Drive 11 Step and Direction Inputs 40 Step Input 40 Supply Voltage Range 48 Switching Power Supply 147 T Temperature Guidelines 21 10 pin Screw Terminal 28 Thermal Time Constant 97 34 pin header 17 3U Eurorack 7 Torque Mode 8 Transient Undervoltage 77 Trial and Error Method 116 Troubleshooting 153 Troubleshooting Table 155 Tuning 51 Tuning Output 45 170 Tuning Pots 53 default settings 54 Tuning Procedure 53 25 Pin D connector 31 40 U Underdamped Response 87 Undervoltage troubleshooting procedure 157 Undervoltage Protection 78 User Guides 15 V Velocity Monitor Output 45 Voltage and Speed Torque Curves 145 Vo
126. pullup resistor to 5VDC 0 8V High State Internal 1 KO pullup resistor to 5V Input Frequenc 58 2 kHz maximum OEM670 OEM675 Specifications OEM670T OEM675T Torque Drive Specs contin SIGNAL OUTPUTS Fault Output Active HIGH open collector output maximum volts 24VDC Inactive LOW 0 4VDC at 20 mA Current Monitor 10V to 10V analog voltage Scale 1V corresponds to 1 2A output Output Impedance 10 KQ LEDs GREEN power RED various fault conditions PROTECTIVE CIRCUITS Short Circuit see Troubleshooting for details Turns Off Outputs to Motor Latched Over Temperature Overvoltage 55 C 5 C trip temperature Latched 95V 5V trip voltage Latched Undervoltage 21 5V maximum not Latched Current Foldback Configurable with 3 resistors MOTOR CHARACTERISTICS TEMPERATURE MECHANICAL Minimum Inductance see Special Internal Circuits for details 50 uH micro Henrys Minimum Resistance 0 25 Q Loop Gain Adjustment Configurable with one resistor Minimum Temperature see Special Internal Circuits for details QC 32 F Maximum Temperature 45 C 113 F Max Heatplate Temp 45 C 113 F Package Dissipation Heatplate 0 to 30W depending on motor current P layg 12 A 30 W Cover 3 watts maximum Power Connector 10 pin screw terminal 14
127. r option 1000 ppr maximum velocity is 6 000 rpm 100 rps 2 With 75VDC bus voltage 25 C 77 F ambient temperature 3 Although speed torque curves are the same for the OEM670 and OEM675 the OEM670 s current compensation loop is optimized for NeoMetric slotted motors the OEM675 s current compensation loop is optimized for SM slotless motors We strongly recommend that you use the OEM670 with NeoMetric motors and use the OEM675 with SM motors This provides the optimum system transient response 67 Specifications OEM670 OEM675 Speed Torque Curves SM230 SM231 SM232 SM233 N m oz in SM230A with OEM670 OEM675 0 76 100 CELT TAY o9 2000 4000 6000 8000 33 67 100 133 Speed RPM rps N m oz in SM231A with OEM670 OEM675 1 14 150 0 95 125 0 76 100 0 57 75 Torque 0 38 50 0 19 25 06 1000 2000 3000 4000 5000 17 33 50 67 83 Speed RPM rps N m oz in SM232A with OEM670 OEM675 2 28 300 1 90 250 1 52 200 1 14 150 Torque 0 76 100 0 38 50 09 500 1000 1500 2000 2500 8 17 25 33 42 Speed RPM rps N m oz in SM233A with OEM670 OEM675 8 81 500 8 05 400 5 10 15 20 25 Speed RPM rps S eo N m oz in SM230B with OEM670 OEM675 0 61 80 0 46 60 0 30 40 Torque 0 15 20 0 2000 4000 6000 8000 33 67 100 133 Speed RPM rps N m oz in SM231B with OEMG6
128. r pole faces there are only four poles at any one time The other two pole faces have windings that carry no current therefore no magnetic poles are formed by those windings THE Six PossiBLE HALL STATES The next figure illustrates that as the rotor turns six differ ent Hall states will be produced in a predictable and repeat able sequence This drawing shows the rotor stator phase coils and Hall sensors A small black dot has been drawn next to one of the south poles to help show the motion of the rotor as it turns The two south poles in the rotor are actually indistinguish able from each other as are the north poles 110 Hall Effect Sensors OEM670 OEM675 States Hall Sensor 111 Hall Effect Sensors OEM670 OEM675 For each of the six different rotor positions in the drawing a current is shown that will cause the rotor to rotate in a clock wise direction The stator is labeled with N or S to show the magnetic fields the current produces These fields exert the torque on the rotor that causes it to move Each rotor position is labeled with its corresponding Hall state 100 101 001 etc These numbers represent the three Hall sensors and whether they are on or off The first digit corre sponds to Hall 1 the second to Hall 2 and the third to Hall 3 What voltage levels correspond to on and off We use the following convention T 1 ON 5VDC Q OFF OVDC T Voltage is measured at
129. r the fault output It should be low at the start of your test and should remain low when the drive goes into foldback Foldback is the only condition where the red LED illuminates but the fault output is low 5 Watch to see that the drive comes out of foldback indicated by the red LED turning off If the drive does not come out of foldback on its own reduce the command input voltage the red LED should then turn off 102 OEM670 OEM675 Special Internal Circuits The results of your test indicate how much time an operator has to shut down the system in the event of an actual jam How LONG WILL FOLDBACK PROTECT YOUR SYSTEM Ideally foldback should prevent the motor from overheating under all conditions of improper application In practice because of the many variables affecting motor temperature foldback can only delay motor overheating This will allow more reaction time for an operator or control system to detect that the machine is jammed With foldback the time before motor overheating occurs can be increased from a few minutes to 10 30 minutes for large motors or from seconds to 1 2 minutes for small motors The degree of expected operator attention is also a factor If the machine will be running unattended we strongly recom mend you use a controller that can detect a jam For the OEM670SD OEM675SD we recommend you set tight posi tion error limits If your controller cannot detect a jam use a conservati
130. r with Hall Effect Sensors The physical spacing of the Hall effect sensors is very impor tant Notice that one pole of the rotor can affect two sensors at 109 Hall Effect Sensors OEM670 OEM675 the same time In this drawing the rotor s north pole is adjacent to both Hall 2 and Hall 3 Since south turns a sensor ON and north turns it OFF the Hall outputs in this drawing would be 1 In this example 1 ON and OFF 1000 therefore means that Hall 1 is ON Hall 2 is OFF and Hall 3 is OFF The OEM670 OEMO795 will send current into one phase and out of another the third phase receives no current When current flows through a phase two magnetic poles of the same sign are formed on opposite sides of the motor We will use the convention in these drawings that when current flows from the drive into a coil it will produce a north pole When it flows from a coil to the drive it will form a south pole For example suppose current goes into the motor through Phase A and exits through Phase B Phase C has no current in it The current will flow through the windings in A and form north magnetic poles on opposite sides of the stator The current flows through the center connection and enters B s windings where because of the direction of the current south magnetic poles are formed on opposite sides of the stator Refer to the previous drawing From this example notice that although the stator has six locations fo
131. red LED on the front panel will be illuminated while the drive is in foldback If you use Compumotor servo motors the table Resistors for SM and NeoMetric Motors in Chapter Installation lists sug gested resistors for you to use These values will be appropriate for most applications How ever there are many variables that affect the actual motor operating temperature see the list below in Application Condi tions Affect Foldback You may need to adjust these resistors further The next table gives resistor values for specific peak currents and foldback currents R24 PEAK CURRENT R25 FOLDBACK CURRENT Ipk amps R24 Lu amps R25 3 845 KO 1 12 MQ 4 450 KO 2 165 KQ 5 348 KO 3 86 6 KQ 6 249 KO 4 53 6 KO 7 182 KQ 5 34 8 KQ 8 124 KQ 6 23 7 KQ 9 86 6 KQ 7 16 9 KO 10 56 2 KQ 8 12 3 KQ 12 Q 100 OEM670 OEMG675 Special Internal Circuits A starting point for I is to choose R25 so that the foldback current is 7096 of the motor s continuous current rating If you experience nuisance foldback where the current is reduced but the motor is not too hot and no jam exists try increasing the foldback current To disable current foldback replace R25 with a 0 10 ohm resistor You can still specify peak current with R24 but the drive will never reduce current with R25 below 10 ohms Application Conditions Affect Foldbackc The foldback circuit is well defined but it is a simplified approximate model of wh
132. roduct of torque and shaft velocity is Pa OT 20T where Phan is shaft power in watts 120 OEM670 OEM675 Power Supply Selection The graph for shaft power is shown in the next drawing Velocity Time SmpT sae Shaft Power During Acceleration Shaft Power During Deceleration gt 2nvT gt Shaft Power Torque and velocity are both positive during acceleration Shaft power therefore is also positive During deceleration velocity is still positive but torque is applied in the opposite direction and thus is negative Shaft power then is negative during deceleration Negative power is regeneration power flows from the motor and back into the drive Later in this chapter we will discuss regeneration in detail Total Power In the next drawing we have combined the graphs for copper losses and shaft power 121 Power Supply Selection OEM670 OEM675 Velocity lt Shaft Power Copper Losses Negative Shaft Power During Deceleration Copper Losses amp Shaft Power To obtain the total power we can add together copper losses and shaft power The heavy line in the next drawing shows the total power that the power supply must provide Velocity TY 2nvT E R T Total Power pred 122 OEM670 OEM675 Power Supply Selection The equation for power then at any velocity d
133. rovided through its heatsink You must reliably earth the OEM670 OEMO795 s protective earth connection Attach or remove the OEM670 OEMO795 s power connections only while input power is OFF The OEM670 OEMO795 s supply voltage is limited to 75 VDC Connecting the Protective Conductor Terminal to Earth You must provide a connection from the OEM670 OEM675 s protec tive conductor terminal to a reliable earth point The protective conductor terminal is marked with a label on the product bearing the following symbol o Protective Conductor Terminal Marking 163 LVD Installation Instructions OEM670 OEM675 To connect the protective conductor terminal to earth complete these steps Use a ring terminal in combination with a star washer to make good contact with the exposed metal surface surrounding the lower mounting hole on the OEM670 OEM675 The dimen sion drawing in Chapter 2 Installation indicates that the lower mounting hole is surrounded by exposed metal Use a VDE approved green yellow protective conductor termi nal wire to reliably earth the protective conductor terminal Wire gauge must be no thinner than the current carrying wire in the product s mains supply G Resistance between the protective conductor terminal and earth must be no greater than 0 1 ohm Use thicker gauge wire if the resistance is too high Providing a Protective Earth Connection for Motors You must provide a connection from the motor t
134. rrent rating specifies the maximum current at which the motor can run indefinitely without overheating Try to match your motor s current rating to your application and operating conditions If you use R24 to limit peak current be sure to also change R25 so that the foldback current is lower than the peak current 96 OEMG670 OEM675 Special Internal Circuits Thermal Time Constant T R23 Every motor has its own particular winding to stator time constant This is the time it takes for the motor winding to reach 6396 of its equilibrium temperature after application of rated current The time for the motor case to reach equilib rium temperature is different and is usually much longer Small motors usually have much shorter time constants than large motors Heat dumped into a small motor causes a fast rise to the equilibrium temperature A large motor has a much greater thermal mass consequently the same quantity of heat will cause a much lower temperature rise The large motor can absorb heat over a longer period of time before it reaches its maximum rated winding temperature The next drawing shows time constants for a small motor and a large motor Small Motor Large Motor 63 Temperature LI Li LI Li Li Li i To Time To Time Motor Time Constant The drive uses an electrical circuit to model the motor s thermal characteristics The next drawing shows the part of the circuit that mo
135. rrent that produces torque flows through the resis tance R of the motor s copper coils and causes heat The power to produce this heat comes from the power supply The coil resistance R may change with temperature When you use the equations that follow use the resistance of your motor at its actual operating temperature Power converted to heat rather than useful work is called a loss The losses resulting from current flowing in the motor s copper coils are called copper losses or PR losses so named from the formula used to calculate them 2 P copper IR Propper represents power used for copper losses 119 Power Supply Selection OEM670 OEM675 You can calculate copper losses even if you do not know the motor current I The following equation uses the relationship between current and torque to express copper losses in terms of torque resistance and the torque constant 2 T 2 Popper PR z R T Copper losses are shown in the next drawing gt S S f i Time Copper Losses D Due To I R Heating s ry qM a c R Watts T Time Copper Losses The supply must deliver power only during acceleration and deceleration During slew with no friction there is no torque on the motor shaft and no motor current consequently there are no copper losses Shaft Power A motor uses shaft power to accelerate or decelerate a load The equation for shaft power the p
136. rror s instantaneous rate of change or derivative increases deriva tive gain also increases Derivative gain opposes rapid changes in velocity It will dampen the resonance effects of proportional gain With higher derivative gain you can use higher proportional gain Derivative Gain Reduction Grounding Pin 5 Many applications require high derivative gain for proper performance High derivative gain however can cause jitter and audible shaft noise when the motor is at rest Many applications have enough stiction that high derivative gain is not necessary for stability when the system is at rest If your application must hold position with minimum jitter or noise connect pin 5 to ground see the Inputs and Outputs section earlier in this chapter With this pin grounded the drive will 52 OEM670 OEM675 Installation gradually reduce derivative gain to a low value whenever motion stops When motion starts again or if the motor shaft moves the drive will instantly increase derivative gain to the value set by the tuning pot Integral Gain Integral gain provides a torque that is directly proportional to the sum over time of the error signal the integral of the error If the error persists integral gain provides a restoring force that grows larger with time Integral gain can remove steady state errors that are due to gravity or a constant static torque It can also correct velocity lag and following error in a constant
137. rse CIrCUlL coit t ex crebrae ic E Ea bed tea e ee En eet ERE 82 Motor Inductance Affects Feedback 84 Selecting a Response Resistor 89 Current Foldback 5699 Resistor Selector seirinin 99 How Long Will Foldback Protect Your System sssssseee 103 5 HALL EFFECT SENSORS eeeeeenn 105 Hall Effect Sensors and Commutation sssssssssssseeeeeeeeenes 105 The Hall Effe t xu enr er eine need ai Ga erm 106 Hall Effect Sensors rnc een ree rire ie 107 Hall Effect Sensors Used Inside Brushless Motors ssssssss 108 Windings in a Three Phase Brushless Motor ssn 109 The Six Possible Hall States 2 ttt nens 110 Commutation Based on Hall States sse 113 Connecting Motors from Other Vendors esee 115 Improper Wiring Can Result in Poor Performance sess 115 Trial and Error Method rint rer aaan 116 6 POWER SUPPLY SELECTION How Much Power Does Your System Need Peak Power A Calculation Method eene Peak Power A Graphical Method sess Friction Gravity and Different Move Profiles Power Requirements An Empirical Method Average Power Calculations Regehneratior enn
138. s the OEMO70 can inter face with external devices such as incremental encoders switches computers and programmable control units SM AND NEOMETRIC SERIES SERVO MOTORS Compumotor offers SM Series and NeoMetric Series servo motors designed to operate with OEM Series servo drives Each motor is equipped with Hall effect outputs and an encoder OEM670 versus OEM675 How to Choose You can decide whether to use an OEM670 or OEM675 based upon the motor you choose for your application Compumotor SM Series Motor choose an OEM675 Its current compensation loop is optimized for SM slotless motors Compumotor NeoMetric Series Motor choose an OEM670O Its current compensation loop is optimized for NeoMetric slotted motors Non Compumotor Motor If yours is a non Compumotor motor examine the motor specification tables for Compumotor motors in Chapter Specifications and find a motor with inductance and resistance similar to yours If the similar motor is an SM Series motor choose an OEM675 If the similar motor is a NeoMetric Series motor choose an OEM670 If you cannot find a similar motor in the specification tables you may need to contact a Compumotor Applications Engineer 800 358 9070 for advice on choosing a drive for use with your motor 14 CHAPTER 2 Installation Complete the following installation steps before you use the OEM670 OEM675 drive INSTALLATION STEPS Verify shipment is correct In
139. s 4 94 125 48 34 1 Eq Spaced on a 3 875 98 43 Bolt Circle for 5mm or 10 Bolt 1 190 30 23 aA 0 063 1 6 a 2 875 0 002 73 03 0 05 a 325 20 5000 0 0000 82 8 Sq 0 0005 12 7 0 000 0 012 Motor Length 71 9 Specifications OEM670 OEM675 Encoder Specifications The same type of encoder is used on all SM and NeoMetric Series motors Encoders have either 500 lines D or 1000 lines E Mechanical Accuracy t2 min of arc Electrical Input power 5 VDC 596 135 mA Operating frequency 100 kHz max Output device 26LS31 Sink Source nominal 20 mA Suggested user interface 26LS32 Hall Effect Specifications Specifications for Hall effect outputs on SM and NeoMetric Series motors are listed below Electrical Input power 5 VDC 596 80 mA Output device open collector LM339 Maximum pull up 30 VDC Sink 16 mA COMMUTATION CHART Clockwise rotation as viewed from front shaft Phase Phase Phase B A C C B Hall 1 l J Hall 2 Hall 3 72 OEM670 OEM675 Specifications Motor Wiring Information SM Motors SiZE 16 AND SIZE 23 Motor Phase FL Option 10 Option MS Option TQ Option H Option 25 Option Pin No Pin No Pin No Wire Designation MS14 12 MS14 12 MS14 12 Color Phase A J J J Red Yellow Phase B K K K White Yellow Phase C IL L L Black Yellow Ground M M M Green Yellow Shield NC NC NC
140. s from manufacturers other than Compumotor you may need this information to determine how to connect your motor to the drive Power supply selection is covered in Chapter 6 Read this chapter for information about calculating the power your system requires how regeneration affects power supplies and how you can specify a power supply for your system Troubleshooting procedures are covered in Chapter 7 Preface OEM670 OEM675 NAMES IN THIS USER GUIDE This user guide describes four products rd OEMO70T Torque Servo Drive 7 OEMG675T Torque Servo Drive OEM670SD Step amp Direction Servo Drive OEM675SD Step amp Direction Servo Drive In this user guide when we use the name OEM670 OEM675 it will apply to all four products Because most features are identical for the four products this will usually be the case If we need to point out differences between the products for features that are not identical we will specifically call the product by its full name OEM670T OEM675T OEM670SD or OEM675SD WARNINGS AND CAUTIONS Warning and caution notes alert you to problems that may occur if you do not follow the instructions correctly Situa tions that may cause bodily injury are presented as warnings Situations that may cause system damage are presented as cautions A typical warning note is shown below WARNING Do not touch the motor immediately after it has been in use for an extended period of time The motor m
141. s the unit of energy in the 137 Power Supply Selection OEM670 OEM675 SI system and that power is the rate of energy flow One watt is equal to an energy flow of one joule per second 1 watt 1 joule second Energy is also the integral of power Therefore you can deter mine the total energy produced during deceleration by finding the area under the peak power curve The next drawing shows this area for a situation where copper losses are small and shaft power is large Velocity Time laecet gt Regeneration 4 Energy Regeneration with Low Torque To approximate the total energy from regeneration find the area of the triangle representing shaft power You can ignore the copper losses because they are small E regen 4 base height 4 2 MT tgecet ATT The next drawing shows the deceleration portion of a move that uses a higher torque to decelerate the motor Conse quently the copper losses are greater 138 OEMG670 OEM675 Power Supply Selection Velocity 4 tael 2 decel q v__TR_ regen qa Zrak Power le t Regeneration Energy Regeneration with High Torque If you ignore copper losses when you calculate energy from regeneration in this type of situation the answer will be much larger than the actual energy produced To accurately calcu late the energy use the next equation to find the area
142. s through three holes in the top of the drive s plastic cover The proportional gain pot is closest to the front of the drive the integral gain pot is in the middle and the derivative gain pot is closest to the heatsink Turn the pots clockwise to increase the gains 54 Tuning Pots are 12 turn pots To Zero turn pot 12 turns counterclockwise To Increase Gain turn pot clockwise Factory Default Settings P 3 turns clockwise 1 O turns clockwise D 4 12 turns clockwise Tuning Pot Locations Disable Integral Gain optional If you do not need integral gain in your application wire pin 6 to ground to permanently disable integral gain see above If you do use integral gain tuning will be simplified if you disable it now and re enable it in Step 2 below Set up the Velocity Monitor optional Connect an oscilloscope to the velocity monitor output on pin 1 of the 25 pin D connector as described earlier in the Inputs and Outputs section You can tune without the velocity monitor but using it will clearly show how your system responds when you adjust the tuning pots Set Pots to their Default Values The tuning pots were set at default values when the OEM670SD OEMG675SD shipped from the factory If yours is a new unit skip this step and proceed to step 9 Other wise follow this procedure to return the settings to their default values OEM670 OEM675 Installation 1 Turn each pot 12 turns counterclockwis
143. shown in the next drawing Derivative Gain Reduction o Integral Gain Disable o Ground o Derivative Gain Reduction amp Integral Gain Disable Inputs 46 OEM670 OEM675 2 Installation Integral Gain Disable Input This input pin 6 can disable the integral gain in the OEM670SD OEM675SD s internal feedback loop If this input is grounded integral gain is disabled If it is not grounded integral gain is determined by the tuning pot setting We recommend disabling integral gain by grounding pin 6 as an initial setting to simplify tuning You can add integral gain later if necessary The internal schematic for the input is shown above See the Tuning section at the end of this chapter for more information Fault Output Isolated and Non Isolated The OEM670SD OEM675SD has two fault output signals One is isolated pins 22 and 23 the other is not isolated pin 9 We recommend that you use the isolated fault output if you need a fault signal for your system The schematic and specifications are OEM670SD OEM675SD IPM Internal Connections NNI 45V 1 Fault Output o i 2210 i Not Isolated d AN Isolated EN Md V Fault Output o TT Fault Output o i E n tad Sela a Bx Blan Sos se a Mice l Fault Output Isolated and Non Isolated Isolated Non Isolated Fault Output Fault Output Specifications pin 22 amp 23 pin 9 Maximum Applied Voltage 50V 24V Maximum Curr
144. signal level that goes into the PWM circuit The user can choose a value for this resistor that produces the best current loop gain and system dynamics for a particular motor The power stage has three outputs each connects to a particular motor coil The drive gets inputs from the motor s Hall effect sensors and determines which of six possible positions the rotor is in It then uses a six state commutation technique to send current into one coil and out of another the third coil receives no current The current creates a torque on the rotor and the rotor turns to the next position The drive reads the new position from the Hall sensors and switches current to a different combination of coils The rotor turns further and the process repeats The drive can also be configured to commutate brushed servo motors The drive has several fault and protection circuits These monitor temperature regeneration undervoltage and short circuits They can shut down the drive if limits are exceeded LEDs indicate power and fault status Introduction OEM670 OEM675 A foldback circuit monitors motor current and protects the motor from overheating due to prolonged high currents The user can install resistors to set levels for peak current foldback current and time constant When the circuit invokes foldback it clamps the command input signal at a voltage that reduces motor current to the preset level After a period of time the circuit ma
145. ssible problem T Short circuit on 5VDC or on 15VDC Procedure Disconnect all wiring except VDC and VDC Verify that power supply voltage is in the 24VDC 75VDC range Is the green LED now on Q If so the problem is a short circuit on Hall 5VDC or on the OEM670T OEM675T s 15VDC on the D connec tor or on the OEM670SD OEMG675SD s encoder 5VDC on the D connector Find and fix the short and cycle power 156 OEM670 OEM675 Troubleshooting Is THE GREEN LED OFF AND RED LED ON Possible problem T Short circuit in motor or cabling Procedure Remove power OQ Disconnect all wiring except VDC and VDC G Reapply power e Green LED should now be on and red LED should be off This indicates the problem is a short circuit in the cabling or motor Fix the short and cycle power Possible problem 1 Bad Hall state all three LOW Procedure Remove power Disconnect all wiring except VDC and VDC G Apply power The green LED should now be on Next remove power again Connect Hall wires to motor Hall 1 Hall 2 Hall 3 Hall GND Hall 5 Do not connect motor phase wires Apply power If green LED is off and red LED is ON then problem is a bad Hall state all three LOW Check Hall wiring and voltage levels at Hall terminals Check motor for faulty Hall sensors Possible problem L Power supply undervoltage during move Procedure Cycle power Green LED sho
146. stall selectable resistors Mount the drive Mount the motor Connect the motor to the drive Connect inputs outputs and controller Connect a power supply to the drive Tune the drive OEM670SD OEMG675SD only V8G HOHO The sections in this chapter give basic instructions about how to complete each of these steps OEM670 OEM675 SHIP KIT Inspect the OEM670 OEM675 upon receipt for obvious damage to its shipping container Report any damage to the shipping company Parker Compumotor cannot be held responsible for damage incurred in shipment You should receive one or more drives depending upon what you ordered Compare your order with the units shipped Component Part Number OEM670 or OEM675 Drive OEM670T OEM675T OEM670SD OEM675SD Resistor Kit 73 016979 01 Accessories OEM670 OEM675 User Guide 88 013599 01 Heatsink OEM HS1 User guides are not sent with each product They are available upon request Please order user guides as needed is Installation OEM670 OEM675 The following SM and NeoMetric Series servo motors are designed to be used with the OEM670 OEM675 Compare your order with the motors shipped Motor Size Part Number Size 16 SM160A SM160B SM161A SM161B SM162A SM162B Size 23 SM230A SM230B SM231A SM231B SM232A SM232B SM233A SM233B Size 34 NO341D NO341F NO342E NO342F Size 70mm NO701D NO701F NO702E NO702F INSTALLING SELECTABLE RESISTORS You must install four resis
147. strip is metal Electrons are the mobile charges With a current ias shown in the drawing the electrons will move upwards through the strip In the presence of the magnetic field B shown in the drawing the electrons will drift toward the right edge of the strip on A a tA del I amp K 7 d 574 AL XC nde The Hall Effect Because electrons are concentrated along one edge there is a potential voltage difference across the strip This voltage is known as the Hall effect voltage The drawing shows a voltme ter connected across the strip to measure Hall effect voltage 106 OEM670 OEM675 Hall Effect Sensors If the magnetic field is removed the Hall effect voltage disap pears If the magnetic field is reversed the Hall effect voltage will also be reversed HALL EFFECT SENSORS Many types of sensors use the Hall effect to sense the pres ence of magnetic fields The next figure is a conceptual draw ing of a Hall effect sensor Ground Sensor shown magnified with internal components visible NS Rotating magnetic Digital field affects Hall strip Circuitry in sensor TN Ground Actual Size approx Hall Effect Sensor A constant current runs through a conductive Hall strip inside the sensor The drawing shows a rotating magnet near the sensor The alternating field from this rotating magnet will cause an alternating Hall effect v
148. t after power is removed 165 LVD Installation Instructions OEM670 OEM675 Table of Graphic Symbols and Warnings The following symbols may appear in this user guide and may be affixed to the products discussed in this user guide Symbol Description Earth Terminal Protective Conductor Terminal Frame or ChassisTerminal Equipotentiality Caution Risk of Electric Shock Caution Refer to Accompanying Text Hot Surface bPR LO INDEX A Accessories 15 Actual Position 51 Additional Circuit Board 11 Ambient Temperature 21 Analog Ground 38 Angular Misalignment 26 Average Power 118 Average Power Calculations 136 B Block Diagram 7 Blocking Diode 149 Brushed Servo Motor 30 C Cable Length 50 Cautions 6 CE Marking Directive 2 Choosing OEM670 vs OEM675 14 Clockwise definition 32 Color Code 29 73 Command Input 31 Commanded Current 83 Commanded Position 51 Commutation and Hall States 113 Commutation Chart 72 Connecting a Motor 28 115 Connecting a Power Supply 49 Connecting Brushed Motors 30 Copper Losses 119 Couplings 25 Cover How to Remove 16 CPE1 and CPE2 44 Current Feedback Loop 82 Current Foldback 93 foldback current 96 peak current 96 resistor selection 99 time constant 97 Current Monitor Output 48 Current Monitor Output 37 Current Probe 134 Cycle Power definition 76 D D connector 31 40 Derivative Gain 52 Derivative Gain Reduction 46 52 D
149. t is commutated to the correct motor phases See Chapter Hall Effect Sensors for more information If your drive arrived with a response resistor installed you should consider using a different response resistor See Chapter Special Internal Circuits for details about selecting a response resistor to improve your system s performance 29 Installation OEM670 OEM675 CONNECTING A BRUSHED DC SERVO MOTOR You can use the OEM670 OEMO75 as a drive for brushed DC servo motors Follow these steps Make no connections to the drive s Hall inputs Connect the drive s Phase A to your motor s positive input G Connect the drive s Phase C to your motor s negative input Under these conditions the drive s internal logic determines that a brushed motor is connected DC current will flow out of Phase A through the motor and back into the drive through Phase C The amount and polarity of the current will be determined by the command input signal SHIELDED MOTOR CABLES Prevent electrical noise from interfering with the signals that the Hall effect sensors send to the drive Position the motor as close to the drive as possible If you need to connect a long cable between the drive and motor we recommend you use a shielded cable for the Hall wires Hall 1 Hall 2 Hall 3 5V GND Run the power wires phase A B and C separately from the Hall wires MOTOR GROUNDING For safety reasons the motor should be grounded Often the
150. t with Electromagnetic Compatibility Directive 89 336 EEC How ever information is offered in Compumotor s EMC Installation Guide on how to install the OEM670 OEM675 in a manner most likely to minimize the effects of drive emissions and to maximize the immunity of drives from externally generated interference Compumotor Division Darker 2 CONTENTS PREFACE aiian 5 1 INTRODUCTION cc eeeeeeeeee enne nnn n n nnn nnn 7 p tiegei e saaE 7 Operation amp Block Diagram wal Related Products eet 5610 OEM670 versus OEM675 How to Choose sssssssssseeeeeeeeeenes 14 2 INSTALLATION ioiii iiniu iiaiai aaaea aaia 15 OEMO7Z0 OEMO675 ShipKIE sasise tner e aa ree nere de EE NESER 15 Installing Selectable Resistors wi 16 Resistor Selection for Compumotor Motors x58 Resistor Selection for Non Compumotor Motors Drive MOUNTING eee erret teen pe eene Drive Dimensions wits Panel LAY OUt er Motor MOUNTING Pt Connecting a Motor to the Drive Connecting Compumotor SM and NeoMetric Series Motors 29 Connecting Motors from Other Vendors esee 29 Connecting a Brushed DC Servo Motor wi BO Shielded Motor Cables 390 Motor Grounding
151. tance affects the gain and frequency response of the current feedback loop and thus the performance of your system To accommodate the wide range of motors that customers are likely to use the drive has a response circuit that is adjust able You can tailor the response circuit to match your motor This can help you achieve optimum performance You can adjust the response circuit by changing the response resistor R22 on the drive s circuit board Response Resistor R22 Response Resistor Location See Installing Selectable Resistors in Chapter Installation for instructions about installing a different response resistor and for a list of resistors to use with Compumotor motors In the following sections we will explain how the current feedback loop works how motor inductance affects the loop and how the response resistor can adjust drive performance to compensate for different motor inductances Then we will give detailed instructions for selecting a response resistor CURRENT FEEDBACK LOOP The following section of the OEM670 OEM675 s block dia gram shows the main components in the current feedback loop This diagram shows the drive in one particular Hall state with current flowing into phase A and out of phase C Five other Hall states are possible Their diagrams are similar 82 OEM670 OEM675 Special Internal Circuits Error Response Amplifier UN Resistor R22 H o Supply zt b gt
152. the drive s heatplate Is it hot If so the problem could be an overtemperature shutdown Wait 30 minutes for the drive to cool Check for proper drive mounting and heatsinking Check for a mechanical jam When the drive has cooled cycle power to resume operations If overheating persistently causes shut downs you can try several remedies change move profile or duty cycle improve drive mounting or heatsinking reduce drive ambient temperature add forced air cooling With proper power supply voltage at the drive and if the drive is not hot the problem could be an overvoltage 159 Troubleshooting OEM670 OEM675 fault Regeneration during deceleration could have caused the overvoltage fault Cycle power to resume operations If regeneration repeatedly causes overvoltage faults you can try several remedies to solve the problem reduce deceleration rate reduce bus voltage add bus capacitance add power dump circuitry NOTE Overvoltage and overtemperature faults both have identical indicators red and green LEDs both ON fault output HIGH fault condition is latched To distin guish between the two faults monitor conditions while the drive runs Monitor heatplate temperature to see if it gets too high which could cause an overtemperature fault Monitor power bus voltage to see if it gets too high particularly during deceleration This could cause an overvoltage fault MISCELLANEOUS PROBLEMS The basic troubleshooting
153. the failure is straightforward and the part can be replaced a LOW COST In many applications a linear supply costs less than a switching supply This depends upon power level and number of units a LOW NOISE Linear supplies are virtually free of electrical noise and give excellent results in noise sensitive applications Disadvantages of Linear Power Supplies a POOR LINE REGULATION If the input line voltage rises or falls the power supply s output voltage will also rise or fall 146 OEM670 OEM675 Power Supply Selection a POOR LOAD REGULATION When the load uses more power the power supply s output voltage may drop m VOLTAGE RIPPLE Large ripple voltage in the output requires a relatively large output capacitor for smooth ing m LARGE SIZE Compared to a switching supply of the same power level a linear supply is larger heavier and takes up more space Q LOW EFFICIENCY The linear supply suffers losses in the transformer and other components This dissipation can result in heat and higher operating temperatures Q SLOW TRANSIENT RESPONSE The linear supply may not be capable of keeping up with the rapidly changing load requirements of some servo systems Designing a linear supply for a high performance system can be quite complex Regeneration and Linear Power Supplies Dealing with regeneration is simpler with linear supplies than with switching supplies The linear supply s transformer and re
154. to the magnetic fields that attract them Before the rotor can get to this position though the drive switches the current to a new combination of stator coils and creates a new set of electro magnetic fields that cause the rotor to continue its movement The process of continually switching current to different motor coils to produce torque on the rotor is called commuta tion If the drive knows the position of the rotor s permanent mag nets it can set up magnetic fields in the stator that have the correct location and polarity to cause the rotor to turn How can the drive know rotor position Three Hall effect sensors 105 Hall Effect Sensors OEM670 OEM675 located in the motor are affected by the rotor s permanent magnets The three sensors transmit a unique pattern of signals for each rotor position The drive uses these signals to determine the position of the rotor THE HALL EFFECT Electrically charged particles moving through a magnetic field experience a deflecting force perpendicular to both the direc tion of their motion and the direction of the magnetic field The Hall effect is a phenomenon which shows that if a mag netic field is perpendicular to a thin strip of conductive mate rial and an electric current flows lengthwise through the strip the mobile charges that carry the current will drift to one edge as they move along the strip In the example shown in the next drawing assume that the conductive
155. tors into sockets on the OEM670 OEMO75 s circuit board Three of these are foldback resistors they determine the parameters for the current foldback cir cuit which can protect your motor from overheating due to prolonged high currents The fourth resistor is a response resistor it affects the gain and frequency response of the current loop The drive you ordered determines whether or not resistors are installed when it arrives OEM670 Ships from factory with resistors installed These resistors are not appropriate for most applications You must select other resistors and install them in the drive OEM675 Ships from factory without resistors installed You must select and install resistors for the drive to work A resistor kit for use with Compumotor SM and NeoMetric Series motors is included with the drive Resistors in the kit have a four digit code The first three digits are resistance values the fourth digit is a multiplier Example 3013 301 x 10 301KQ 6492 649 x 10 64 9 KQ Note zero ohm resistors may be color coded black band To install selectable resistors remove the drive s molded plastic cover Apply pressure to the D connector while you hold the cover s sides The circuit board will slide out The resistors and their sockets are located near the corner of the board close to the 25 pin D connector as shown below 16 OEM670 OEM675 2 Installation WARNING Remove power from the OEM67
156. tsink Dimensions ingres milimeters Two 8 32 screws are needed to mount the OEM670 OEM675 to the OEM HS1 heatsink Use a star washer on the bottom screw to ensure proper electrical grounding Use two 8 screws to mount the OEM HS1 to the cabinet Do not use a star washer between the back of the OEM670 OEM675 heatplate and the mounting surface The mounting surface must be flat Use silicone thermal joint compound or thermal pads to facilitate heat transfer from the drive s heatplate to your mounting surface 22 OEM670 OEM675 Installation A heatsink with holes tapped for metric screws is available Its part number is OEM HS1 M4 Consult your Compumotor sales guide for more information The next drawing shows the panel layout for minimum area 0 5 Dimensions in inches millimeters 2 5 63 50 Minimum OEM HS1 Minimum Area Panel Layout The following drawing shows dimensions for a minimum depth panel layout Dimensions in inches millimeters le 5 95 160 53 4 aa Minimum Between Mounting Holes OEM HS1 Minimum Depth Panel Layout 23 Installation OEM670 OEM675 MOTOR MOUNTING The following guidelines present important points about motor mounting and its effect on performance For mechanical drawings of SM and NeoMetric Series servo motors see Chapter Specifications WARNING Improper motor mounting can reduce system performance and
157. u can use higher voltages if you connect an external resistor in series with Shutdown to limit the input current Indexer OEM670SD a Internal Connections Switch etc OEM675SD TEM Applied Voltage 5 V maximum 1 6MQ Input Current 12 mA maximum 2219 6 3 mA mininum W i Shutdown Shutdown Shutdown Input When 5V is applied to the Shutdown input the OEM670SD OEM675SD s power output stage remains active but its internal controller commandes zero torque This allows the motor shaft to be manually positioned The controller will ignore encoder counts and position error as the shaft turns Approximately one second after the shutdown input is re leased the internal controller accepts the new position as the commanded position and reestablishes servo action While the O0EM670SD OEM675SD is in shutdown it s small internal offset torque will be applied to the load This torque is usually too low to overcome friction and cause motion In some applications however the shaft may need to be held in the desired position during shutdown Note that shutdown in the O0EM670SD OEM675SD functions differently than shutdown in a step motor drive When a step 43 Installation OEM670 OEM675 motor drive is shut down it actually shuts down its power output stage When it comes out of shutdown the step motor drive will command phase currents that immediately apply torque to the shaft which holds it in some position
158. uld now be on red LED off Make the move If the move causes a fault the problem is probably a power supply undervoltage during the move Try a larger power supply 157 Troubleshooting OEM670 OEM675 Is GREEN LED ON RED LED OFF ButT No MoTION These conditions indicate that the OEM670 OEMO675 is powered up enabled and operating properly It is probably not the source of the problem Look for the cause of the problem elsewhere in your system Possible problems 1 No command voltage from controller to OEM670T OEM675T controller problem Indexer issued shutdown to OEM670SD OEM675SD Wrong motor phase wiring Wrong motor Hall effect wiring d Mechanical jam Procedure OEM670T OEMG675T Measure the command input voltage If it is near OVDC then the controller is not commanding a move or has very low gains Adjust your controller Check for possible RS 232 problems consult your controller manual OEM670SD OEMOG675SD Measure the step input If there are no step pulses then the indexer is not com manding a move Adjust your indexer Check for pos sible RS 232 problems consult your indexer manual With a proper command input signal a nonzero voltage for the OEM670T OEMO75T step pulses for the OEM670SD OEM675SD try to rotate the shaft manu ally If you can then the motor phases are probably miswired Or the motor may be damaged check its phases for proper resistance continuity s
159. ult Output a HIGH means 5VDC to 24VDC depending upon what DC voltage you use for the pullup resistor when you connect the fault output to your controller a LOW means ground or OVDC to O 8VDC The next table summarizes LED amp Fault Output information The table after that summarizes other possible sources of problems Detailed troubleshooting procedures follow the tables 153 Troubleshooting OEM670 OEM675 CHECK LEDS FIRST If you encounter problems you may be able to quickly identify the problem by looking at the LEDs and the fault output The next table summarizes possible LED and fault output states LEDs and FAULT OUTPUT GREEN RED FAULT LED LED OUT CONDITION No Power or OEM670T OEM675T only Short on 15VDC or short on 5VDC OEM670T OEM675T only Short on 15VDC or short on 5VDC Normal operating condition Foldback OEM670T OEM675T only Red LED turns off within Foldback 10 seconds if command input is reduced to OV Normal condition while drive is powering up or turning off or OEM670T OEM675Tonly transient power supply undervoltage OEM670T OEM675T only Power supply undervoltage or OEM670T OEM675T only No enable NOT LATCHED Can recover from above conditions without cycling power Cycle power to reset drive and LATCHED recover from conditions below Overvoltage from regeneration or overtemperature OEM670SD OEM675SD only no enable or power supply undervoltage
160. umber to cover repair costs in the event the unit is determined to be out of warranty 2 In the USA call your Automation Technology Center ATC for a Return Material Authorization RMA number Returned products cannot be accepted without an RMA number If you cannot obtain an RMA number from your ATC all Parker Compumotor s Customer Service Department at 800 722 2282 Ship the unit to Parker Hannifin Corporation Compumotor Division 5500 Business Park Drive Suite D Rohnert Park CA 94928 Attn RMA xxxxxxxxx 3 In the UK call Parker Digiplan for a GRA Goods Returned Authorization number Returned products cannot be ac cepted without a GRA number The phone number for Parker Digiplan Repair Department is 0202 690911 The phone number for Parker Digiplan Service Applications Department is 0202 699000 Ship the unit to Parker Digiplan Ltd 21 Balena Close Poole Dorset England BH17 7DX 4 Elsewhere Contact the distributor who supplied the equipment 162 APPENDIX A LVD Installation Instructions For more information about LVD see 73 23 EEC and 93 68 EEC published by the European Economic Community EEC Environmental Conditions Pollution Degree The OEM670 OEM675 is designed for pollution degree 2 Installation Category The OEM670 OEM675 is designed for installation category II Electrical Connecting and Disconnecting Power The OEM670 OEMO7695 s protective earth connection is p
161. uring accelera tion or deceleration is 2 T P otal P shafi JP met imr Z R T The first term on the right represents shaft power The second term represents copper losses Notice that power demand increases as velocity increases during acceleration and reaches a peak just before the motor reaches its slew velocity The equation for peak power is 2 T P peak ima r Z R kr Estimation Factor The power equations above show how much power the supply must deliver for shaft power and copper losses There are other losses which are usually smaller and less significant such as Drive Losses Core Losses T Switching Losses Core losses are dependent on velocity To approximate their effect use the power equation from above and add 1096 to it P zars 2 eo For clarity and simplicity in the rest of this chapter we will omit the 10 figure that represents miscellaneous losses If you need more accuracy in your estimate you should include this estimation factor Drive losses are not dependent on velocity When the motor is at rest or during slew drive losses are approximately 5 10W 123 Power Supply Selection OEM670 OEM675 Power Supply Current Does Not Equal Motor Current The equation we have developed represents power that the power supply must deliver to the system This is not the same as motor power or drive power Similarly current from the power supply will not be the same as current flowin
162. ve approach and select foldback resistors that limit worst case motor temperature to a safe value for an indefinitely long period of time If the machine operator is nearby and will notice within a reasonable period of time that the machine is jammed you can use a more aggressive approach to selecting resistors Different resistors may allow higher motor performance yet still limit the rate of rise of motor temperature so that the operator has time to react and shut the machine down 103 Special Internal Circuits OEM670 OEM675 104 CHAPTER Hall Effect Sensors The OEM670 OEM675 works with three phase brushless motors equipped with Hall effect sensors or equivalent feed back signals In this chapter we will explain how Hall effect sensors are used in brushless motors and how the OEM670 OEMG675 uses Hall effect outputs from Compumotor servo motors for commutation If you are using a motor from another vendor obtain informa tion about your motor s Hall signals and commutation se quence Then use the information in this chapter to help you connect your motor to the OEM670 OEM675 HALL EFFECT SENSORS AND COMMUTATION To move the rotor in the commanded direction the drive will send current through two of the motor s stator coils This current produces electromagnetic fields that develop a torque on the rotor and the rotor turns The rotor will stop if it can reach a position where its permanent magnets are next
163. vendor obtain information from the motor s manufacturer about its sequence of Hall states commutation scheme etc Use the above information about Compumotor motors for guidance on how to connect your motor to the O0EM670 OEM675 IMPROPER WIRING CAN RESULT IN POOR PERFORMANCE Assume that you arbitrarily connect your motor s three Hall wires to the OEM670 OEMO795 s Hall inputs For any particu lar Hall wiring pattern there are six different ways you can connect wires to Phase A Phase B and Phase C Of these six possible phase wiring combinations only one will work properly Three will not work at all The other two de serve particular attention if the motor is wired in one of these two configurations the motor will turn but its performance will be severely impaired How can you tell if your motor is wired improperly If it is in one of the two poor performance configurations its torque will be much lower than the torque level of a properly wired motor Also torque ripple will be very pronounced as the motor turns The best way to determine whether or not your motor is wired correctly is to find the three wiring configurations that enable the motor to turn Compare the motor s torque in each con figuration The configuration with the most torque will be the proper configuration 115 Hall Effect Sensors OEM670 OEM675 TRIAL AND ERROR METHOD You can use a trial and error method to connect your motor to the OEM67
164. veral methods for choosing a power supply for a single axis system one drive and one motor You can also use a supply to provide power to multiple axes To choose a power supply for multiple axis operation the first step is to determine the power each individual axis requires using any of the methods we presented above Next determine how the power requirement of each axis relates in time to the other axes There are two possibilities each axis moves independently or the various axes move in a coordinated way with the motion of each axis depending upon the other axes For independent moves the largest power demand will occur if all axes simultaneously reach their peak power points Choose a power supply that can provide enough power for this peak demand For dependent moves find the times when the maximum power is required Add together the power requirements for each axis at these times to find the peak power requirement Choose a power supply that can satisfy the peak requirement 151 Power Supply Selection OEM670 OEM675 152 CHAPTER D Troubleshooting When a problem occurs in your system use the following strategy to isolate and identify the problem T Check Light Emitting Diodes LEDs and the Fault Output for an indication of the cause of the problem T Check other possible causes When we refer to LEDs T ON means illuminated 1 OFF means not illuminated When we refer to the Fa
165. w PWM Torque Command Current Feedback Signal Vp IL 2E Vtb 1 MOTOR One of Current Monitor six possible commutation states v Current Monitor Current Feedback Loop The torque command is a signal that tells the drive how much current to produce This desired current is called commanded current It enters the loop through a summing node where it is combined with a current feedback signal The feedback signal is a voltage that represents actual current flowing in the motor The signal s polarity is adjusted so that it is inverted at the summing node Inverters and other components that accomplish this are not shown in the dia gram This makes it a negative feedback signal If actual current is identical to commanded current the sum of the two signals will be zero If the two currents are not identical the summing node will produce an error signal which enters an error amplifier This amplifier has very high gain at low frequencies and will amplify even very small signals by a factor of thousands The amplified error signal next passes through the response resistor which can change the level of the error signal and thus modify the gain of the error amplifier Higher resistor values will reduce the signal lower values will increase it More information about selecting a response resistor will be given at the end of this section The error signal enters a pulse width modulation PW
166. with OEM670 OEM675 NO701F NO341F with OEM670 OEM675 N m oz in 1 90 250 M 1000 2000 3000 4000 5000 17 83 50 67 83 Speed RPM rps NO702F NO342F with OEM670 OEM675 N m oz in N m oz in 3 81 500 3 81 500 8 05 400 8 05 400 o 2 28 300 o 2 28 300 3 Ss e te 1 52 200 1 52 200 0 76 100 U 500 1000 1500 2000 2500 M 500 1000 1500 2000 2500 3000 8 7 25 33 42 8 17 25 33 42 50 Speed RPM rps Speed RPM rps Peak Power Curves NeoMetric Motors Example Use the peak power curves to choose a power supply to use with a system consisting of an OEM675 with an SM233B motor The motor must accelerate with a torque of 200 oz in 1 52 Nm until it reaches a velocity of 1 500 rpm 25 rps It then slews at constant velocity until it decelerates From the peak power curves observe that this move requires approximately 300W peak power Choose a power supply that provides at least 330W peak to accomplish this move 330W includes an extra 1096 for miscellaneous losses 129 Power Supply Selection OEM670 OEM675 Example A system must make a trapezoidal move and reach 2 000 rpm 33 3 rps at a torque of 125 oz in 0 88 Nm Which size 23 motor requires the smallest power supply to make this move From the peak power curves Motor Peak Power Peak 10 SM230A n a n a SM230B n a n a SM231A 340W 374W SM231B 365W 401W SM232A n a n a SM232B 240W 264W SM
167. y release its clamp on the command input signal and normal operations can continue The drive has several other inputs and outputs An enable input must be grounded to enable the drive A fault output is held low if there are no faults A current monitor output provides a voltage scaled to represent the actual output current It can range from 10V to 10V with one volt corre sponding to 1 2 amps of output current RELATED PRODUCTS The OEM670T OEMOGO79T is the building block in a family of servo drives It has an internal slot where an additional circuit board can be inserted to make a different product Additional Circuit Board Both Boards Slide Into Cover Together as One Unit Additional Circuit Board Can Mount Internally 10 OEM670 OEM675 Introduction The additional circuit board is inserted at the factory at the time of manufacture Externally the new product looks just like the OEM670T OEMO795T except that the label is a different color OEM670SD amp OEM675SD STEP amp DIRECTION SERVO DRIVE The OEM670SD OEM675SD Step amp Direction Servo Drive consists of the OEM670T OEM675T with a position controller circuit board added DC DC Converter OEM670T OEM675T TORQUE DRIVE CIRCUIT BOARD FAULT amp PROTECTION CIRCUITS nable Current Monitor STEP amp DIRECTION CIRCUIT BOARD Integ Disable
168. ystematic manner You may see the red LED come on briefly when the drive is turned on or off This is normal and does not indicate a problem One problem situation a power supply undervoltage fault can trigger the undervoltage circuit See the power supply fault explanation above under Short Circuit Protection An undervoltage fault can trigger either the undervoltage circuit or short circuit protection Sometimes the undervoltage circuit will react first and turn on the red LED and send the fault output high At other times short circuit protection will react first and latch the drive off Which circuit reacts first depends on the dynamics of the fault and is not easily predictable The undervoltage circuit can help you diagnose power supply problems OEMO670T OEMO675T Example You use a 24VDC power supply to power an OEM670T OEMG675T During certain parts of the move your system s performance is less than you expect and you notice that the red LED flashes The flashing LED indicates that either the drive is in current foldback or that the power supply s voltage is too low If you monitor the fault output and notice that Pin 9 goes high when the LED flashes you can rule out foldback Foldback does not make the fault output go high The problem is a power supply undervoltage fault Try a larger power supply or a less de manding move profile OVERVOLTAGE The overvoltage circuit protects the drive from regeneration The

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