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OEM750 User Guide

1. A 0 002 0 051 2 45 0 06 1 52 Removable insulating bushing gt 0 18 4 57 Construction conduit Connection 1 25 L2 gt 1 2 NPS TAP with 0 56 14 22 31 75 1 0 removable insulating bushing 02 875 0 002 4 x 00 218 5 46 thru 73 025 0 051 equally spaced on a 0 003 0 077 939756649 B C aM AN 0 0000 1 02 00 3750 2 0005 9 0 9 53 0 013 0 002 0 051 Model Lmax L2 RS31B NPS 3 62 91 95 2 87 72 9 32 4 77 121 16 4 02 102 11 RS33B DDJNPS _ 6 05 153 67 5 30 134 62 Dimensions in inches millimeters Indicated dimension applies from end of extension to face of rear end bell cover and gasket removed Double Shaft Configuration Size 34 Frame RS Series Motors End Bell Construction NPS 54 Encoder Specifications OEM750 Tuning amp Specifications ENCODER DIMENSIONS i I 0 79 20 1 0 71 18 0 HJ Encoder OEM E57 0 72 18 3 5 maximum 18 0 457 1 Mininimum Y 3 57 90 68 Dimensions inches millimeters EC Encoder OEM E83 Dimensions HJ OEM E57 and EC OEM ES3 Encoders ENCODER RESOLUTION Model Lines HJ OEM E57 512 Lines EC OEM E83 1000 Lines ENCODER WIRES COLOR CODE HJ OEM E57 Function Wire Color Channel A White Channel B Brown
2. B 75VDC 2 7 009 8 9 0 0 8 9 8 9 9 0 0 9 0 0 8 POWER Power Supply Connections CAUTION Do not reverse VDC and VDC Reversing these connections can seriously damage the drive If you are testing an OEM750 with a separate indexer or an OEM750X skip Step 8 below and proceed to one of the next two sections The next drawing shows the complete OEM750 test configuration with a motor and an OEM300 Power Module O OEM Drive si Gi HIGH Avol faceA OEM series AC Power 75VDC 27 m E GND 2 A Power Supply Test Configuration with OEM750 8 Apply power The drive s green POWER LED should be on If the red FAULT LED is on consult Chapter 4 Troubleshooting After verifying that the motor moves clockwise and counterclockwise turn off power Disconnect cables and resistor Remove cover Turn DIP SW3 3 on to disable the automatic test function Replace cover 12 OEM750 Installation Quick Test OEM750 with Separate Indexer 1 Complete steps 1 7 from the Quick Test but turn DIP SW3 3 ON to disable the automatic test function 2 To connect a Compumotor indexer to the OEM750 s 25 pin D connector use the cable provided with the indexer Plug the cable into the OEM750 s 25 pin D connector No additional wiring is necessary
3. REMOTE J _ _ REF Blue CURRENT DUMP Yellow VDC d Black White B Brown Orange Green Motor Wiring Size 34 RS Motors Parallel Wiring Schematic View With End Cover Removed Shield is internally connected to the motor s case N Phase A vindings m B REMOTE REF Wire 1 CURRENT DUMP Wire 3 VDC VDC Green Yellow Wire 2 Windings By 500 B Wire 4 3 Green Yellow safety earth conductor i must be terminated to System Earth Motor Terminal Number Wire Number Gnd 1 3 2 4 Point See Apendix B for EMC Drive Terminal Gnd A A B B Installation Guide Motor Wiring Size 34 RS Motors C10 NPS Endbell Construction Parallel Wiring Installation OEM750 6 Set motor current by connecting a 1 4 watt resistor between REF and CURRENT as shown in the drawing below Motor Current Selection Resistor 10 Motor Current Resistor Settings for Compumotor Motors The next table shows motor current settings for Compumotor OS and RS motors Choose a resistor from the table that matches drive current to the motor your are using DIP switches that set the current range SW3 7 and SW3 8 should be in the off position for these resistor values off is the factory default position Motor Size Size 23 Current Resistor Voltage 2 OEM57 40 S 2 65A 21 0 48
4. oz in N m 024 VDC Power oz in N m 924 VDC Power 40 0 28 Watts 50 1 07 Watts Larallel 5 Parallel 4 4 32 0 23 120 0 85 3 24 0 17 S 90 0 64 5 17 16 0 11 60 0 43 8 0 06 30 0 21 00 10 20 30 40 50 10 20 30 40 50 Speed RPS Speed RPS OEM750 with OS21A OEM750 with RS32B or OEM57 51 Motor or OEM83 93 Motor oz in N m 924 VDC oz n N m 924 VDC 70 0 50 Watts 399 2 13 Watts 56 0 40 240 170 Parallel 5 6Apk o 542 0 30 ao 180 1 28 g Parallel 6 6 Parallel 1528 0 20 120 0 85 Series 14 0 10 60 0 43 Series 3 0Apk E0 dil 00 10 20 30 40 50 10 20 30 40 50 Speed RPS Speed RPS OEM750 with OS22A OEM750 with RS33B or OEM57 83 Motor Power or OEM83 135 Motor Power oz in N m 24 VDC oz in N m 24 VDC 140 1 00 Watts 400 2 84 Watts Parallel 7 5Apk 112 0 80 320 2 27 S 84 0 60 240 1 70 1256 0 40 Bt 100 1 14 28 0 20 80 0 57 54 Series 3 6Apk Ws Parallel 0 10 20 30 40 50 0 10 20 30 40 50 Speed RPS st 197909 Speed RPS 750 0 750 Speed Torque Curves at 24VDC 48 oz in N m 60 0 43 48 0 34 36 0 26 5 24 0 17 12 0 09 oz in N m 90 0 64 0 51 72 0 38 54 5 0 26 36 0 13 18 0 oz in N m 170 1 21 136 0 97 102 0 72 5 968 0 48 34 0 24 750 with OS
5. Direction Input be Remote Input 6810 8 10 0 7 2 5V 9 ILD213 4640 Oy eo Fault Output E 15 ANS Ge sl 2 Gear Shift Input 1LD213 6810 ILD213 85170 5V 10kQ 14 25 Pin WW D Connector Fa ea on OEM750 Inputs and Outputs OEM750 Schematic STEP INPUT For every step pulse it receives on its step input the drive will commutate the motor to increment rotor position To send a step pulse to the drive apply a positive voltage to STEP with respect to STEP The drive registers the pulse on the rising edge The step input is optically isolated Driving the step input differentially will provide the best noise immunity Your input driver must provide a minimum of 6 5 mA approximately 3 5 19 Installation OEM750 VDC With no external current limiting resistor the current is controlled by the applied voltage This is due to a fixed voltage drop of 1 7VDC on the opto LED and the internal series resistor 243Q Increased voltage will result in increased current Step Pulse Requirements Operate the step pulse input within the following guidelines 200 nanosecond pulse minimum 40 60 duty cycle 2 MHz maximum pulse rate DIRECTION INPUT SIGNAL SPECIFICATION While a positive voltage is applied to DIR with respect to DIR the drive will commutate the motor in the clockwis
6. ctae e te ER e TEGERE 67 Sonic Pressure 67 Table of Graphic Symbols and Warnings eene 68 APPENDIX B EMC INSTALLATION 69 69 Safety Considerations i i cro co EI daniel nas General Considerations External EnclosUr6eS iine tete te eo Pet deve etus pa ee AG Supply Filtering Control Signal Connections Motor Cablihg eve Re ene Ferrite Absorber Specifications a 71 Handling and Installing the Ferrite Absorbers wile R Clamp Installation Details seen 72 OEM Series Products enne 74 External EnCloSure uu u and D edet E T ieee 74 0 4 Motor Connection 76 Compumotor Motors and other Motors With Non Removable Cabling 76 Compumotor RS Series Motor with C10 Option 78 Other Motors with Removable Cabling 78 Motor Cables 2279 Motor Feedback Cables 80 tec ER EUR EO ec ed da ta ees 80 Control Signal Wiring manina an oreet fore aa a 81 Communications 81 INDEX uuu 83 Preface OEM750 How To Use This User Guide This user guide is designed to help you install develop and maintain your system
7. Determining Motor Resonance Li Tuning the Drive to the Motor aaa Adjusting Motor Current Waveforms a 46 Performance Specifications 47 ii 750 Preface 47 Motor Part Number Cross Reference Table 47 Speed Torque Curves u Motor Specifications 23 Frame Size Motor Specifications 34 Frame sse Motor DIMENSIONS x uu u va evite e a dee wy treater elev Encoder Specifications nicieni t trece Pe e Ee Lee eins 4 TROUBLESHOOTING 57 Drive Mainteriance 57 Motor Ma init rianCe crore teorie 57 Problem Isolation nennen nnne ne 58 Front Panel EE DS uu ore piede repo in t 0 59 Common Problems and Solutions a 59 Testing the Motor 62 RS 232C Problems 63 Software Debugging Tools 63 Returning the Systems aaa dean einai 64 APPENDIX A LVD INSTALLATION INSTRUCTIONS 65 8 r 65 0 55 Mechanical 2 nte nin en em eei een 67 Servicing the OEM750 OEM750X eren ennt etnies 67 810
8. 6 1 1 1 1 Daisy CHAINING You may daisy chain up to 8 OEM750Xs Individual drive addresses are set with the address inputs pins 23 25 on the 25 pin D connector You should establish a unique device address for each OEM750X When daisy chained the units may be addressed individually or simultaneously Refer to the next figure for OEM750X daisy chain wiring 30 OEM750 2 Installation Daisy Chain Configuration Commands prefixed with a device address control only the drive specified Commands without a device address control all drives on the daisy chain The general rule is Any com mand that causes the drive to transmit information from the RS 232C port such as a status or report command must be prefixed with a device address This prevents daisy chained drives from all transmitting at the same time Attach device identifiers to the front of the command The Go G command instructs all drives on the daisy chain to go while 1G tells only drive 1 to go When you use a single communications port to control more than one OEM750X all drives in a daisy chain receive and echo the same commands Each drive executes these com mands unless this command is preceded with an address that differs from the drives addresses on the daisy chain This becomes critical if you instruct any drive to transmit informa tion To prevent all of the drives on the line from responding to a command you must precede the command
9. 6 9 1 27 KQ 4 3 10 0 KQ 1 9 4 53 6 8 1 54 KQ 4 2 10 5 KQ 1 8 5 49 kQ 6 7 1 78 kQ 4 1 10 0 KQ 1 7 6 49 kQ 6 6 2 05 kQ 4 0 11 5 KQ 1 6 7 68 kQ 6 5 2 26 kQ 3 9 12 1 KQ 1 5 8 87 kQ 6 4 2 55 kQ 3 8 12 7 1 4 10 5 6 3 2 80 kQ 3 7 13 3 KQ 1 3 12 1 KQ 6 2 3 09 kQ 3 6 13 7 KQ 1 2 13 7 kQ 6 1 3 32 kQ 3 5 14 3 1 1 15 8 6 0 3 57 kQ 3 4 15 0 KQ 1 0 18 2 kQ 5 9 3 92 kQ 3 3 15 8 0 9 20 5 kQ 5 8 4 22 3 2 16 5 KQ 0 83 22 6 kQ 5 7 4 53 3 1 17 4 KQ 5 6 4 87 kQ 3 0 18 2 5 5 5 11 2 9 19 1 KQ 5 4 5 49 kQ 2 8 20 0 kQ 5 3 5 76 2 7 20 5 5 2 6 19 2 6 21 5 5 1 6 49 kQ 2 5 22 6 kQ 5 0 6 81 SW3 7 Off 8 On SW3 7 On 8 On Current Resistance Current Resistance Current Resistance Amps Ohms Amps Ohms Amps Ohms 2 0 09 1 3 7 32 0 7 00 1 9 787 Q 1 2 8 87 kQ 0 6 2 21 1 8 1 62 1 1 10 7 KQ 0 5 5 36 kQ 1 7 2 49 kQ 1 0 13 0 KQ 0 4 10 0 KQ 1 6 3 57 kQ 0 9 15 4 KQ 0 3 16 2 KQ 1 5 4 64 0 8 18 2 0 2 27 4 KQ 1 4 5 90 kQ 0 7 21 5 NOTE Current is specified in or peak amperes per phase 1 is related to the average current value Jims as follows Ipk V2 Iims OEM750 750X Resistor Selection for Motor Current 11 Installation OEM750 7 Connect a 24VDC 75VDC power supply to VDC and VDC as shown in the next drawing OEM300 TYPICAL POWER POWER MODULE B SUPPLY o RESERVED GND REMOTE REF CURRENT DUMP VDC
10. EMC INSTALLATION GUIDE OEM750 OEM750X OEM Series Products Applicable Products OEM750 OEM750X OEM300 OEM 1000 Please read this section in conjunction with the general considerations applicable to all products EXTERNAL ENCLOSURE Before mounting the drive ensure that the mounting location is flat and free from paint or other non conductive surface coatings if necessary remove paint from the corresponding mounting area This is to guarantee a good high frequency connection between the drive case and the cabinet After mounting the unit use petroleum jelly on the exposed metal to minimize the risk of future corrosion Do not forget to insert a thermally conductive strip or apply thermal paste between the drive and mounting area if the mounting location is to serve as a heatsink FILTERING THE DC POWER SUPPLY In most installations the DC power supply providing DC voltage to the OEM Drive will require fitting of a mains filter A suitable filter and particular mounting recommendations should be made available by the power supply manufacturer When using Compumotor s OEM300 or OEM1000 DC power supply delivering less than 300 watts or the OEM1000 deliv ering more than 300 watts the recommended mains filters are Compumotor Product Recommended AC Input Filter OEM300 CORCOM 6VN1 SCHAFFNER FN670 3 06 OEM1000 lt 300 Watts CORCOM 6VN1 SCHAFFNER FN670 3 06 OEM1000 gt 300 Watts CORCOM 10VN1 SCHAFFNER FN67
11. 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 OEM750 OEM750X is designed for pollution degree 2 Installation Category The OEM750 OEM750X is designed for installation category II ELECTRICAL Connecting and Disconnecting Power The OEM750 OEM750X s protective earth connection is provided through its heatsink You must reliably earth the OEM750 OEM750X s protective earth connection Attach or remove the OEM750 OEM750X s power connections only while input power is OFF The OEM750 OEM750X s supply voltage is limited to 75 VDC Connecting the Protective Conductor Terminal to Earth You must provide a connection from the OEM750 OEM750X s protective conductor terminal to a reliable earth point The protective conductor terminal is marked with a label on the product bearing the following symbol 5 Protective Conductor Terminal Marking 65 LVD INSTALLATION INSTRUCTIONS OEM750 OEM750X 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 one of the OEM750 OEM750X s mounting holes The dimension draw ing in Chapter 2 indicates the mounting hole that has exposed metal Use a VDE approved green yellow protective conductor terminal wire
12. 75VDC 2 OEM57 40 P 5 3A 5 76 KQ 24 48VDC OS21AS OEM57 51 3 3A 15 8 48 75VDC OS21AP OEM57 51 P 6 6A 2 05 24 48VDC OS22AS OEM57 83 S 3 8A 12 7 KQ 48 75VDC OS22AP OEM57 83 P 7 5A 0 00 24 48VDC Size 34 RS31BP OEMS83 62 4 4A 9 53 24 75VDC RS32BP OEMS83 93 5 6A 4 87 24 75VDC RS33BP OEMS83 135 6 9A 1 27 24 75VDC S Series Configuration P Parallel Configuration 83 Series motors are wired internally in parallel Motor Current Resistor Settings for Other Motors If you use a non OS or non RS motor carefully follow the motor manufacturer s instructions regarding motor wiring and the proper operating current Compumotor recommends a motor inductance of between 1 mH and 10 mH measured in series or parallel 0 2 mH 80 mH is acceptable The next table shows resistor values that you must use to properly set motor current when using the OEM750 OEM750X with a non OS or non RS Series motor The drive can generate from 0 2 to 7 5 amps determined by the motor current range DIP switches SW3 7 and SW3 8 OEM750 Installation SW3 7 Off 8 Off SW3 7 On 8 Off Current Resistance Current Resistance Current Resistance Amps Ohms Amps Ohms Amps Ohms 7 5 00 4 9 7 32 KQ 2 5 00 7 4 205 4 8 7 68 kQ 2 4 619 Q 7 8 4120 4 7 8 06 kQ 2 3 1 27 KQ 7 2 619 Q 4 6 8 45 kQ 2 2 2 05 kQ 7 1 825 Q 4 5 8 87 kQ 2 1 2 80 kQ 7 0 1 02 KQ 4 4 9 53 kQ 2 0 3 57
13. Product Type OEM750 Step Motor Drive OEM750X Step Motor Indexer Drive The above products are in compliance with the requirements of directives e 72 23 Low Voltage Directive 93 68 EEC CE Marking Directive The OEM750 and OEM750X 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 OEM750 and OEM750X so that they comply 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 OEM750 and OEM750xX Series of drives are sold as complex components to professional assemblers As components they are not required to be compliant with Electromagnetic Compatibility Directive 89 336 EEC How ever information is offered in Appendix B EMC Installation Guide on how to install the OEM750 and OEM750X in a manner most likely to minimize the effects of drive emissions and to maximize the immunity of drives from externally generated interference Darker Compumotor Division Preface OEM750 CONTENTS 1 INTRODUCTION 1 OEM750 Drive Description a 1 Related Products ie a re OEM750X Drive Indexer Description iuc e ies 2 INSTALLAT
14. depending on their design Rigid Coupling Rigid couplings are generally not recommended because they cannot compensate for any misalignment They should be used only if the motor 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 42 CHAPTER Tuning amp Specifications Chapter Objectives The information in this chapter will enable you to Tune your drive to your motor and operate your system at maximum efficiency Use the information to compare system performance with different motor power and wiring configurations speed torque curves Short Circuit Protection The OEM750 OEM705xX is protected against phase to phase and phase to ground short circuits Never short circuit the motor leads for motor braking Low Speed Resonance Resonance exists in all step motors and is a function of the motor s mechanical construction It can cause the motor to stall at low speeds Most full step motor controllers jump the motor to a set minimum starting speed that is greater than the resonance region The OEM750 OEM705X s micro stepping capability allows you to operate a motor smoothly at all speeds Motors that will not accelerate past 1 rps may be stalling due to resonance You can add inertia to the motor shaft by putti
15. motors that work well with sinusoidal current waveforms However due to physical limitations most motors operate best with a current waveform other than a pure sine wave The purpose of adjusting motor current waveforms is to cause the step motor to move with equal step sizes as the current waveforms are sequenced through the motor This waveform adjustment will also help the motor run more smoothly You can change the waveform with DIP SW2 6 SW2 8 Motor waveforms are usually adjusted after the drive has been tuned to its motor If you do not have precision measurement equipment you may select the correct motor waveform with one of the methods described previously in this chapter Tachometer Method Sounding Board Method Stethoscope Method and Touch Method These empirical methods gener ally yield acceptable results 46 OEM750 Tuning amp Specifications Performance Specifications Accuracy 5 0 arcminutes typical unloaded bidirectional with OS RS or OEM Series motors Repeatability 5 arcseconds typical unloaded bidirectional Hysteresis Less than 2 arcminutes 0 0334 unloaded bidirectional Motor Specifications Speed torque curves specifications and dimensions are shown on the following pages PART NUMBER CROSS REFERENCE TABLE When Compumotor introduced the OEM750 OEM750X we changed the part numbering system for some existing motors and introduced several new moto
16. 0450 i 4 650 118 11 0 175 4 45 L 2 100 9 53 34 09 32 69 T eas 0 200 5 08 OEM HS1 Dimensions k 5 000 127 00 d You can mount the drive in two different configurations with the OEM HS1 One is a minimum area configuration it uses the least amount of panel area The other is a minimum depth configuration Panel layout for minimum area is shown in the next figure W W OEM HS1 Minimum Area Panel Layout 38 Dimensions in inches millimeters OEM750 Installation Panel layout for minimum depth is shown in the next figure 3 76 2 e o o Dimensions in h 6 32 192 0 inches millimeters Minimum Betwen Mounting Holes OEM HS1 Minimum Depth Panel Layout Mounting With OEM HS2 Heatsink The large heatsink OEM HS2 may be purchased as an option It is intended to be used with a current setting up to the drive s maximum of 7 5A in still air at an ambient tem perature of 25 C 77 F If the drive is mounted in ambient temperatures hotter than 25 C active cooling forced air will be required to maintain the heatplate temperature below 55 C 131 F Mount the OEM750 OEM750X to the OEM HS2 heatsink with two 8 32 screws A heatsink with holes tapped for metric screws is available Its part number is OEM HS2 M4 Consult your Compumotor sales guide for more
17. 6 6 1 1 1 1 The figure represents a typical configuration of these outputs RS 232C Tx PIN 14 Rx PIN 15 AND GROUND PIN 7 The OEM750X uses RS 232C as its communication medium It does not support handshaking A typical three wire Re ceive Transmit and Signal Ground configuration is used The figure represents a typical RS 232C configuration External Devices Internal Connections Qm 1 1 1 Receive Transmit O z 5 I e Transmit Receive O c I Meets EIA RS 232C amp CCITT 1 55 V 28 specifications 19 GND GND 7 O 1 s V 1 RS 232C Input and Output 27 Installation OEM750 SHUTDOWN OUTPUT PIN 16 The OEM750X produces a shutdown output that is identical to its own internal signal This output may be used to slave to another drive or to monitor the OEM750X The shutdown output s default state is logic high The figure represents a typical configuration of this output Refer to the ST com mand Internal Connections External Devices m BASIS ee 1 l 1 1 o I gt Shutdown Output 1 ACTOA 5 o 18 Minimum high level output 4 26V O source 24mA us Maximum low level output 0 44V sinks 24mA I Shutdown Output CLOSED LOOP OPERATION Closed loop moves require an external encoder to provide position correction signals Motor position may be adjusted to reach t
18. CONNECTIONS High quality braided screen cable should be used for control connections In the case of differential inputs it is preferable to use cable with twisted pairs to minimize magnetic coupling This applies to both analog and digital signals Control cables leaving the enclosure should have the cable screen returned to a local ground point near the product Where screened leads are used in control circuits that are only opto isolated at one end the screen must be referenced to earth at the non isolated end Where there is isolation at both ends of the connection earth the screen at the receiving end This is to give protection against coupled noise impulses and fast transient bursts Remember to route control signal connections well away from relays and contactors at least 8 inches 200 mm Control wiring should not be laid parallel to power or motor cables and should only cross the path of these cables at right angles Bear in mind that control cables connected to other equipment within the enclosure may interfere with the controller or drive particularly if they have come from outside the cabinet Take particular care when connecting external equipment with the cabinet door open for instance a computer or terminal static discharge may cause damage to unprotected inputs MOTOR CABLING In order to prevent electrical cross talk motor cables not incorporating a braided screen shield must remain within earthed metal conduit t
19. Channel Z Blue 5 volts Red Ground Black OEM750X D Connector PIN Number 17 18 19 7 ENCODER WIRES COLOR CODE EC OEM E83 Function Wire Color Channel A Brown Channel A Brown White Channel B Green Channel B Green White Channel Z Orange Channel Z Orange White 5 volts Red Ground Black Shield OEM750X D Connector PIN Number 17 Do not connect 18 Do not connect 19 Do not connect 7 Do not connect 55 Tuning amp Specifications OEM750 56 CHAPTER VN Troubleshooting Chapter Objectives The information in this chapter will enable you to Maintain the system to ensure smooth efficient operation Isolate and resolve system problems Drive Maintenance Ensure that the drive s heatplate has proper thermal contact with the mounting surface Enclosures must be connected to earth ground through a grounding electrode conductor to provide a low impedance path for ground fault or noise induced currents use a star washer with the lower mounting screw on the drive All earth ground connections must be continuous and permanent Periodically check the mounting screws to ensure they are tight Motor Maintenance Inspect the motor regularly to ensure that no bolts or cou plings have become loose during normal operation This will prevent minor problems from developing into more serious problems Inspect the motor cable periodically for signs of wear This inspection interval is
20. Each chapter begins with a list of specific objectives that should be met after you have read the chapter This section will help you find and use the informa tion in this user guide ASSUMPTIONS To use this product and its instructions effectively you should have a fundamental understanding of the following information Electronics concepts voltage switches current etc Motion control concepts torque velocity distance force etc USER GUIDE CONTENTS Chapter 1 Introduction This chapter provides a description of the product and a brief account of its specific features Chapter 2 Installation This chapter contains a ship kit list of items you should have received with your OEM750 or OEM750X Instructions to mount and connect the system properly are included Upon completion of this chapter your system should be completely installed and ready to perform basic operations Chapter 3 Tuning amp Specifications This chapter contains information on system performance specifications speed torque curves environmental specifica tions etc Also provided are procedures for tuning the drive to optimize the motor performance Chapter 4 Troubleshooting This chapter contains information on identifying and resolving system problems Descriptions of LED signals debugging tools problems solutions table are included Appendix A LVD Installation Instructions This appendix contains information on installing the OEM
21. alternating mode at 1 rps Automatic standby and drive resolution settings are disabled when you use the automatic test The default position for SW3 3 is on which disables the automatic test function 17 Installation OEM750 Current Loop Gain Set the current loop gain DIP switches to maximize your system s performance Your system has a gain Its value is determined by three parameters power supply voltage motor inductance and current loop gain If you increase power supply voltage or decrease motor inductance the system will have more gain Conversely if you decrease power supply voltage or increase motor inductance the system will have less gain Too much gain may cause oscillations resulting in audible noise and excess motor heating In most applications power supply voltage and motor induc tance are determined by the application s requirements To set your system s gain at its optimum value you can adjust the third parameter the current loop by setting three current loop gain DIP switches There are seven loop gain settings which range from 1 to 64 as shown in the DIP Settings table Use the next equation to determine your ideal loop gain Current Loop Gain Motor inductance Power Supply Voltage 364 000 Note inductance is in henrys supply voltage is in VDC To determine your actual loop gain choose a value from the DIP Settings table that is less than or equal to the ideal value Examp
22. and consult these notes later This will also prevent you from duplicating your testing efforts Once you isolate the problem take the necessary steps to resolve it Use the solutions in this chapter If your system s problem persists contact your local technical support re source 58 750 Y Troubleshooting FRONT PANEL LEDS The OEM750 OEM750X has two LEDs on its front panel Green POWER LED Red FAULT LED LEDs The FAULT LED is red and illuminates when the amplifier is disabled This LED is activated when any of the following conditions occur Motor short circuit detected Drive overtemperature Internalfault detected The POWER LED is green and illuminates when the internal power supply is operating and providing 5V COMMON PROBLEMS AND SOLUTIONS The following table will help you eradicate most of the prob lems you might have with the OEM750 OEM750X 59 Troubleshooting OEM750 Symptoms The drive loses pulses at high speed The motor stalls at high speeds The motor stalls during acceleration The motor unloaded stalls at nominal speed Motor does not move commanded distance Motor will not change direction as commanded 60 Probable Causes Indexer is overdriving step input Indexer is underdriving step input Indexer is sending pulses too fast Motor is out of torque The velocity is too high Motor current is not set correc
23. be no greater than 0 1 Q Use thicker gauge wire if the resistance is too high Compumotor s RS Series motors with the C10 option have a protective conductor in the removable cable If you use one of these motors or any other motor with a protective conductor in its cable connect the protective conductor to a reliable protective earth point Follow the motor manufacturer s installation instructions MECHANICAL Installing in an Enclosure The OEM750 OEM750X 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 personnel Do Not Operate the OEM750 OEM750X Without Cover The cover provides mechanical support to the circuit assemblies inside SERVICING THE OEM750 OEM750X 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 hot after power is removed SONIC PRESSURE High Sound Level The sound level from some large frame step motors NEMA 34 NEMA 42 and larger may exceed 85 dBA Actual sound level is application dependent and varies with motor loads and mounting conditions Measure the sound level in your application if it exceeds 85 dBA install the motor in an enclosure to provide sound baffling or provide ear protection for personnel 67 LVD INSTALLATION INSTRUCTION
24. combination can shear shafts and mounting hardware High acceleration can also produce shock and vibration therefore you may need heavier hardware than for static loads of the same magnitude Under some move profiles the motor may produce low frequency vibrations in the mounting structure that can cause fatigue in structural members A mechanical engineer should check the machine design to ensure the mounting structure is adequate WARNING Improper mounting can reduce performance and jeopardize personnel safety Do not modify or machine the motor shaft CAUTION Modifying or machining the motor shaft will cause bearing damage and void the motor warranty Contact a Compumotor applications engineer 800 358 9070 about shaft modifications as a custom product TEMPERATURE AND COOLING The motor s face flange is used not only for mounting it is also a heat dissipating surface Mount the face flange to a large thermal mass such as a thick steel or aluminum plate which should be unpainted clean and flat Heat will be conducted from inside the motor through the face flange and dissipated in the thermal mass This is the best way to cool the motor If conduction through the flange does not provide enough cooling you can also use a fan to blow air across the motor for increased cooling 41 Installation OEM750 Attaching the Load Couplers Align the motor shaft and load as accurately a
25. duty cycle environment and travel length dependent The cable should not have excessive tensile force applied to it and should not be bent beyond a one inch radius of curvature during normal operation Tighten all cable connectors Reducing Electrical Noise For detailed information on reducing electrical noise in your system refer to Appendix B EMC Installation Guide 57 Troubleshooting OEM750 Problem Isolation When your system does not function properly or as you expect it to operate the first thing that you must do is iden tify and isolate the problem When you accomplish this you can effectively begin to resolve and eradicate the problem The first step is to isolate each system component and ensure that each component functions properly when it is run inde pendently You may have to dismantle your system and put it back together piece by piece to detect the problem If you have additional units available you may want to exchange them with existing components in your system to help identify the source of the problem Determine if the problem is mechanical electrical or soft ware related Can you repeat or re create the problem Ran dom events may appear to be related but they may not be contributing factors to your problem You may be experiencing more than one problem You must isolate and solve one problem at a time Log document all testing and problem isolation procedures You may need to review
26. following motor s may be used with the OEM750 and OEM750X Compare your order with the motors shipped Part Part Number Size 23 1 2 Stack Stepping Motor OS2HA OEM57 40 Size 23 1 Stack Stepping Motor OS21A OEM57 51 Size 23 2 Stack Stepping Motor OS22A OEM57 83 Size 34 1 Stack Stepping Motor RS31B OEM83 62 Size 34 2 Stack Stepping Motor RS32B OEM83 93 Size 34 3 Stack Stepping Motor RS33B OEM83 135 Installation OEM750 The motors above are single shafted Motors can be pur chased with a double shaft option The following accessories are available Accessories Part Number OEM750 OEM750X User Guide 88 016109 01 OEM Series Software Ref Guide 88 013785 01 Low Current Heatsink OEM HS1 High Current Heatsink OEM HS2 Quick Test Use the following procedure to have your drive perform its automatic test function Once you set DIP switches connect the motor and apply DC power the automatic test will be gin the motor will alternately turn in the clockwise and counterclockwise direction This will verify that the OEM750 or the amplifier portion of an OEM750X motor motor cable and power supply work properly as a system This is a bench top procedure you can perform it before you connect an indexer mount the drive or mount the motor Full installation instructions follow this section An additional procedure will verify operation of the internal indexer in an OEM750X drive You will need the foll
27. information Use a star washer on the bottom screw to ensure proper electrical grounding To facilitate heat transfer use thermal grease or a thermal pad between the drive and the heatsink Secure the drive and heatsink to your mounting surface with two 8 screws The next two drawings show OEM HS2 dimensions and panel layout dimensions 39 Installation OEM750 2 62 66 55 2x 8 32 UNC 2B Thru 0 37 9 4 1 175 2 80 187 4 75 Thru 29 85 le 4 650 118 110 9 Dimensions in 0 500 6 000 152 40 inches millimeters 12 70 7 000 177 80 OEM HS2 Dimensions Dimensions in inches millimeters 4 5 5 140 Minimum OEM HS2 Minimum Area Panel Layout 40 OEM750 Installation Motor Mounting Use the flange bolt holes to mount rotary step motors The pilot or centering flange on the motor s front face should fit snugly in the pilot hole Do not use foot mount or cradle configurations because they do not evenly distribute the motor s torque around its case When a foot mount is used for example any radial load on the motor shaft is multiplied by a much longer lever arm Motors used with the OEM750 OEM750X can produce very high torques and accelerations If the mounting is inadequate the high torque high acceleration
28. motor you can leave the switches in their default position for the purposes of this Quick Test SW3 4 on SW3 5 SW3 6 off The current loop gain adjustment allows you to configure the drive to maximize your system s performance If you use the default switch position for this Quick Test now be sure that when you complete your final installation later you reset these switches for your particular motor For instructions see DIP Switch Functions following this Quick Test section If you use a non Compumotor motor see DIP Switch Functions following this Quick Test section for instructions on setting the current loop gain DIP switches After you properly set the switches proceed to Step 4 below 4 Slide the drive cover back on Installation OEM750 Attach the motor to A A B B Do not connect the motor to the load at this time Compumotor OS Series OEM size 23 motors may be wired in a series or parallel configuration However if you are using a 75VDC power supply such as an OEMS00 we recommend that you use a series configuration A parallel configuration should be used when the power supply is 24VDC 48VDC Parallel configurations will cause the drive to dissipate slightly more heat than a series configuration This increase in drive temperature will not affect the drive s performance but it may adversely affect heat sensitive devices that are stored within the same enclosure The next drawings show wir
29. of the screw driver close to your ear as you would a stethoscope You will also be able to hear the different magnitudes of vibration caused by the motor s natural frequency The goal of this method is to adjust the system for the least amount of vibration Touch Method After you have had some experience with tuning you should be able to locate the motor s resonance speed by placing your fingertips on the motor shaft and adjusting the motor s veloc ity Once the resonance speed is located you can adjust the system for maximum smoothness 45 Tuning amp Specifications OEM750 TUNING THE DRIVE TO THE MOTOR To tune your drive to your motor follow these directions 1 Command the drive via RS 232C or STEP amp DIRECTION inputs so that the motor is running at maximum roughness as shown below for the 1st speed motor resonance 1st Speed 2nd Speed Size 23 Resonance Resonance OS2HA OEM57 40 1 8 rps 3 6 rps OS21A OEM57 51 1 8 rps 3 6 rps OS22A OEM57 83 1 8 rps 3 6 rps Size 34 RS31B OEM83 62 1 4 rps 2 8 rps RS32B OEM83 93 1 4 rps 2 8 rps RS33B OEM83 135 1 4 rps 2 8 rps 2 Adjust Offsets A and B for best smoothness 3 Double the motor speed 2nd speed resonance until the motor runs roughly again 4 Adjust offsets A and B again for best smoothness 5 Repeat above steps until no further improvement is noted ADJUSTING MOTOR CURRENT WAVEFORMS Step motor manufacturers make every effort to design step
30. physical and electrical details of the instal lation and the performance of other system components Nevertheless it is important to follow all the installation instructions if an adequate level of compliance is to be achieved Safety Considerations These products are intended for installation according to the appropriate safety procedures including those laid down by the local supply authority regulations The recommendations provided are based on the requirements of the Low Voltage Directive and specifically on EN60204 It should be remem bered that safety must never be compromised for the purpose of achieving EMC compliance Therefore in the event of a conflict occurring between the safety regulations and the following recommendations the safety regulations always take precedence 69 EMC INSTALLATION GUIDE OEM750 OEM750X General Considerations EXTERNAL ENCLOSURES The measures described in these recommendations are prima rily for the purpose of controlling conducted emissions To control radiated emissions all drive and control systems must be installed in a steel equipment cabinet which will give adequate screening against radiated emissions This external enclosure is also required for safety reasons There must be no user access while the equipment is operating This is usually achieved by fitting an isolator switch to the door assembly The OEM750 OEM750X must be mounted to a conductive earthed panel If this has a p
31. surges caused by a regenerative load The power dump circuit is used in conjunction with an externally mounted power resistor You must connect the power resistor from the VDC terminal to the DUMP terminal The circuitry effectively closes a switch to ground when the power supply voltage exceeds 85VDC This switch terminal is connected at the screw terminal labeled DUMP The power dump feature dissipates the energy created by a regenerative load 100 joules maximum The power dump is not designed to protect the drive from overvoltage caused by a poorly regulated or faulty power supply A 35 ohm 10 watt power resistor such as a Dale RH 10 is the recommended power dump resistor You must heat sink the resistor for it to meet its rated wattage CAUTION Never allow the voltage supplied by the power supply to exceed 80VDC Damage to the power dump resistor may result Installation OEM750 Mounting The OEM750 OEM750X is designed for a minimum area mounting configuration An optional heatsink can be used for a minimum depth mounting configuration This surface must be thermally coupled to a cold plate in most applications 2x 0 177 4 50 Thru Clearance for 8 M4 Mounting Screw 1 625 41 28 0 812 20 62 5 000 127 00 4 650 118 11 7 000 177 80 Mounting Clearance RAN I I L 1 000 25 40 i Expose
32. test the terminal or terminal emulation software and the RS 232C cable for proper three wire communication unhook the OEM750X and enter a character You should not receive an echoed character If you do you are in half duplex mode Connect the host s transmit and receive lines together and send another character You should receive the echoed character If not consult the manufac turer of the host s serial interface for proper pin outs Software Debugging Tools The OEM750 OEM750X has several tools that you can use to debug a problem in the system The software tools are listed below RA Limit Switch Status Report R Report Status IS Input Status Report BS Buffer Status Report B Buffer Status Report Troubleshooting OEM750 Returning the System If your OEM750 OEM750X system is faulty you must return the drive and motor for replacement or repair A failed drive can damage motors If you must return your OEM750 OEM750X to effect repairs or upgrades use the following steps 1 64 Get the serial number and the model number of the defective unit s and a purchase order number to cover repair costs in the event the unit is determined to be out of warranty Before you return the unit have someone from your organization with a technical understanding of the OEM750 OEM750X and its application include answers to the following questions What is the extent of the failure reason for return How long did it operate
33. that matches the gage of the device s original cable and attach as close to the transducer as pos sible Avoid complex and bulky connections that can cause degradation in feedback signal quality If possible use inline cable splicing techniques and cover the splice point with heat shrink tubing Remove a section of the braided shield cable s insulation to expose the braid and tie the braid to earth using the same R clamp 360 bond as shown in the previous figure Differential signals should use twisted pair cable to minimize magnetic coupling At the receiving end R clamp the braid to a suitable ground metal backplane of drive mounting panel or earth point of device that receives the feedback MOTORS It is preferable to use motors with screw terminations when 80 OEM750 OEM750X EMC INSTALLATION GUIDE ever possible If flying lead motors are used it is important that the unscreened leads are converted into a braided screen cable within 4 inches 10cm of the motor body A separate terminal box may be used for this purpose but the braided cable screen must be properly strapped to the motor body Motors fitted with terminal boxes also allow local selection of series or parallel connection reducing the cost of the cable running back to the drive For safety reasons the motor case must be grounded either through the grounded machine mounting interface or with the addition of a safety ground wire green and yellow striped
34. 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 Q 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 to 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 Compumotor s OS Series RS Series motors with the L10 option and OEMS3 Series motors have permanently attached cables that do not contain protective conductors earth wires If you use one of these motors or any other motor without a protective conductor make connections according to the following instructions and diagram Safety Earth Cable green yellow Motor Earth Connection 66 OEM750 OEM750X LVD INSTALLATION INSTRUCTIONS Use a ring terminal in combination with a star washer and mount ing bolt to make good contact with the bare metal surface of the motor s mounting flange Use a VDE approved green yellow protective conductor terminal 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 Resistance between the motor and earth must
35. will set these DIP switches to scale the drive for resolution waveform and other functions INPUT amp OUTPUT All communications take place through the OEM750 s 25 pin D connector Available inputs and outputs are Step Input Direction Input Remote Input Fault Ouptut Gear Shift Input POTENTIOMETERS Two potentiometers are located on top of the OEM750 Drive They are adjusted during the tuning process to match the 2 OEM750 Introduction drive s electrical characteristics to the motor s individual characteristics ANTI RESONANCE All step motors are subject to mid range instability or oscilla tions The OEM750 has an anti resonance circuit that pro vides aggressive and effective electronic damping of these oscillations PROTECTIVE CIRCUITS Several circuits in the OEM750 automatically provide protection for the drive Over Temperature Protection Short Circuit Protection Power Dump for Regeneration requires a user supplied external resistor Related Products The OEM750 Drive has an internal slot where an indexer circuit board can be installed at the factory The resulting product is referred to as an OEM750X Additional Circuit Board Both Boards Slide Into Cover Together as One Unit Additional Circuit Board Can Mount Internally Q Introduction OEM750 750 Drive Indexer Description The OEM750X Drive Indexer is the same drive product as the O
36. 0 10 06 Corcom World Headquarters Schaffner EMC Inc Phone 847 680 7400 Phone 201 379 7778 Fax 847 680 8169 Fax 201 379 1151 74 OEM750 OEM750X EMC INSTALLATION GUIDE Mount the filter within 2 inches 50mm of the power supply see the next figure Ensure that there is no paint on the mounting panel under the filter mounting lugs it is vital that there is a large area conductive contact between the filter and the panel Connect the incoming AC supply cable to the push on termi nals on the filter with the earth lead connected to a local earth stud bus bar or metal backplane Route the supply cable so that it runs close to the walls of the enclosure Con nect the earth terminal on the filter case to the earth stud Fit a ferrite absorber over the cable before wiring the filter output terminals to the AC input on the power supply Locate the absorber as close as possible to the power supply using heat shrink sleeving see the next figure Take the power supply earth connection from the same stud that retains the filter case earth Attach the DC power supply output to the OEM750 OEM750X using 2 core 1 5mm AWG 14 SWG 16 twisted wiring as shown in the next figure Route these wires away from motor cables and other high current cabling while keeping their length as short as possible The filters specified above allow multiple OEM series drives to be used with Compumotor s OEM300 or OEM1000 power supplies that i
37. 2HA or OEM57 40 Motor 48 VDC OEM750 Tuning amp Specifications Power Watts 53 Parallel Parallel 5 20 30 Speed RPS OEM750 with OS21A or OEM57 51 Motor 48 VDC 40 23 Series Series 2 65Apk 50 Power Parallel 6 6 Serie 0 10 20 30 40 Speed RPS OEM750 with OS22A or OEM57 83 Motor 48 VDC Power Watts 168 Parallel Series Series Parallel 7 5Apk wx E 76 0 10 20 30 Speed RPS 40 50 oz in N m 150 1 07 120 0 85 90 0 64 Torque 60 0 43 30 0 21 0 oz in N m 300 2 13 240 1 70 Torque 5 c oz in N m 400 2 84 320 2 27 o 240 1 70 5 0 10 0 10 OEM750 with RS31B or OEM83 62 Motor 48 VDC Power Watts Parallel 4 4 20 30 Speed RPS OEM750 with RS32B or OEM83 93 Motor 48 VDC 40 67 Parallel 50 Power Watts Parallel 5 6Apk 98 Parallel 20 30 Speed RPS OEM750 with RS33B or OEM83 135 Motor 48 VDC 40 50 Power Watts Parallel 6 9Apk 92 Parallel 160 1 14 80 0 57 0 10 20 30 40 2 porque Speed RPS OEM750 OEM750X Speed Torque Curves at 45VDC 49 50 Tuning amp Specifications OEM750 oz in N m 50 0 35 40 0 28
38. 30 0 21 5 20 0 14 10 0 07 0 oz in N m 80 0 57 64 0 45 48 0 34 2 5 32 0 23 16 0 11 oz in N m 180 1 28 144 1 02 108 0 77 8 572 0 51 5 36 0 25 0 OEM750 with OS2HA or OEM57 40 Motors P 75 VDC Watts 9Zin N m 2 Brall Parallel 5 3A arallel 5 3Apk 2 Ld 120 0 85 31 Series 9 90 0 64 5 t 60 0 43 wo Series 2 65Apk 30 0 21 rd 0 10 20 30 40 i Speed RPS OEM750 with OS21A or OEN57 51 Motors Power 75 VDC oz in N m Watts 300 2 13 Parallel Series 240 1 70 180 1 28 OEM750 with RS31B or OEM83 62 Motors 75 VDC Parallel 4 4Apk 0 10 20 30 40 Speed RPS OEM750 with RS32B or OEM83 93 Motors 75 VDC Parallel Power Watts 77 Parallel 50 Power Watts 162 Parallel 0 10 20 30 40 50 0 10 20 30 40 50 Speed RPS Speed RPS OEM750 with OS22A OEM750 with or OEM57 83 Motors pu RS33B or OEM83 135 Motors UM 975 VDC Watts 2in N m 75 VDC Watts i375 2 66 Parallel 7 5Apk 300 2 13 Parallel 6 9Apk 9225 1 60 es 5 168 150 1 06 Parallel 75 0 53 0 10 20 30 40 50 00 10 20 30 40 50 Speed RPS EUER Speed RPS 750 0 750 Speed Torque Curves at 75VDC 50 OEM750 Tuning amp Specifications MOTOR SPECIFIC
39. 31B OEM83 62 OS21AS OEMB7 51S OS2HAS 57 40 Power Dissipated Watts 9 75VDC Drive Current Amps S Series Configuration P Parallel Configuration operate 34 size motors in parallel only Power Dissipation The total thermal dissipation in the OEM750 OEM750X is almost constant regardless of whether the motor is stationary or in motion The current range DIP switches and the resistor that sets motor current determine the motor phase currents that cause the power losses shown in the figure above Overtemperature Protection The OEM750 OEM750X is overtemperature protected The drive is designed to operate in a maximum 50 C 122 F ambient with a maximum heatplate temperature of 55 C 131 F Do not allow the drive s heatplate temperature to exceed 55 C The drive will fault if it s heatplate temperature exceeds 55 C To measure drive temperature under operating conditions position a thermal probe on the left edge of the heatplate approximately 1 5 inches 38 mm from the top of the drive as shown in the next drawing 36 OEM750 Installation Measure heatplate temperature on left side 1 5 inches 38 mm from top of drive 4 Heatplate Temperature Measurement To ensure that the over temperature protection does not unexpectedly shut down the drive mount the drive toa suitable heat dissipating surface If you operate the drive in high ambient temperatur
40. 750 OEM750X so that it complies with the Low Voltage Directive of the European Community iv 750 Preface Appendix EMC Installation Guide This chapter contains information on how to install the OEM750 OEM750X so that the effects of drive emissions are minimized and drive immunity to externally generated inter ference is maximized INSTALLATION PREPARATION Before you install this product complete the following steps 1 Review this user guide Become familiar with the user guide s contents so that you can quickly find the information you need 2 Develop a basic understanding of all system components their functions and interrelationships 3 Complete the basic system configuration and wiring instructions in a simulated environment not a permanent installation provided in Chapter 2 Installation 4 Perform as many basic functions as you can with the preliminary configuration Try to simulate the task s that you expect to perform when you permanently install your application however do not attach a load at this time This will give you a realistic preview of what to expect from the complete configuration 5 After you have tested the system s functions and become familiar with the system s basic features carefully read the rest of Chapter 2 6 After you have read all of Chapter 2 and clearly understand what must be done to properly install the system begin the installation process Do not deviate from t
41. ATIONS 23 FRAME SIZE OS2HA OS21A OS22A OEM57 40 57 51 OEM57 83 Static Torque oz in 37 66 133 Nm 0 26 0 47 0 94 Rotor inertia oz in 0 38 0 65 1 39 kg cm 0 07 0 12 0 25 Drive current Series Apk 2 65 3 3 3 8 Arms 1 9 2 3 2 7 Drive current Parallel Apk 5 3 6 6 7 5 Arms 3 7 4 7 5 3 Phase inductance mH Series 1 7 1 8 2 8 Parallel 0 4 0 4 0 7 Detent Torque oz in 2 5 4 0 7 0 Nm 0 018 0 028 0 049 Bearings Information Thrust Load Ib 13 13 13 kg 5 9 5 9 5 9 Radial load Ib 20 20 20 kg 9 1 9 1 9 1 End Play reversing load equal to 1 Ib in 0 001 0 001 0 001 mm 0 025 0 025 0 025 Radial Play per 0 5 Ib load in 0 0008 0 0008 0 0008 mm 0 02 0 02 0 02 Motor Weight Ib 1 1 5 2 5 kg 0 45 0 68 1 14 Certifications UL recognized Pending Pending Pending CE LVD Yes Yes Yes CE EMC amp LVD No No No 51 Tuning amp Specifications OEM750 MOTOR SPECIFICATIONS 34 FRAME SIZE OEM83 62 83 93 OEM83 135 Static Torque oz in 160 300 Nm 1 14 2 14 Rotor inertia 07 12 3 47 6 76 kg cm 0 634 1 24 Drive current Series Apk n a n a Arms n a n a Drive current Parallel Apk 4 4 5 6 Arms 3 1 4 0 Phase inductance mH Series Parallel 2 2 2 2 Detent Torque oz in 4 8 Nm 0 029 0 058 Bearings Information Thrust Load Ib 50 50 kg 22 6 22 6 Radial load l
42. CCW revolution at 1 rps The drive s default direction is CCW i e if the direction input is not activated the motor will rotate CCW if the direction input is activated the motor will rotate CW If the motor does not rotate in the desired direction remove drive power and reverse the direction sense for your system by reversing the motor leads going to the A and A terminals WARNING Never connect or disconnect any component to or from the drive with power applied System damage or personal injury may occur 6 After verifying that the motor moves CW and CCW turn off power Quick Test OEM750X 1 N Complete steps 1 7 from the OEM750 Quick Test but turn DIP SW3 3 ON to disable the automatic test function Connect the OEM750X to an RS 232C communications device i e computer PLC etc The OEM750X s communication parameters are listed below Baud Rate 9600 DataBits 8 Stop Bit 1 Parity None Handshaking is not supported Terminals should be set for full duplex mode The next drawing shows pins to use for transmit receive and ground 14 Transmit 15 Receive 7 Ground 25 Pin D Connector J on OEM750X 99599999 6 Test Configuration OEM750X RS 232C Connections 14 OEM750 Installation CAUTION RS 232C signals are not on pins 2 3 and 7 of the 25 pin D connector The next drawing shows the test configuration wi
43. Did any other items fail at the same time What was happening when the unit failed i e installing the unit cycling power starting other equipment etc How was the unit configured in detail What if any cables were modified and how With what equipment is the unit interfaced What was the application What was the system sizing speed acceleration duty cycle inertia torque friction etc What was the system environment temperature enclosure spacing unit orientation contaminants etc What upgrades if any are required hardware software user guide 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 call Parker Compumotor s Customer Service Department at 800 722 2282 Ship the unit to Parker Compumotor Corporation 5500 Business Park Drive Rohnert Park CA 94928 Attn RMA xxxxxxx In the UK call Parker Digiplan for a GRA Goods Returned Authorization number Returned products cannot beaccepted without a GRA number The phone number for Parker Digiplan Repair Department is 0202 690911 The phone number for Parker Digiplan Srevice Applications Department is 0202 699000 Ship the Unit to Parker Digiplan Ltd 21 Balena Close Poole Dorset England BH17 7DX Elsewhere Contact the distributor who suplied the equipment APPENDIX A
44. Disabled off Default Anti res Enabled on 2 4 5 Resolution 50 800 on on off Steps per Revolution 50 000 on off on 36 000 on off off 25 600 on on on 25 400 on on off Default Setting 25 000 on on on 21 600 on off on 20 000 on off off 18 000 off on on on 12 800 off on on off 10 000 off on off on 5 000 off on off off 2 000 off off on on 1 000 off off on 400 off off on 200 off off off off Waveform Pure Sine 296 3rd Harmonic 4 3rd Harmonic Default Setting 4 3rd Harmonic 4 3rd Harmonic 6 3rd Harmonic 8 3rd Harmonic 10 3rd Harmonic Automatic Standby Default Setting Full Current on 7596 Current 50 Current 25 Current Automatic Test Default Setting Automatic Test Disabled Automatic Test Enabled 4 Current Loop Gain of on off Default Setting on off 1 off on on on off on on on on on Current Range Default Setting 2 5 7 5 amps 0 83 2 5 amps 0 7 2 0 amps 0 2 0 7 amps OEM750 Installation Anti Resonance SW2 1 should be on for the anti resonance circuit to be enabled Normally you will want anti resonance to be en abled therefore this switch should be on If you are using pulse placement for positioning you may
45. EM750 but it includes an indexer position controller The OEM750X is the same size as the OEM750 and it incorporates the same design technologies The indexer uses commands from Compumotor s popular and easy to use X Series Language The indexer also provides additional I O control and communication Features The OEM750 OEM750X requires an external power supply It uses 24VDC 75VDC for its power input Compumotor s motors are two phase hybrid motors permanent magnet type Four six or eight leaded motors may be used with the internal phases connected for either parallel or series opera tion The motor s inductance cannot drop below 0 2 mH For best performance motor inductance should be between 1 mH 10 mH but motors with inductance ratings as low as 0 2 mH or as high as 80 mH may be used The OEM750 OEM750X provides the following features Electronic Damping Microprocessor controlled microstepping provides smooth operation over a wide range of speeds Full short circuit protection for phase to phase and phase to ground short circuits Motor regeneration protection Overtemperature protection Uses low inductance motors for improved high speed performance 23 34 frame size motors available with torques from 35 400 oz in Three state current control for reduced motor drive heating LED status indicators POWER and FAULT latched Optically coupled step direction and shutdown inputs
46. ION 5 7 7 Ship 5 7 6 Quick Test OEM750 with Separate Indexer 2 13 Quick Test OEMT5BOX cemere tette Sr eim e e E 14 DIP Switch Functions 16 OEM750 Inputs and Outputs 19 Step maka 19 Direction Input Signal Specification u Remote Input Fault Output Gear Shift Input OEM750X Step amp Direction rris tie RE CW amp CCW Limit Inputs d Home Position InpUt Output 1 and Output 2 nemen Dedicated Fault Output Sequence Inputs 1 47 RS 232C Tx and Ground 27 Shutdown Output Closed Loop Operation coner onte tee PR e PL ep eter inert 28 Encoder Inputs A 29 Trigger Inputs 1 3 s aa Address Inputs 43 tre retener AETA 30 Daisy Chalihilig correre mE iR EE eR RE Choosing a Power Supply Gurrent ie titt pretii eriperet e red Power Su Mounting Panel Layout Motor Mounting Attaching the Load Couplers sese eene 42 3 TUNING amp SPECIFICATIONS 43 Short Gircuit Protection cire een ot tette ep ec dp gea edente Tuning Procedure
47. Refer to the indexer s user guide for specific instructions for operating the Compumotor indexer To connect a non Compumotor indexer connect step and direction outputs from the indexer to the OEM750 s 25 pin D connector according to the next drawing 1 Step Input 14 Step Input OEN 2 Direction Input 15 Direction Input Inputs are 5VDC CURRENT maximum DUMP VDC VDC 25 3 D Connector z on OEM750 Test Configuration OEM750 Step and Direction Inputs The next drawing shows the test configuration with a separate indexer a motor and an OEM300 Power Module O 5 000000000 00000009 0 o o o o Indexer Test Configuration with OEM750 and Separate Indexer 13 Installation OEM750 a Apply power The OEM750 s green power LED should be on If the red FAULT LED is on consult Chapter 4 Troubleshooting This test assumes that your indexer s motor resolution is set to 25 000 steps rev This is the default motor resolution setting for the OEM750 Using the indexer send step pulses to the drive that will rotate the motor one CW revolution 25 000 step pulses at 1 rps 25 000 steps per second Using the indexer send step pulses to the drive that will rotate the motor one
48. S OEM750 OEM750X 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 PP P lt Hot Surface AP PEN ODI XX EMC Installation Guide General Product Philosophy Meeting requirements for electromagnetic compatibility EMC compliance will require specific measures to be taken during installation of the OEM750 OEM750X The ultimate responsi bility for ensuring that the EMC requirements are met rests with the systems builder It is important to remember that for specific installations the full protection requirements of the EMC Directive 89 336 EEC need to be met before the system is put into service This must be verified either by inspection or by testing The follow ing EMC installation recommendations are intended to assist in ensuring that the requirements of the EMC directive are met It may be necessary to take additional measures in certain circumstances and at specific locations Although these recommendations are based on expertise acquired during tests carried out on the OEM750 OEM750X it is impossible for Compumotor to guarantee the compliance of any particular installation Compliance will be strongly influenced by the
49. Trigger Inputs Maximum low level input 0 8V Minimum high level input 2V i 45V i 7 4 75KQ 1 1 O d 5V 541 gt 7 O 1 Trigger Input 1 e 4 75KQ 1 Trigger Input 2 e gt lt Trigger Input 3 5V HCT541 1 475 541 1 1 29 Installation OEM750 ADDRESS INPUTS 1 3 PINS 23 25 The OEM750X has three dedicated address inputs that allow you to specify a unique address for each OEM750X in your configuration Their default active state is high External Devices Internal Connections ae ee I 1 Normally Closed 6 it O Oo V 4 75 j e 20 1 1 o 541 o 1 Address Input 1 O zm i Address Input 2 O e F Address Input 3 O 5 541 Ke e 1 4 75KQ 1 541 1 Maximum low level input 0 8V Minimum high level input 2V wem aum ue a iei Len ue Ha Address Inputs Units may be assigned a valid address from 1 to 8 Each unit in the configuration must have a unique address The default address is 8 all three inputs are internally pulled up The address inputs are read only during power up and when Restart Z commands are issued Use the matrix below to assign unique address values Refer to the command for more information Address 1 2 3 3 5 6 7 8 Address 1 6 1 6 1 6 1 6 1 Address 2 6 6 1 1 6 6 1 1 Address 3 6 6
50. Vy 60 Voesar 0 3VDC Collector Current 10 mA maximum Dissipation 55 mW maximum GEAR SHIFT INPUT The gear shift input is an optically isolated input The GS terminal pin 11 is connected to the anode of the OPTO lead via a 681Q current limiting resistor The GS terminal pin 12 is connected to the cathode of the OPTO lead The OPTO requires a minimum of 3 5 mA approximately 4 0 VDC to ensure proper system operation This input may be differen tially driven CAUTION Reverse voltage in excess of GVDC may damage this device With no external current limiting resistor the current is controlled by the applied voltage This is due to a fixed voltage drop of 1 5VDC on the opto LED and the internal series resistor 6810 The gear shift function allows a user with a limited frequency generator to achieve higher velocities while using high resolu tion settings The drive multiplies each step pulse it receives by a factor of 8 This function may be invoked on the fly however to prevent stalling and to keep track of motor posi tion it should only be invoked when the motor is not moving Using the gear shift function is equivalent to changing drive resolution and may have an adverse effect on low speed performance smoothness We recommend that you do not use the gear shift with resolution settings less than 10 000 steps per revolution 750 2 Installation 750 Inputs and Outputs Th
51. absorbers 71 filtering AC supply 70 DC supply 74 G gain 18 gear shift input 22 graphic symbols 68 ground for RS 232C 27 H handshaking 14 heatplate temperature measurement 36 heatsink metric 37 39 OEM HS1 37 OEM HS2 39 home input 25 hysteresis 47 indexer connections 13 inductance range 4 input filters 74 83 INDEX OEM750 inputs and outputs OEM750 19 750 23 instability 3 installation EMC 69 LVD 65 installation category 65 L LEDs 59 limit inputs 4 lines encoder 55 loop gain 18 Low Voltage Directive i 65 LVD installation i 65 memory M2 memory option 5 metric heatsink 37 39 mid range instability 43 motor cooling 41 current settings 10 19 EMC connections 76 maintenance 57 mounting 41 parallel wiring 8 part numbers cross reference 47 resonance 43 series wiring 8 Specifications 1 speed torque curves 48 testing 62 type 32 waveforms 46 mounting drive mounting 34 with 1 37 with 2 39 without a heatsink 35 N non Compumotor indexer 13 non Compumotor motor 10 OEM750 description 1 inputs and outputs 19 quick test 6 OEM750X description 4 84 inputs and outputs 23 quicktest 14 options M2 5 high current heatsink OEM HS2 6 39 low current heatsink OEM HS1 6 37 oscillation 45 oscilloscope method 45 outputs 25 overtemperature protection 36 panel layout 35 parallel motor wiring 8 part numbers filters 71 motors 47 pollution de
52. aint finish it will be necessary to remove the paint in certain areas where speci fied To achieve adequate screening of radiated emissions all panels of the enclosure must be bonded to a central earth point The enclosure may also contain other equipment and the EMC requirements of these must be considered during installation Always ensure that drives are mounted in such a way that there is adequate ventilation AC SUPPLY FILTERING These recommendations are based on the use of proprietary screen filter units which are readily available However the full EMC test includes a simulated lightning strike which will damage the filter unless adequate surge suppression devices are fitted These are not normally incorporated into commer cial filters since the lightning strike test can be destructive This test is normally carried out on the overall system and not on individual components therefore the surge protection should be provided at the system boundary Try to arrange the layout of drive power supply and filter so that the AC input cable is kept away from the filter output leads It is preferable for the current path to be as linear as possible without doubling back on itself this can negate the effect of the filter Mount the filter within 2 inches 50mm of the power supply or transformer if required and run the input cable and any earth cables close to the panel 70 OEM750 OEM750X EMC INSTALLATION GUIDE CONTROL SIGNAL
53. ance between Phase A and Phase B It should be infinite 5 Use the ohmmeter to check the resistance between Phase A and Earth the motor case shaft It should be infinite OEM750 Y Troubleshooting 6 Use the ohmmeter to check the resistance between Phase B and Earth the motor case shaft It should be infinite 7 Turn the shaft manually There should not be any torque If the motor responds as described to each of these steps it is functioning properly The source of the problem is probably within the drive RS 232C Problems Use the following procedure to troubleshoot communication problems that you may have with the OEM750X 1 Be sure the host computer s transmit Tx wire is wired to the peripheral s receive Rx connection and the host computer s receive Rx wire is wired to the peripheral s transmit Tx connection Switch the receive and transmit wires on either the host or peripheral if the problem persists CAUTION OEM750X Rx Tx and GND pins are not 2 3 and 7 like most devices N Confirm that the host and peripheral are configured for the same baud rate 8 data bits 1 stop bit and no parity Use DC common or signal ground 7 as a reference not earth ground Cable lengths should not exceed 50 feet 15 m unless you are using some form of line driver optical coupler or shield As with any control signal be sure to shield the cable to earth ground at one end only a To
54. are compatible with all Compumotor indexers 25 pin D connector A fault output to signal other equipment if a fault occurs 24VDC 75VDC single power input 16 DIP switch selectable motor resolutions 200 50 800 steps rev 2MHzstep input Waveform correction and phase offset for improved smoothness Built in indexer position controller M2 option allows users to store programmed sequences in nonvolatile memory for motion and basic machine coordination CH A T E R Q Installation Chapter Objectives The information in this chapter will enable you to Verify that each component of your system has been delivered safely and completely Become familiar with the system components and their interrelationships Ensure that each component functions properly by bench testing Mount the drive within recommended thermal specifications OEM750 OEM750X Ship kit Inspect the OEM750 or OEM750X upon receipt for obvious damage to its shipping container Report any such damage to the shipping company Parker Compumotor cannot be held responsible for damage incurred in shipment You should have received either a drive OEM750 or drive indexer OEM750X Compare your order with the units shipped Part Part Number OEM Microstepping Drive OEM750 OEM Microstepping Drive Indexer OEM750X The following option may be used with the OEM750X Option Description M2 Nonvolatile Memory 2k BBRAM The
55. b 25 25 kg 11 3 11 3 End Play reversing load equal to 1 Ib in 0 005 0 005 mm 0 013 0 013 Radial Play per 0 5 Ib load in 0 0008 0 0008 mm 0 02 0 02 Motor Weight Ib 3 8 5 1 kg 1 7 2 3 Certifications UL recognized No No CE LVD No No CE EMC amp LVD No No 52 400 2 80 10 47 1 91 n a n a 6 9 4 9 n a 22 10 0 072 50 22 6 25 11 3 0 005 0 013 0 0008 0 02 8 3 0 34 No No No RS31B 5328 8 146 287 361 1 03 2 02 255 3 204 6 563 9 652 0 583 1 195 1 757 2 2 2 8 3 5 1 6 2 0 2 4 44 5 6 6 9 3 1 4 0 4 9 11 6 11 6 9 6 2 9 2 9 24 8 8 180 27 0 0 062 0 130 0 190 180 180 180 81 6 81 6 81 6 35 35 35 15 9 15 9 15 9 0 001 0 001 0 001 0 025 0 025 0 025 0 0008 0 0008 0 0008 0 02 0 02 0 02 3 2 5 3 7 6 1 45 2 41 3 45 w C10 kit w C10 kitw C10 kit OEM750 Tuning amp Specifications DIMENSIONS Y Flexible boot may be bent as 13 5 shown Nominal ie 0 25 height 1 0 25 4 0 200 5 08 dia 4 025006350 64 on 2 625 66 68 BC 0 2495 6 337 1 0 Shaft Dia 25 4 1 06 26 9 Rossa Et t 572 472 T lt 0 20 5 08 502 38 15 081 20 6 0 055 1 40 6544 1 498 38 05 Frame Size 23 Dimensions in inches millim
56. cate the absorber as close as possible to the connector using heat shrink sleeving Expose a short length of braiding and anchor to the panel with an R clamp Note that the motor cable should be kept away from I O cables carrying control signals 76 OEM750 OEM750X EMC INSTALLATION GUIDE OEM Series Drive Remove paint behind mounting plates Power Supply OEM300 Shown Braided screen cables A 9 Ferrite Input Filter S9SOIDer Motor Feedback see text System Cable Earth Point Cable Motor Safety Earth Motor with Non Removable Cabling 77 EMC INSTALLATION GUIDE OEM750 OEM750X COMPUMOTOR RS SERIES MOTOR WITH C10 OPTION The C10 option for Compumotor s RS Series motors includes a removable braided cable and all necessary hardware for making an EMC compliant installation At the motor end of the motor cable follow the installation instructions that are included with the C10 cable kit At the drive end of the motor cable fit a ferrite absorber over the cable before wiring to the motor connector Locate the absorber as close as possible to the connector using heat shrink sleeving Expose a short length of braiding and anchor to the panel with an R clamp Note that the motor cable should be kept away from I O cables carrying control signals OTHER MOTORS WITH REMOVABLE CABLING Remove the motor cable from the standard motor and replace with a suitable cable described in Moto
57. d anchor to the panel with an R clamp Avoid routing communi cation cables near high power lines and sources of high energy impulses 81 EMC INSTALLATION GUIDE OEM750 OEM750X 82 Index A absorbers 71 AC supply filtering 70 accessories 6 accuracy 47 address inputs 0 anti resonance 17 attaching the load 42 automatic standby 17 automatic test 7 17 6 caution notes v CE Marking Directive 65 changing direction 20 clockwise limit input 24 closed loop operation 28 color code encoders 55 motors 8 common problems 59 Compumotor indexer 13 counterclockwise limit input 4 couplers 42 cross reference motor part numbers 47 current loop 18 current range settings 19 current waveform 17 46 curves speed torque 48 CW amp CCW limit inputs 4 D daisy chaining 30 DC supply filtering 74 debugging tools 63 dimensions drive 34 encoder 55 motor 53 DIP switch location 7 DIP switch settings 16 direction change 20 direction input OEM750 20 OEM750X 23 double flex coupling 42 drive dimensions 34 drive resolution 17 750 INDEX E earth 65 Electromagnetic Compatibility Directive i 69 EMC cable connections 76 EMC installation instructions 69 emissions 70 enclosures 35 70 encoder color code 55 dimensions 55 inputs 29 specifications 55 end of travel limits 24 equipment cabinet 70 F failed drive 64 fan cooling 35 faultLED 59 fault output OEM750 21 OEM750X 26 features 4 ferrite
58. d aluminum for electrical grounding 2 000 50 80 Mtg ne Dimensions in inches millimeters 0 335 8 51 OEM750 0EM750X Dimensions 34 OEM750 Installation PANEL LAYOUT If you mount the OEM750 OEM750X in an enclosure ob serve the following guidelines Do not mount large heat producing equipment directly beneath the OEM750 or OEM750X Do not mount the OEM750 directly below an indexer or other heat sensitive equipment the drive produces more heat than an indexer Fan cooling may be necessary Refer to the instructions and diagrams in this section for specific mounting information about your configuration Mounting Without a Heatsink If you use the OEM750 OEM750X without a heatsink the next drawing shows the minimum recommended panel layout Additional space may be required if heat dissipation is an issue Dimensions in 2 50 8 inches millimeters Minimum Panel Layout Without a Heatsink The OEM uses a heatplate design to dissipate heat The drive should never be operated for more than a few minutes without properly mounting the drive to an adequate thermal heatsink The next drawing shows how much heat is generated by the OEM750 OEM750X This heat must be dissipated by the mounting surface 35 Installation OEM750 OS22AP OEM57 83P OS21AP 57 51 RS33B OEM83 135 OS2HAP OEM57 40P RS32B OEM83 93 OS22AS OEM57 83S RS
59. e positive direction as it receives step pulses on its step input While zero voltage or a negative voltage is applied to DIR with respect to DIR the drive will commutate the motor in the counterclockwise negative direction as it receives step pulses The input is optically isolated It may be differentially driven CAUTION Reverse voltage in excess of GVDC may damage this device Your input driver must provide a minimum of 8mA at 3 5VDC to ensure proper operation With no external current limiting resistor the current is controlled by the applied voltage This is due to a fixed voltage drop of 1 5VDC on the opto LED and the internal series resistor 243Q Direction Change The direction may change polarity coincident with the last step pulse The direction input must be stable for at least 200 microseconds before the drive receives the first pulse REMOTE INPUT The remote input is an optically isolated input It requires a minimum of 3 5 mA approximately 4 0 VDC to ensure proper system operation This input may be differentially driven 20 OEM750 2 Installation CAUTION Reverse voltage in excess of GVDC may damage this device With no external current limiting resistor the current is controlled by the applied voltage This is due to a fixed voltage drop of 1 5VDC on the opto LED and the internal series resistor 6810 This input allows you to reduce current to a motor from a remot
60. e strand s shorting the windings Verify that the drives heatsink does not exceed 55 C Return the drive to Compumotor for servicing Check the current select resistor and verify that the current is set correctly Verify with an oscilloscope that the indexer pulses are being sent at a constant rate and are not being frequency modulated Full and half step modes will cause the motor to run roughly at low speeds Verify correct current loop gain setting for the motor inductance and supply voltage you are using Check wiring Measure motor winding resistance at the drive remove power If the motor fails to move you should test the motor with an ohmmeter to examine the resistance between the motor connections If the motor is not malfunctioning the source of the problem is probably within the drive If you operate a faulty drive with a reliable motor you may damage the motor If you find that the drive is not faulty remove power and remove the motor from the drive Use the following steps to test the motor 1 Remove power from the system Detach the motor from the drive 2 With the motor detached from the system use an ohmmeter to check the resistance across Phase A It should be approximately 2 ohms 3 Use the ohmmeter to check the resistance across Phase B It should be approxi mately 2 ohms also the resistance across Phase A and Phase B should be nearly identical 4 Use the ohmmeter to check the resist
61. e location This is accomplished by changing the current select resistor via the remote input When the remote input is enabled the open collector transistor internally connected to the REMOTE screw terminal will conduct to ground To reduce motor current to zero short the CURRENT and REMOTE terminals together with a wire You can also reduce motor current by a percentage if you short CURRENT and REMOTE with the appropriate resistor Ra uorJ To calculate first select the resistor associated with your normal operating current see resistor selection tables in the Quick Test Next select R the resistor in the same section of the table that is associated with your desired standby current Then use the following equation to find Ry R 13 300 3750 RJ R RJ REMOTE Resistor associated with the operating current Resistor associated with the desired standby current FAULT OUTPUT The fault output is an open collector open emitter output from an ILQ2 OPTO isolator The output transistor will con duct when the drive is functioning properly The transistor will not conduct when any of the following conditions exist No power is applied to the drive There is insufficient voltage lt 24VDC The driver detects a motor fault The remote input is enabled Installation OEM750 The fault output has the following electrical characteristics
62. e next drawing shows the pin out for OEM750X Drive Direction Output CW Limit RS 232C Shutdown CCW Limit v Slave Drive Encoder Channel A Reserved GND Ref Output 2 Fault Output Output 1 N C Sequence 1 REMOTE REF Trigger Input 3 CURRENT DUMP VDC VDC Address Sel 1 NC Customer Equipment Sequence 2 A B B Sequence 3 Inputs and Outputs OEM750X Schematic Several functions triggers limits sequence select inputs home and address select inputs require a ground reference For these functions use pin 7 on the 25 pin D connector for the ground Do not use the power supply ground VDC Pin 7 and VDC are internally connected but your system will be more immune to electrical noise if you use pin 7 CAUTION I O is not isolated Use Pin 7 for a ground reference Do not use VDC for a ground reference STEP PIN 1 amp DIRECTION PIN 2 OUTPUTS The OEM750X produces step and direction outputs that are identical to its own internal step and direction signals These outputs can be used to slave to another drive or to monitor the OEM750X s position and velocity The direction output s default state is logic high The step output s default state is a high pulsing low output The next figure represents a typical configuratio
63. es greater than 40 C 104 F ensure there is unobstructed airflow over the drive Do not use a star washer between the back of the drive s heatplate and the mounting surface The mounting surface must be flat Use thermal grease or thermal pads to facilitate heat transfer from the drive s heatplate to your mounting surface Two types of optional heatsinks can be used for applications that do not have an adequate mounting surface Mounting With OEM HS1 Heatsink The small heatsink OEM HS1 may be purchased as an option It is intended to be used with a current setting up to 5A peak in still air at an ambient temperature of 25 C 77 F If the drive is mounted in ambient temperatures hotter than 25 C active cooling forced air will be required to maintain the heatplate temperature below 55 C 131 F Mount the OEM750 OEM750X to the OEM HS1 heatsink with two 8 32 screws 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 Use a star washer on the bottom screw to ensure proper electrical grounding To facilitate heat transfer use thermal grease or a thermal pad between the drive and the heatsink Secure the drive and heatsink to your mounting surface with two 8 screws 37 Installation OEM750 2x 8 32 UNC 2B Thru One Fin 2 00 187 4 75 Thru 2x 8 32 UNC 2B Thru 0 637 16 18
64. eters Model A OS2HA OEM57 40 1 60 40 6 OS21A OEMS57 51 2 06 52 3 OS22A 57 83 3 10 78 7 Size 23 Frame OS Series and OEM57 Series Motors N 48619 Size gt 0 06 1 5 n A 2 750 69 85 3 2 730 69 34 0 3750 9 525 0 3745 9 512 Shaft Dia lt 0 19 4 8 46 32 4 Equally Spaced on 2 952 74 98 BC 70 875 98 43 BC Frame Size 34 Model A OEM83 62 2 50 63 5 OEM83 93 3 70 94 0 83 135 5 20 132 1 Dimensions inches millimeters Size 34 Frame OEMS3 Series Motors 53 Tuning amp Specifications OEM750 0 003 0 077 A Motor leads FLY 1338 gt 0 3750 0 0000 85 85 9 53 0 000 lt L max 3 W 9 0 013 AI 0 002 0 051 A m S 1 25 31 75 gt lt 0 06 1 52 02 875 0 002 0 18 4 57 73 025 0 051 4x 20218 548 thru BEP equally spaced on a Imensions 2110 003 0 077 03 875 98 43 B C inches millimeters Pd or with 10 ft cable R10 Frame Size 34 Model L max RS31B 2 58 65 54 RS32B 3 76 95 51 RS33B 5 06 128 53 Size 34 Frame RS Series Motors Regular Construction 0 0000 10 005 0 077 A R172 _ PE ae 0 9 53 0 013 i
65. gree 65 position input 5 power dump and regeneration 33 power LED 59 power supply connections 12 sizing 32 protective conductor terminal 5 protective earth 66 Q quicktest 6 R R clamp 72 radiated emissions 70 range current range 19 receive input RX tor RS 232C 27 reducing motor current 21 regeneration and power dump 3 remote input 20 repairing the drive 64 repeatability 7 resolution encoder 55 motor 17 resonance 43 resonance speed 45 Return Material Authorization RMA 64 rigid coupling 2 RMA number 64 RS 232C 14 daisy chaining 30 handshaking 14 inputs and outputs 7 problems 63 S sequence inputs 26 series motor wiring 8 shaft modifications 41 ship kit 5 shutdown output 28 sine wave current waveform 46 single flex coupling 42 sinusoidal current waveforms 46 smoothness 45 software debugging 63 Software Reference Manual v sounding board 45 specifications drive 47 encoder 55 motor 51 speed torque curves 48 standby current standby 17 step input OEM750 19 OEM750X 23 stethoscope method 45 symbols 68 tachometer method 45 temperature measurement 36 test automatic test function 17 quick test 6 testing the motor 62 torque speed curves 48 transmit output TX for RS 232C 27 trigger inputs 9 troubleshooting 58 tuning potentiometers 44 tuning procedure 46 warning notes v waveforms 17 46 750 INDEX 85 INDEX OEM750 86
66. h screen are unsuitable and in fact provide very little screening Terminating to the screen in a mechanically 79 EMC INSTALLATION GUIDE OEM750 OEM750X stable manner is difficult because the screen itself is com paratively fragile bending it in a tight radius can seriously affect the screening performance There must be no break in the 360 coverage that the screen provides around the cable conductors If a connector must be used it should retain the 360 coverage possibly by the use of an additional metallic casing where it passes through the bulkhead of the enclosure The cable screen must not be connected to the cabinet at the point of entry Its function is to return high frequency chopping current back to the drive or controller This may require mounting the connector on a sub panel insulated from the main cabinet or using a con nector having an internal screen which is insulated from the connector housing Within the cabinet itself all the motor cables should lie in the same trunking as far as possible They must be kept separate from any low level control signal cables This applies particu larly where the control cables are unscreened and run close to the drive or other sources of electrical noise MOTOR FEEDBACK CABLES Feedback devices such as encoders and tachometers also require the use of high quality braided screen cable If it is necessary to replace the standard feedback cable select a braided screen cable
67. he instructions provided 7 Before you customize your system check all of the system functions and features to ensure that you have completed the installation process correctly The successful completion of these steps will prevent subse quent performance problems and allow you to isolate and resolve potential system difficulties before they affect your system s operation SOFTWARE REFERENCE MANUAL A separate Software Reference Manual contains descriptions for all software commands applicable to the OEM750X WARNINGS amp 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 v Preface OEM750 Situations that may cause system damage are presented as cautions Examples are shown below WARNING Do not touch the motor immediately after it has been in use for an extended period of time The motor may be hot CAUTION System damage will occur if you power up the system improperly CH AP TER Q Introduction Chapter Objective The information in this chapter will enable you to Understand the product s basic functions and features 750 Drive Description The OEM750 Drive is optimized to operate size 23 and 34 two phase permanent magnet hybrid step motors It is a high performance module around which the Original Equipment Manufacturer OEM ca
68. he desired position To implement the closed loop functions you must connect a single ended incremental optical encoder to the OEM750X You can then use the FS commands which add the functions below Encoder referenced positioning Encoder position servoing Motor stall detection Higher accuracy homing function 28 OEM750 2 Installation ENCODER INPUTS 2 PINS 17 19 The OEM750X has three dedicated inputs use with a single ended incremental encoder These inputs in conjunc tion with the FS commands determine encoder functionality Reference the encoder ground to pin 7 of the OEM750X External Devices Internal Connections 5V 1 4 75KQ 4 0 s i 5V 244 Encoder Channel A 6 4 75 Encoder Channel B O e l 1 Encoder Channel 7 e 45V CICT244 Encoder Ground 79 2 0 4 75KQ I 1 244 I 1 1 Encoder Inputs Maximum low level input 0 8V Minimum high level input 2V Maximum encoder frequency 1 2MHz TRIGGER INPUTS 1 3 PINS 20 22 The OEM750X has three dedicated trigger inputs These inputs are pulled up internally They can be active high or active low depending on how you configure them with the Trigger TR command The figure represents a typical con figuration of these inputs External Devices Normally Closed Switches Internal Connections
69. he entire exposed length of travel It is advised that each high power motor cable utilize its own conduit FERRITE ABSORBER SPECIFICATIONS The absorbers described in these installation recommenda tions are made from a low grade ferrite material which has high losses at radio frequencies They therefore act as a lossy element in this waveband The recommended components are produced by Parker Chomerics 617 935 4850 and are suitable for use with cable 71 EMC INSTALLATION GUIDE OEM750 OEM750X having an outside diameter up to 10 13mm The specifica tion is as follows Chomerics part number 83 10 M248 1000 83 10 A637 1000 Outside diameter 17 5 0 69 in 28 5mm 1 12 in Inside diameter 10 7 0 42 in 13 77 0 54 in Length 28 5mm 1 12 in 28 57mm 1 13 in Impedance at 25MHz 800 1350 Impedance at 100MHz 1200 2100 Curie temperature 130 C 130 C the device should not be operated near this temperature HANDLING AND INSTALLING THE FERRITE ABSORBERS Take care when handling the absorbers they can shatter if dropped on a hard surface For this reason the suggested method of installation is to use a short length of heat shrink sleeving as shown below This gives a degree of physical protection while the cable is being installed The sleeving should have a shrink ratio of at least 2 5 1 Cable ties may be used as an alternative however they give no physical protec tion to the absorber Ferrite abs
70. he phase current for Phase B Since tuning is affected by operating current you may have to adjust these potentiometers during the configuration or installation process For best results the drive and motor should be on connected to the load and warmed up for 30 minutes prior to tuning 44 OEM750 Tuning amp Specifications DETERMINING MOTOR RESONANCE There are several methods you can use to determine the level of motor resonance in your system Tachometer Method Use an oscilloscope to gauge the output of a tachometer attached to the motor shaft The tachometer will output a DC voltage proportional to speed This voltage will oscillate around an average voltage when the motor is resonating The amplitude of this oscillation will be at its maximum when you run the motor at its resonance speed The goal of this method is to adjust the system for the lowest oscillation amplitude Sounding Board Method You can practice your tuning skills with an unloaded motor placed on a sounding board or table When you command a velocity that is near the motor s resonance speed the phe nomenon will cause an audible vibration The goal of this method is to adjust the system for the least amount of vibration Stethoscope Method When you tune your motor under loaded conditions you can hear the audible vibration caused by the motor s natural frequency by placing the tip of a screw driver against the motor casing and placing the handle
71. ing instructions for frame size 23 motors OB Phase A PWR FLT Windings Red REMOTE CURRENT DUMP e VDC e Phase B A Black Windings e 600 B White B Green o Phase A PWR FLT Red e Windings REMOTE REF Blue CURRENT DUMP 5 Yellow 5 VDC hase Windings edi Black e 600 e000 9 A White B 4 Brown Orange Green Motor Wiring Size 23 OS and 57 Motors Parallel Wiring The next drawings show wiring instructions for frame size 34 motors Compumotor s size 34 motors should only be used in a parallel wiring configura tion To achieve maximum performance you must use a 75VDC power supply such as a Compumotor OEM300 However lower voltage power supplies may be used less than 75VDC but must be greater than 24VDC The lower voltage power supply will not adversely affect the system s low speed performance but it will not yield the optimum high speed performance achieved by using the 75VDC power supply OEM750 Installation Phase A e Windings eu B Windings Red REMOTE REF CURRENT DUMP VDC E A Black White B Green Motor Wiring Size 34 OEM83 Motors Parallel Wiring Phase A e Windings
72. ive during power up its default active state is low Refer to the Go Home GH command for more informa tion on setting up and using this function The figure repre sents a typical configuration of this input Refer to the OSC command which changes the active level of the home input and the GH command External Devices Internal Connections 1 1 0 1 9 5v Normally Open 3 Home Limit Switch 9 0 4 75 Home 5 0 d O 244 GND 7 O 1 e 6 8 0 v e Maximum low level input 0 8 Minimum high level input 2V Home Input OUTPUT 1 PIN 10 AND OUTPUT 2 PIN 8 The OEM750X has two dedicated programmable outputs They may be used to signal peripheral devices upon the start or completion of a move The default state for outputs 1 and 2 is logic low The outputs are internally pulled up to 5VDC when active The figure represents a typical configuration of these outputs Refer to the O command Internal Connections External Devices qua ques uma no qt ux t DE Output 2 Y Output 1 gt 0 3 Q R 0 0 0 0 E Minimum high level output 4 26V source 24m Maximum low level output 0 44V sinks 24m 0 e o e x Output 1 and Output 2 25 Installation OEM750 DEDICATED FAULT OUTPUT PIN 9 The OEM750X has one dedicated fault output This output may be used to signa
73. l peripheral devices if an OEM750X failure occurs The Fault output s default state is logic high If a fault occurs internal circuitry energizes the transistor s base pulling the output low The figure represents a typical configuration of this output Internal Connections External Devices o Dedicated Fault Output N BS170 V Minimum high level output 5V Maximum low level output 0 8V Output can sink up to 50mA 1 from the load O 0 0 gt gt 0 60 686 Dedicated Fault Output SEQUENCE INPUTS 1 3 PINS 11 13 The OEM750X has three dedicated sequence inputs that allow you to control seven different sequences The default active state is high You must use the X commands particularly the XP command to configure these inputs Sequence is not a valid sequence External Devices Internal Connections Normally Closed Switches m o 5 6 6 0 0 0 6 Sequence Input 1 Sequence Input 2 Sequence Input 3 475 HCT244 ololoooo No N c Maximum low level input 0 8V Minimum high level input 2V Sequence Inputs 26 OEM750 2 Installation Sequences are executed remotely by using one of the following logic patterns 1 represents 5V signal represents a OV signal Sequence 1 2 3 4 5 6 7 SEQ Input 1 6 1 6 1 6 1 6 1 SEQ Input 2 6 1 1 6 6 1 1 SEQ Input 3 6
74. le An RS33B motor is used with a 75VDC power supply The ideal current loop gain is Current Loop Gain 0 0022 75VDO 364 000 10 7 From the DIP switch table select a current loop gain of 8 because 8 is less than 10 7 The next table shows settings for Compumotor motors Loop Loop Loop Motor Size Inductance Gain Gain Size 23 Connection small signal 24vdc 48vdc 75vdc 0520 57 40 Series 1 6 mH 16 8 8 OS2HA 57 40 Parallel 400 uH 4 4 2 OS21A 57 51 Series 1 7mH 16 8 8 OS21A 57 51 Parallel 425 uH 4 2 2 OS22A 57 83 Series 2 6 mH 32 16 8 OS22A OEM57 83 Parallel 650 uH 8 4 2 Size 34 RS31B OEM83 62 Parallel 2 2 mH 32 16 8 RS32B 83 93 Parallel 2 2 mH 32 16 8 RS33B 83 135 Parallel 2 2 mH 32 16 8 OEM83 motors are wired internally in parallel 18 OEM750 2 Installation Current Range Set SW3 7 and SW3 8 to select a range for motor current settings In Step 6 of the Quick Test you installed a resistor that determines motor current Be sure that SW3 7 and SW3 8 are set to the proper current range for the resistor you installed OEM750 Inputs and Outputs The next figure shows internal connections for the OEM750 See the following section for OEM750X internal connections Internal Connections x2b HCPL 2631 5 Inputs amp Outputs Step Input
75. n design a motion control system The drive offers a basic set of features designed to meet the needs of most customers It is compatible with all Compumotor indexers A typical system is shown below OEM Series Drives OEM300 Power Module OS RS or OEM Series Motors OEM Series Products A Typical System Q Introduction OEM750 The OEM750 is small and convenient to use It installs with only two screws the screws also provide grounding and captivate the cover Its right angle screw terminal allows side by side mounting and its small footprint maximizes cabinet space The snap on molded cover is removable for drive configuration and helps provide a barrier against environ mental contamination The drive is the same size as a 3U Eurorack card Its standard 25 pin D connector is compatible with universally available connectors The drive is designed for reliability and manufacturability It uses surface mount components MOSFET technology and a custom designed ASIC to improve reliability conserve space and reduce cost INPUT POWER The OEM750 requires a single external power supply The drive accepts 24VDC to 75VDC for its power input MOUNTING The drive is fully enclosed and uses a heatplate technique to provide a heat dissipation path You must attach the OEM750 to a suitable heat dissipating mounting surface DIP SWITCHES DIP switches are located inside the OEM750 During the installation procedure you
76. n of this output Installation OEM750 Internal Connections External Devices 5 ADE AA Sy dut ut Step Output Drive Oscilloscope etc Direction Output Minimum high level output 4 26V source 24mA Maximum low level output 0 44V sinks 24mA Step and Direction Outputs CW PIN 3 amp CCW PIN 4 Limit INPUTS The OEM750X has two dedicated hardware end of travel limits clockwise CW and counterclockwise CCW When you apply power to the OEM750X these inputs are enabled the default active state is high To test the OEM750X without connecting the CW and CCW limits you must disable the limits with the LD3 command You can use the Limit Switch Status Report RA and Input Status IS commands to moni tor the limits status and the OSA command to change the active level of the inputs The figure represents a typical configuration of these inputs External Devices Internal Connections CCS 0007 1 TS 4 75KQ Normally Closed Limit Switches Ue CW Limit 0 HCT244 70 5V 9 1 CCW Limit So 4 75KQ 5 O I GND HCT244 1 1 i l Maximum low level input 0 8V Minimum high level input 2V Limit Inputs 24 OEM750 2 Installation HOME POSITION INPUT PIN 5 The OEM750X has one dedicated home input The home input allows you to establish a home reference input This input is not act
77. need to disable anti resonance You can disable anti resonance by turning SW2 1 off Drive Resolution Set DIP switches SW2 2 SW2 5 for drive resolution There are sixteen settings which range from 200 to 50 800 steps per revolution The default setting is 25 000 steps per revolution Waveform Set SW2 6 SW2 8 to select a current waveform There are six choices one is a pure sine wave the others reduce the current waveform s 3rd harmonic by 296 496 696 896 and 1096 In most cases the default setting all three switches on 4 3rd harmonic provides the best performance For further information about selecting a waveform see Adjusting Motor Current Waveforms in Chapter 3 Automatic Standby SW3 1 and SW3 2 should be on if you do not use automatic standby this is the default position If you use an indexer and encoder for position maintenance we recommend that you do not use automatic standby The automatic standby function allows the motor to cool when it is not commanded to move Automatic standby reduces motor current by 2596 5096 or 7596 if the drive does not receive a step pulse for one second Full current is restored upon the first step pulse that the drive receives Be aware that reduced current results in reduced holding torque Automatic Test Set SW3 3 to the off position to select the automatic test function The automatic test turns the motor shaft slightly less than six revolutions in an
78. ng a drill chuck on the shaft The drill chuck may provide enough inertia to test the motor when it is not connected to the intended load Mid Range Instability All step motors are subject to mid range instability This instability or oscillation may stall the motor at speeds from 6 to 16 rps The OEM750 OEM750X includes active circuitry to help suppress these oscillations This feature is normally 43 Tuning amp Specifications OEM750 enabled but may be disabled by DIP SW2 1 see DIP Switch Functions in Chapter 2 if it has an adverse effect on your system Tuning Procedure Tuning on the OEM750 750X consist of two different aspects The first is a current loop gain adjustment designed to match the drive s current compensation gain to the motor s induc tance and the motor supply voltage This was described in Chapter 2 Installation in DIP Switch Functions The second is an amplifier adjustment designed to match the amplifier offsets to your specific motor You can tune your OEM750 OEM750X to your specific motor In the procedure below you will minimize resonance and optimize smoothness by adjusting the small potentiometers on the top of the unit The next figure shows the location of the potentiometers and their functions Phase B Offset Top View Phase A Offset Tuning Potentiometers Phase A Offset Adjusts DC offset of the phase current for Phase A Phase B Offset Adjusts DC offset of t
79. onnector Check hard limit or disable limits with the LD3 command Try another distance and issue Go G command Issue an XT command at the end of the sequence to end sequence definition Issue an E command to bring the unit on line Verify the VDC and VDC connection Verify your power supply is producing adequate power Verify that there is DC voltage at the drive and at the VDC and VDC connection Tighten screws do not tin wires Check DC line voltage 24 VDC minimum Remove 25 Pin D connector to isolate the problem Return drive to Compumotor for servicing Verify the current selector resistor with the correct table measure the resistor with an ohmmeter Check for current select resistor tighten screws check wiring Verify setting See manual Remove 25 pin D connector to isolate the problem Check switches SW3 1 SW3 2 Troubleshooting OEM750 Symptoms The motor fault LED is on The motor moves erratically at low speeds Probable Causes The drive has detected a short circuit in the motor wiring The drive is overheating The drive may have internal damage Motor current is set incorrectly Indexer pulses are being sent to the drive erratically Motor resolution is set for 200 or 400 steps per revolution Loop gain is not set correctly 1 motor phase is open Testing the Motor Solutions Check for miswiring carefully check the motor wires for loos
80. orber retained by heatshrink sleeving Ferrite Sleeve Installation R CLAMP INSTALLATION DETAILS The function of the R clamp is to provide a 360 degree metal lic contact and thus a convenient means of ensuring a proper radio frequency ground When dealing with electromagnetic interference issues it is important to remember that continu ity a DC connection does not at all speak to the integrity of an AC high frequency bond High frequency bonding typi cally involves wide flat cabling to establish a suitable system ground When applied properly the R clamp has been shown to give an adequate high frequency contact 72 OEM750 OEM750X EMC INSTALLATION GUIDE When installing an R clamp as shown in the next figure install it as close to the cable end as possible Mount the R clamp to a suitable ground backplane earth stud or bus bar this may require removing paint from a cabinet or panel Remove only the outer vinyl jacket of the braided screen cable this allows the braid to continue to the cable connector Be careful not to damage the braid Snap the R clamp over the exposed braid and adjust for a tight fit Secure the clip to the designated ground with a machine screw and lock washer The use of brass or other inert conductive metal R clamp is recommended Cover any exposed bare metal with petroleum jelly to resist corrosion Remove outer jacket only Do not cut braid R Clamp R Clamp Installation 73
81. owing Flathead screw driver 1 10 CAUTION The drive and motor should be mounted to a heatsink Drive mounting does not affect the following tests but operating the OEM750 OEM750X and motor for extended periods without proper mounting can cause the drive to fault due to overheating Possible motor damage may occur When you complete the quick tests remove power to the drive Perform installation and test procedures in a properly grounded environment Compumotor recommends the use of a grounding strap OEM750 2 Installation Remove the cover by applying pressure to the 25 pin D connector With the cover off the DIP switches will be exposed as shown in the next drawing DIP Switch Location 2 To test the system you will use the Automatic Test function To enable the function turn DIP switch SW3 3 to the off position When power is applied to the drive with SW3 3 in the off position the Automatic Test function will rotate the motor in an Alternating mode approximately 6 revolutions at 1 rps If you are testing an OEM750 with a separate indexer or an OEM750X you will use the indexer to command the motor to turn you will not use the automatic test function Therefore set DIP switch SW3 3 to the on position to disable the automatic test function Set the current loop gain DIP switches SW3 4 SW3 6 If you use a Compumotor OEM Series OS Series or RS Series
82. r multiply by 3 413 Toconvert watts to BTU minute multiply by 0 0569 SERIES AND PARALLEL WIRING Compumotor OS motors may be configured in parallel or series Refer to the Quick Test section at the beginning of this chapter for wiring instructions MOTOR TYPE Compumotor s OS and RS Series motors are custom made for use with the OEM750 OEM750X These motors are not available as a standard model from any other manufacturer They are designed for low loss at rest and at high speed 32 OEM750 2 Installation Motors in the same frame size from other manufacturers may sustain considerably higher iron losses than an OEM750 OEM750X motor OS and RS motors are wound to render inductances within a range suitable for OEM Series products If you do not use an OS or RS motor you should consult Compumotor s Applications Engineering Department for assistance 800 358 9070 The OEM750 OEM750X is designed to run 2 phase PM step motors only Do not use variable reluctance or DC motors CURRENT AMPS We have chosen motor current values shown earlier so the motors can produce the highest possible torque while main taining smoothness Higher currents will produce higher static torque but the motor will run roughly and may over heat Do not run the parallel rated current into a motor that is wired in series it will destroy the motor s windings PowER DUMP This drive has built in power dump circuitry to monitor power supply
83. r Cables following this section Termination of the braid shield at the motor must be made using a 360 bond to the motor body This may be achieved with use of an appropriate threaded insert or a suitable clamp For the latter R clamp the braid to the rear end bell of the motor housing as shown in the previous figure This will not only provide a good high frequency bond but strain relief as well At the drive end of the motor cable fit a ferrite absorber over the cable before wiring to the motor connector Locate the absorber as close as possible to the connector using heat shrink sleeving Expose a short length of braiding and anchor to the panel with an R clamp Note that the motor cable should be kept away from I O cables carrying control signals 78 OEM750 OEM750X EMC INSTALLATION GUIDE OEM Series Drive Remove paint behind mounting plates Power Supply OEM300 Shown Green Yellow Safety Earth Conductor must be terminated to system earth point AC Input Filter see Braided screen cables Ferrite absorber aN System Earth AC Input Point Cable Motor Feedback Cable Motor such as RS Series motor with C10 option Motor with Removable Cabling MOTOR CABLES Use 4 core 1 5mm AWG 14 SWG 16 cable for the OEM750 OEM750xX All aftermarket motor connections must be made using a high quality braided screen cable Cables using a metallized plastic foil for an eart
84. rs The next table summa rizes the changes and additions The letters n represent variables that can change based upon the options ordered Motor Size New Part Number Old Part Number Size 23 OS2HA SNFLY OEM57 40 MO OS21A SNFLY OEM57 51 MO OS22A SNFLY OEM57 83 MO Double Shaft _OS2nA DNFLY OEM57 nn MO DS23 Encoder OS2nA DNFLY HJ OEM57 nn MO ENC OS Series motors are the same motors as OEM57 Series Motors the new part number is the only difference New Motor Similar to Existing Motor Size 34 RS31B nnnnn OEM83 62 nn nnnn RS32B nnnnn OEM83 93 nn nnnn RS33B nnnnn OEMS83 135 nn nnnn RS Series motors are similar but not identical in size and electrical characteristics to OEM83 Series motors The motors differ in internal construction Also RS motors have cables 83 motors have flying leads and are internally wired in parallel 47 Tuning amp Specifications OEM750 SPEED TORQUE CURVES Speed torque curves are shown below for operation at 24VDC 48VDC and 75VDC Series and parallel curves are shown for 23 frame size motors Parallel curves only are shown for 34 frame size motors OEM83 motors are internally wired in parallel and can only be operated in parallel Power curves are shown as dashed lines OEM750 with OS2HA or OEM57 40 Motor OEM750 with RS31B or OEM83 62 Motor
85. s one filter per DC power supply 75 EMC INSTALLATION GUIDE OEM750 OEM750X Motor Connections COMPUMOTOR MOTORS AND OTHER MOTORS WITH NoN REMOVABLE CABLING Except for the C10 cabling option of the RS motors Parker Compumotor OEM Series drive motor systems ship with motors that do not incorporate braided screen Applicable motors are OS Series RS Series with the L10 option and OEM Series motors Therefore when motor cabling is not confined within earthed conduit it is necessary to shield the exposed length of cable and properly bond it to earth In installations where the motor cable is within earthed conduit for the entire length of travel the standard motor cable can be used To extend motor cables cut off cable in excess of approxi mately 4 inches 10 cm Configure the motor for series or parallel operation and attach the braided screen cable to the motor The use of a terminal block or other hardware is recommended as inline splicing on high power cables is not allowed Termination of the braid shield at the motor must be made using a 360 bond to the motor body This may be achieved by using a suitable clamp R clamp the braid see previous figure to the rear end bell of the motor housing shown in the next figure This will not only provide a good high frequency bond but strain relief as well At the drive end of the motor cable fit a ferrite absorber over the cable before wiring to the motor connector Lo
86. s possible In most applications some misalignment is unavoidable due to variations in component tolerance However excessive mis alignment may degrade system performance Three misalign ment conditions which can exist in any combination are Angular Misalignment The center lines of two shafts intersect at an angle other than zero degrees Parallel Misalignment The offset of two mating shaft center lines although the center lines remain parallel to each other End Float A change in the relative distance between the ends of two shafts The type of misalignment in your system will affect your choice of coupler Single Flex Coupling Use a single flex coupling when you have angular misalign ment only Because a single flex coupling is like a hinge one and only one of the shafts must be free to move in the radial direction without constraint Do not us a double flex coupling in this situation it will allow too much freedom and the shaft will rotate eccentrically which will cause large vibrations and catastrophic 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 with parallel misalignment or a combination of angular and parallel misalignment the most common situation Single flex and double flex couplings may or may not accept end play
87. th an OEM750X and an RS 232C terminal O aay A HIGH AL RESERVED Test Configuration with OEM750X 3 Apply power The OEM750X s green power LED should be on If the red FAULT LED is on consult Chapter 4 Troubleshooting This test assumes that your indexer s motor resolution is set to 25 000 steps rev This is the default motor resolution setting for the OEM750X Note The drive and indexer resolutions are set independently Verify that the four drive resolution dip switches SW2 2 SW2 5 are all ON for 25 000 steps rev You must cycle power for DiP switch changes to take effect 4 Enter and run the following command sequence to test the system Command Description MN Sets unit to Normal mode LD3 Disables CW amp CCW Limits A160 Set acceleration to 10 rps V1O Set velocity to 10 rps D25000 Set move distance to 1 CW revolution G Initiate move Go H Reverse move direction CCW G Initiate move Go 5 After verifying that the motor moves CW and COW turn off power 15 Installation OEM750 DIP Switch Functions Configure the OEM750 OEM750X s DIP switches for your motor and application See Quick Test for switch location The following table and descriptions summarize switch settings OEM750 DIP SETTINGS OZ OZ on Factory Default Con figuration Shown T7 r Anti resonance Anti res
88. tly Loop gain is not set correctly Motor is undersized for application Motor current is not set correctly The acceleration is set too high There is insufficient rotor inertia Loop gain is not set correctly Motor is undersized for application Loop gain is not set correctly There is insufficient rotor inertia Mid frequency resonance Motor resolution is set incorrectly The direction input is not being enabled Solutions Verify that the step input current is not greater than 15 mA Verify that the step input current is greater than 6 25 mA Verify that the indexer is not exceeding the 2 Mhz maximum pulse rate Verify that the motor is sized correctly for your application The drive can handle a maximum pulse rate of 2 Mhz or 50 rps whichever comes first decrease the velocity Check the current select resistor and verify that the current is set correctly Verify correct current loop gain setting for the motor inductance and supply voltage you are using Verify that the motor is sized correctly for your application Check the current select resistor and verify that the current is set correctly Decrease the acceleration Add inertia to the motor shaft Verify correct current loop gain setting for the motor inductance and supply voltage you are using Verify that the motor is sized correctly for your application Verify correct current loop gain setting for the motor inductance and supply
89. voltage you are using Add inertia to the motor shaft Verify anti resonance is enabled Determine the resolution on your indexer and verify that the drive resolution setting is the same Verify that the direction input is being enabled 6 4 mA to 15 mA Symptoms Indexer moves motor in wrong direction When a move is commanded no motion occurs The unit may appear to not be responding to commands Power LED is not on illuminated Power LED is flashing There is little or no holding torque the power LED is on the motor fault LED is off Probable Causes There is a direction conflict within the indexer A limit may be enabled and active You may be in Absolute mode and are already at the position you are commanding the motor to move to If you defined a sequence and never issued XT the 750 750 still thinks you are defining a sequence OEM750X may be off line command The drive is not receiving adequate DC voltage Drive screw terminals are loose DC Line voltage is too low 0 incorrectly connected Internal damage to the drive The incorrect current select resistor is being used The current select resistor is not installed or loose Current range switches not set correctly Remote input activiated Auto standby function enabled OEM750 Y Troubleshooting Solutions Change direction within your indexer or by swapping motor leads A and A at the drive c
90. wire CONTROL SIGNAL WIRING High quality braided screen cable should be used for control connections In the case of the OEM750 OEM750X which has differential step direction inputs it is preferable to use cable with twisted pairs to minimize magnetic coupling I O lines require that separate grounds be individually run for each I O point In the case of limits and other I O that must reside external to the mounting cabinet braided screen cable must also be used Bond the braid to the machine frame earth ground at the sensor end No connection is made to the cable screen at the drive itself Fit a ferrite absorber close to the I O connector and run the cable to the mounting panel as shown in the previous figures Expose a short length of the braided screen and anchor to the panel with an R clamp The level at which the I O operates means that the signals are unlikely to meet EMC immunity requirements if taken outside the enclosure without proper screening COMMUNICATIONS In applications that require serial communications with the OEM750X special must be taken in assuring proper wiring practices are utilized Good quality braided screen cable should be used for the communications cabling No connection is made to the cable screen at the drive itself Fit a ferrite absorber close to the communications connector and run the cable to the mounting panel as shown in the previous figures Expose a short length of the braided screen an
91. with the device address of the designated drive No OEM750X executes a drive specific command unless the drive number specified with the command matches the OEM750X s drive number Drive specific commands include both buffered and immedi ate commands 31 Installation OEM750 Choosing a Power Supply The next table contains power ratings to help you choose a power supply Combinations of motors and current levels other than those shown may result in power values that are not recommended Motor Size Peak Motor Heat 75VDC Motor Avg Shaft Drive Supply Size 23 Current Power Heat Total OS2HAS OEM57 40S 2 65A 56 Watts 9 Watts 65 Watts OS2HAP OEM57 40 P 5 3A 56 Watts 19 Watts 75 Watts OS21AS 57 51 S 3 3A 75 Watts 11 Watts 86 Watts OS21AP 57 51 P 6 6 75 Watts 25 Watts 100 Watts OS22AS OEM57 83S 3 8A 86 Watts 13 Watts 99 Watts OS22AP OEM57 83 P 7 5A 86 Watts 31 Watts 117 Watts Size 34 31 OEM83 62 44A 113 Watts 15 Watts 128 Watts 32 OEM83 93 5 6 133 Watts 20 Watts 153 Watts RSS3BP OEM83 135 6 9A 155 Watts 27 Watts 182 Watts S Series Configuration Parallel Configuration OEM83 motors are wired internally in parallel User must supply this level of wattage Use the following equation to determine drive heat Drive Heat Watts 0 31 1 2 1 13 1 Motor Current Conversions convert watts to horsepower divide by 746 To convert watts to BTU hou

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