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Parasound A 21 Stereo Amplifier User Manual

1. Enlarged view of jumpers E ia Auto Auto Motor Motor Motor Test Standby Waveform Resolution Current Shape Range Figure 2 1 OEM650 OEM650X Jumpers 2 To test the system you will use the Automatic Test function jumper 11 Remove jumper 11 to enable the function save for later installation Do not remove any other jumpers When power is applied to the drive with jumper 11 removed the Auto matic Test function will rotate the motor in an Alternating mode approximately 6 revolutions at 1 rps INSTALLATION OEM650 OEM650X 3 Slide the drive cover back on 4 Attach the motor to A A B B Do not connect the motor to the load at this time refer to Figure 2 2 for 23 size motors or Figure 2 3 for 34 size motors OEM size 23 motors may be wired in a series or parallel configuration If you are using a 75VDC power supply OEM300 with the drive or drive indexer Compumo tor recommends that you use a series configuration however 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 serial configuration This increase in drive temperature will not affect the unit s performance but it may adversely affect heat sensitive devices that are stored within the same enclosure Size 23 motors may be wired in series or parallel configurations OEM57 40 MO
2. 5 After verifying that the motor moves CW and CCW turn off power CAUTION RS 232C signals are not on pins 2 3 and 7 on the 25 pin D connector REMOTE REF CURRENT DUMP 0 O o o o o o o o o o o Refer to Figures 2 2 and 2 3 for specific motor wiring instructions Figure 2 8 OEM650X Test Configuration 12 OEM650 OEM650X INSTALLATION OEM650 OEM650X Mounting The OEM Drive mounting is designed to minimize panel area or footprint refer to Figure 2 9 An optional heatsink can also be used to configure the drive for minimum depth This surface must be thermally coupled to a cold plate in most applications Figure 2 9 OEM650 OEM650X Dimensions 2x 0 177 Thru Clearance for 8 PHP Screw REMOTE REF CURRENT DUMP VDC VDC Mounting Clearance Exposed aluminum Mtg Clearance for electrical grounding 13 INSTALLATION OEM650 OEM650X Panel Layout If you mount the OEM650 OEM650X in an enclosure observe the following guidelines D Do not mount large heat producing equipment directly beneath the OEM650 or OEM650X D Do not mount the OEM650 directly below an indexer the drive produces more heat than an indexer J Fan cooling may be necessary Refer to the subsequent instructions and diagrams in this section for specific mounting information a
3. The motor stalls at high speeds The velocity is too high Motor current is not set correctly Motor is undersized for 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 that the motor is sized correctly for your application The motor stalls during acceleration Motor current is not set correctly The acceleration is set too high There is insufficient rotor inertia Motor is undersized for application Check the current select resistor and verify that the current is set correctly Decrease the acceleration Add inertia to the motor shaft Verify that the motor is sized correctly for your application The motor There is insufficient rotor inertia unloaded stalls at nominal speed Mid frequency resonance Add inertia to the motor shaft Add a damper to the shaft Motor does not move commanded Motor resolution is set incorrectly Determine the resolution on your indexer and verify that the drive distance resolution setting is the same Motor will not The direction input is not being Verify that the direction input is being change direction as enabled enabled 6 4 mA to 15 mA commanded There is a direction conflict within the indexer Indexer moves motor in wrong direction Change direction within your indexer or by swapping m
4. 10 watt power resistor such as a Dale RH 10 is the recommended power dump resistor The resistor must be adequately heat sunk to meet its rated wattage The power dump resistor must be connected between the DUMP and VDC screw terminals CAUTION Never allow the voltage supplies by the power supply to exceed 80VDC Damage to the power dump resistor may result OEM650 OEM650X TUNING amp SPECIFICATIONS 3 Tuning amp Specifications Chapter Objectives The information in this chapter will enable you to D Tune and operate your system at maximum efficiency D Use the information to compare system performance with different motor power and wiring configurations speed torque curves Short Circuit Protection The OEM Series is protected against phase to phase and phase to ground short circuits The drive is designed to withstand short circuits during initial power up Short circuits that occur while the motor is operating may damage the drive Never short circuit the motor leads for motor braking Resonance Resonance exists in all stepper 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 OEM650X s microstepping capability allows you to operate a motor smoothly at low speeds Motors that will not accelerate past 1 rps may b
5. OEM57 51 MO OEM57 83 MO Size 23 OEM650 Motors Series Wiring RED BLUE GREEN ORANGE Top View YELLOW BLACK BROWN WHITE Size 23 OEM650 Motors Parallel Wiring RED BLUE GREEN ORANGE Top View YELLOW BLACK BROWN WHITE Figure 2 2 NEMA 23 Size OEM Motor Wiring Series amp Parallel OEM650 OEM650X INSTALLATION OEM size 34 motors are internally wired in parallel A 75VDC power supply OEM300 must be used to achieve maximum perfor mance 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 perfor mance achieved by using the 75VDC power supply O Size 34 motors are internally wired in a parallel configuration OEM83 62 MO OEM83 93 MO OEM83 135 MO Size 34 OEM Series Motors Parallel Wiring Top View Figure 2 3 NEMA 34 Size OEM Motor Wiring Series 5 Set motor current Table 2 7 contains the proper motor current settings for Compumotor OEM motors A 1 4 watt resistor connected between REF and CURRENT sets motor current Adjust the drive current to match the motor that you are using Motor Current Selection Resistor REMOTE REF CURRENT For best ins
6. 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 ol After you have tested the system s functions and become familiar with the system s basic features carefully read Chapter 2 Oo After you have read Chapter 2 and clearly understand what must be done to properly install the system begin the installation process Do not deviate from the instructions provided NX Before you customize your system check all of the system func tions and features to ensure that you have completed the installa tion process correctly The successful completion of these steps will prevent subsequent 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 OEM650X and OEM350X Warnings amp Cautions Warning and caution notes alert you to problems that may occur if you do not follow the instructions correctly Situations that may cause bodily injury are presented as warnings Situations that may cause system damage are presented as cautions WARNING Do not touch the mo
7. 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 ol Using the indexer send step pulses to the drive that will rotate the motor one CCW revolution at 1 rps The drive s default direction is CCW i e if the 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 reverse the direction sense for your system by reversing the 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 O Disconnect cables and resistor OEM650 OEM650X INSTALLATION To connect the OEM650 to the Compumotor indexer use the cable provided with the indexer The cable should fit into the OEM650 s 25 pin D connector as shown in this figure No additional wiring is necessary Refer to the indexer s user guide for any specific instructions associated with the Compumotor indexer Compumotor Refer to Figures 2 2 and 2 3 for specific motor wiring instructions Figure 2 6 OEM650 with Compumotor Indexer Test Configuration To connect the OEM650 to a non Compumotor indexer or pulse g
8. 16 The OEM produces a Shutdown output that is identical to the 5V indexer s internal signal This Minimum high level output 4 26V output may be used to slave to Source 24mA another drive or to monitor the Maximum low level output 0 44V Sinks 23 mA OEM650X The Shutdown output s default state is logic high The figure represents a typical configuration of this output Refer to the ST command Closed Loop Operation Closed loop moves require an external encoder to provide position correction signals Motor position may be adjusted to reach the desired position To implement the closed loop functions you must 28 OEM650 OEM650X INSTALLATION connect a single ended incremental optical encoder to the OEM650X When an encoder is used the following functions will be added to the system OM Encoder referenced positioning 1 Encoder position servoing d Motor stall detection Higher accuracy homing function D Multi axis stop also available without an encoder see FSF in command reference Encoder Inputs A B Z Signals 17 19 The OEM650X has three dedicated inputs for use with a single ended incremental encoder These inputs in conjunction with the FS com mands will determine the lt l HCT244 encoder functionality 5V Maximum low level input 0 8V Sinks 1 2 mA 4 75k e Minimum high level input 2V Trigger Inputs 1 3 Signals 20 22 The OEM650X has three dedi cated
9. 4 64 KQ 0 8 18 2 KQ 0 2 27 4 KQ 1 4 5 90 kQ 0 7 21 5 KQ Table 2 9 OEM350 350X Resistor Selection for Motor Current 6 Connect a 24VDC 75VDC power supply to VDC and VDC Refer to Figure 2 5 for a diagram of this connection and the complete OEM650 test configuration Refer to Figures 2 2 and 2 3 for specific motor wiring instructions Figure 2 5 OEM650 Test Configuration WARNING Reversing VDC and VDC can seriously damage the drive 7 Apply power The OEM s green power LED should be on If the red FAULT LED is on consult Chapter 4 Troubleshooting After verifying that the motor moves CW and CCW turn off power Disconnect cables and resistor O Snap off cover Install jumper 11 O Replace cover INSTALLATION OEM650 OEM650X Quick Test OEM650 with Separate Indexer 1 Complete steps 1 6 from the OEM650 Quick Test but do not remove jumper 11 Auto Test Function 2 To connect a Compumotor indexer to the OEM650 s 25 pin D connector refer to Figure 2 6 To connect a non Compumotor indexer to the OEM650 s 25 pin D connector refer to Figure 2 7 3 Apply power The OEM s green power LED should be on If the red FAULT LED is on consult Chapter 5 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 OEM650 4 Using the indexer
10. Al Problem Isolation 41 Front Panel LEDS 4 42 Common Problems and Solutions pp 42 Testing the Motor eee 4d RS 232C Problems 45 Software Debugging Tips 46 Returning the System 00 ecceceeseecceneeeeceneeeeceeeeeeeeeseeeeesaeeeeeseseeesaeeneeseeeeeeaesaees 46 Index 49 iii OVERVIEW OEM650 OEM650X How To Use This User Guide This user guide is designed to help you install develop and maintain your system 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 information in this user guide Assumptions To use this product and its instructions effectively you should have a fundamental understanding of the following information 1 Electronics concepts voltage switches current etc T 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 OEM650 or OEM650X 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 specifica t
11. The drive will shut down if its heatplate temperature exceeds 58 C 136 F To measure drive temperature under operating conditions position a thermal probe on the left edge of the heatplate approximately 1 5 from the top of the drive as shown in Figure 2 12 Measure heatplate temperature 4 on left side 1 5 from top of drive Figure 2 12 Heatplate Temperature Measurement To keep the drive cool and ensure that over temperature protection does not unexpectedly shut down the drive the temperature of the mounting surface adjacent to the drive should not exceed 55 C 131 F 15 INSTALLATION OEM650 OEM650X Two types of optional heatsinks can be used for applications that do not have an adequate mounting surface Mounting With OEM HS1 The small heatsink OEM HS1 is intended to be used with a current setting up to 5A in still ambient 25 C air If the drive is to be mounted in an ambient environment hotter than 25 C active cooling forced air will be required to maintain the heatsink temperature below 55 C This heatsink may be purchased as an option Two 8 32 screws are needed to mount the OEM650 OEM650X to the OEM HS1 heatsink Use a star washer on the bottom screw to ensure proper electrical grounding Two 8 screws should be used to mount the OEM HS1 to the cabinet heatsink Do not use a star washer between the back of the OEM or heatplate and the mounting surface The mounting surface must be flat
12. Use thermal grease or thermal pads to facilitate heat transfer from the drive s heatplate to your mounting surface 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 2x 8 32 UNC 2B Thru One Fin 2x 0 187 Thru 2x 8 32 UNC 2B Thru Figure 2 13 OEM HS1 Dimensions 16 OEM650 OEM650X INSTALLATION With the OEM HS1 the drive may be mounted in two different configurations refer to Figures 2 14 and 2 15 One configuration provides the maximum amount of panel or mounting space mini mum area The other configuration provides minimum depth Panel layout for minimum area is shown in Figure 2 14 Minimum Figure 2 14 OEM650 OEM650X OEM HS1 Minimum Area Panel Layout Panel layout for minimum depth is shown in Figure 2 15 gt Minimum Betwen Mounting Holes Figure 2 15 OEM650 OEM650X OEM HS1 Minimum Depth Panel Layout 17 INSTALLATION OEM650 OEM650X Mounting With OEM HS2 The large heatsink OEM HS2 is intended to be used with a current setting up to the drive maximum of 7 5A in still ambient 25 C air If the drive is to be mounted in an ambient environment hotter than 25 C active cooling forced air will be required to maintain the heatsink temperature below 55 C This heatsink may be purchased as an option to p
13. ship the drive to Parker Compumotor have someone from your organization with a technical understanding of the OEM650 OEM650X and its application include answers to the following questions e What is the extent of the failure reason for return e How long did it operate e How many units are still working 46 OEM650 OEM650X TROUBLESHOOTING How many units failed What was happening when the unit failed i e installing the unit cycling power starting other equipment etc How was the product 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 are required hardware software user guide Call Parker Compumotor s Applications Engineering Department 800 358 9070 for a Return Material Authorization RMA number Returned products cannot be accepted without an RMA number Ship the unit to Parker Compumotor Corporation 5500 Business Park Drive Rohnert Park CA 94928 Attn RMA xxxxxxx 47 TROUBLESHOOTING OFEHM650 ODE1M650X 48 Index A Accessories High Current Heatsink 4 Low Current Heatsink 4 accessories 4 Accuracy 36 Attaching the Load 22 Automatic Test 5 C Closed Loop Operation 28 Comm
14. 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 5 To test the terminal or terminal emulation software and the RS 232C cable for proper three wire communication unhook the OEM650X and enter a character You should not receive an echoed character If you do you are in half duplex mode Con nect the host s transmit and receive lines together and send another character You should receive the echoed character If not consult the manufacturer of the host s serial interface for proper pin outs Software Debugging Tips This section offers helpful tips for debugging programs and under standing errors and fault conditions The OEM650 OEM650X 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 1S Input Status Report BS Buffer Status Report B Buffer Status Report Returning the System If your OEM650 OEM650X 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 OEM650 OEM650X to effect repairs or upgrades use the following steps 1 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 by Parker Compumotor to be out of warranty 2 Before you
15. 6 ee 27 Output 1 Signal 10 and Output 2 Signal 8 cece eeeeceeeeeeteeeeeeeeeteeneeees 27 Dedicated Fault Output Signal 9 pe Sequence Inputs 1 3 Signals 11 13 RS 232C Tx Signal 14 Rx Signal 15 and Ground Signal 7 pp 28 Shutdown Output Signal 16 Ne 28 Closed Loop Operation pp 28 Trigger Inputs 1 3 Signals 20 22 oo ee eeeeeceeeeeeseeeeeeeeeeeeeeeeeeeeeeeeeeateaee 29 Address Signals 1 3 Signals 23 25 ecceecccceceseceeeeeeceeeeeeeeeeeeeeeesseeseees 29 Sizing Power SUPPLY A a Ai 31 ii OEM650 OEM650X OVERVIEW 3 Tuning amp Specifications 33 Chapter Objectives oe eeceeceeseeseeeeeeneceeeeaeeeeeeaeeeeeeaeeeeeaeseesaeseeseaesaeeseeeeeeaeeatenas 33 Short Circuit Protection 4 33 Resonance pp 38 Mid Range Instability Tuning Procedures 33 Gauging Motor Resonance 94 Tuning the Drive to the Motor i 8D Motor WaveformS ssssessseesesssiiseriiessitsstinseittatirsstinnttintatnnstinnannnnanenannnnnnnn nanen 35 Performance Specifications 4 36 Accuracy pp 36 Repeatability 36 Hysteresis 2 36 Rotor Inertia 1 36 Motor Performance cccecceeeeeeneeeeeeaeeeeeeeeeeeaaeeeeeaeeeeeaaeeeseaaeeeseaeeeeteaeeeeeieeeeeees 36 4 Troubleshooting 41 Chapter Objectives 0 eee eeceecesseeeeceeeeereeseeaeeeeecaeeeeesaeeeesaeeneesaeseeeeaeseeetaeeneteaeeneeeas 41 Drive Maintenance Al Motor Maintenance
16. 650 Inputs amp Outputs and Internal Connections g 4 Step Output J Direction Output N C CW Limit s gt N C CCW Limit ie Home o Reserved GND Ref Output 2 _ Shutdown _ Encoder Channel A _ Encoder Channel B _ Encoder Channel Z 25 Pin D Connector Mounted on OEM650 Slave Drive Trigger Input 1 N C Fault Output Trigger Input 2 N C Output 1 Trigger Input 3 N C Sequence 1 Sequence 2 Sequence 3 Address Sel 1 N C Address Sel 2 N C Address Sel 3 N C OEM650X Inputs amp Outputs REMOTE REF CURRENT DUMP VDC VDC A A B B DHOOWODNDDODODO Screw Terminal Connections
17. 800 Steps Rev on on on off 50 000 Steps Rev on on off on 36 000 Steps Rev on on off off 25 600 Steps Rev on off on on 25 400 Steps Rev on off on off 25 000 Steps Rev on on on on 21 600 Steps Rev on off off on 20 000 Steps Rev on off off off 18 000 Steps Rev off on on on 12 800 Steps Rev off on on off 10 000 Steps Rev off on off on 5 000 Steps Rev off on off off 2 000 Steps Rev off off on on 1 000 Steps Rev off off on off 400 Steps Rev off off off on 200 Steps Rev off off off off Default Setting Table 2 10 Motor Resolution Jumper Settings Your indexer if you are using an OEM650 and drive should be set to the same resolution If the drive and indexer s motor resolution settings do not match commanded accelerations and velocities will not be performed accurately Jumpers 6 8 Motor Waveform Shape These jumpers control the shape or waveform of the commanded motor current Motor waveforms can reduce resonance problems and allow the motor to run smoothly This function will not operate when the 200 step or 400 step motor resolutions are used Motor Waveform JU6 JU7 JU8 Pure sine off off on 2 3rd Harmonic off on off 4 3rd Harmonic on on on 4 3rd Harmonic off off off 4 3rd Harmonic off on on 6 3rd Harmonic on off off 8 3rd Harmonic on off on 10 3rd Harmonic on on off Default Setting Table 2 11 Motor Waveform Jumper Settings Jumpers 9 10 Auto Standby The Automatic Standby function allows the m
18. OEM650 OEM650X OEM350 OEM350X Drive and Drive Indexer User Guide Compumotor Division Parker Hannifin Corporation p n 88 013157 02 A o O Q O Q Important User Information Installation amp Operation of Compumotor Equipment It is important that Compumotor motion control equipment is installed and operated in such a way that all applicable safety requirements are met It is your responsibility as a user to ensure that you identify the relevant standards and comply with them Failure to do so may result in damage to equipment and personal injury In particular you should review the contents of the user guide carefully before installing or operating the equipment Under no circumstances will the suppliers of the equipment be liable for any incidental consequential or special damages of any kind whatsoever including but not limited to lost profits arising from or in any way associated with the use of the equipment or this user guide Safety Warning High performance motion control equipment is capable of producing rapid movement and very high forces Unexpected motion may occur especially during the development of controller programs KEEP CLEAR of any machinery driven by stepper or servo motors and never touch them while they are in operation High voltages exist with in enclosed units on rack system backplanes and on transformer terminals KEEP CLEAR of these areas when power is applied to the equipment
19. OEM650 OEME650xX Ship kit wid Quick Test OEM650 OEM650X pp mA Quick Test OEM650 with Separate INdexer pp 10 Quick Test OEMO5OX iian iaie iee Laaa a TES Ear e EE 11 OEM650 OEM650X Mounting eceeceeseeeeeeeeeeeeeeeaeeeeeeaeeneecaeseeeeaeseneeaeeneteaeeaneses 13 Panel LAQVOUt ii sesccadecusecisesensediceceazens svetvastaseucudcaeviecuvasenssi svieaceses acnviadeseccvscesviecvass 14 Jumper FUNCHONS o2 lt c ccccecersseevssidenceesesecseavsseidescegcacsccuenacnssi se deaescecennaeandesecevesiesecienas 19 Jumper 1 Motor Current Range Ne 19 Jumpers 2 5 Motor Resolution Ne 19 Jumpers 6 8 Motor Waveform Shape pp 20 Jumpers 9 10 Auto Standby oe eee ceeeeeeeeeeeeeeeneeeeesneseeeeneseeeseeseeeeeaeee 20 dumper 112 Auto Testasin a i 21 Motor MOUNTING osaisi sii isinara papa EAE 22 Attachingthe Load en i a a a EAN E 22 Couplings ina a A E A N A Ace ieee 23 OEM650 Inputs and Outputs 0 ceeee ce eeeeceeeeeeeeeeeeeeceeeeeaeecaeeeeeeseaeseseeeeaeeeeeeeaees 24 Step Input Signal Specification ccecccececeece cece ceeeeeneeeeeeeeeeeeeeeeeeeeseeeeseeeeeeeenee 24 Direction Input Signal Specification 0 0 ee ceeeseseeceeeeeeeeeneeeeeeeeeeeeneeneeeaeeeeeeas 24 OEM650X Inputs and Outputs pe 26 Step Signal 1 amp Direction Signal 2 Outputs cee cceeeee ects eeeeeeeeeeeteeeee 26 CW Signal 3 amp CCW Signal 4 Limit Inputs pp 27 Home Position Input Signal 5 pe 27 Reserved Signal
20. OS 75VDC 3 3A Torque Shaft Power _ oa 30 SPEED RPS OEM650 OEM650X with OEM57 83 MOS 75VDC 3 8A Torque Shaft Power am 20 30 SPEED RPS 37 TUNING amp SPECIFICATIONS OEM650 OEM650X OEM57 Motors Parallel Configuration OEM650 OEM650X with OEM57 40 MOP 38VDC 5 3A Shaft Power Torque nm Ca TORQUE OZ IN 20 30 SPEED RPS OEM650 OEM650X with OEM57 51 MOP 38VDC 6 6A Torque Shaft Power r TORQUE OZ IN 30 SPEED RPS 38 TORQUE OZ IN OEM650 OEM650X TUNING amp SPECIFICATIONS OEM650 OEM650X with OEM57 83 MOP 38VDC 7 5A Torque Shaft Power _ a SNR ca 20 30 SPEED RPS OEM83 Motors z N Q wi gt So rd e 2 OEM650 OEM650X with OEM83 62 MO 75VDC 4 4A Torque Shaft Power m _ 20 30 SPEED RPS 39 TUNING amp SPECIFICATIONS OEM650 OEM650X OEM650 OEM650X with OEM83 93 MO 75VDC 5 6A Torque TORQUE OZ IN 30 SPEED RPS OEM650 OEM650X with OEM83 135 MO 75VDC 6 9A Torque Shaft Power TORQUE OZ IN 20 30 SPEED RPS 40 OEM650 OEM650X TROUBLESHOOTING 4 Troubleshooting Chapter Objectives The information in this chapter will enable you to D Maintain the system to ensure smooth efficient operation D Isolate and resolve system problems Drive Maintenance Ensure
21. Parker Compumotor constantly strives to improve all of its products We reserve the right to modify equipment and user guides without prior notice No part of this user guide may be reproduced in any form without prior consent from Parker Compumotor For assistance in the United States contact For assistance in Europe contact Compumotor Division of Parker Hannifin Parker Digiplan 5500 Business Park Drive 21 Balena Close Rohnert Park CA 94928 Poole Dorset Telephone 800 358 9070 England BH17 7DX Fax 707 584 8015 Telephone 0202 690911 Fax 707 584 8015 Darker 88 013157 02A Compumotor Compumotor Division of Parker Hannifin 1993 All rights reserved OVERVIEW OEM650 OEM650X Contents How To Use This User Guide 0 eceeceeceeeeeeeeeeeeeeeeeseeeeneeeeeseeeeeeaeeeeesaeeeeeeaeeeeeeates iv ASSUMPTIONS a sas aaa Eae reae era aan Aa aae oanad as ae AAEN Pee Ea Anie E i User Guide Contents Installation Process Overview Installation Preparation Software Reference Manual ihe Warnings amp Cautions ccecccccccceccceseeeeeeeeeeeeeeeeaeeceaeeeseeseaeeeeeeeeaeeseeeeeeseaeeeeeeeee 1 Introduction 1 Chapter Objectives 1 OEM650 Description Jeet OEM650X Description sel OEM350 350X Description P Feat O Se a stati s Ea E AE ar Aa aa E Ta EOR AA E SEa r 2 2 Installation 3 Chapter OBj6ctives 2 3 vaniniai nein citeisi a a a a ia 3
22. Table 2 9 for resistor and current values to use with high inductance 10 mH to 80 mH low current motors Jumper 1 Installed Jumper 1 Removed Current Resistance Current Resistance Current Resistance Amps Ohms Amps Ohms Amps Ohms 7 5 0Q 4 9 7 32 KQ 2 5 oQ 7 4 205 Q 4 8 7 68 KQ 2 4 619 Q 7 3 412 Q 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 KQ 6 9 1 27 KQ 4 3 10 0 KQ 1 9 4 53 KQ 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 KQ 1 4 10 5 KQ 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 KQ 1 1 15 8 KQ 6 0 3 57 KQ 3 4 15 0 KQ 1 0 18 2 KQ 5 9 3 92 KQ 3 3 15 8 KQ 0 9 20 5 KQ 5 8 4 22 KQ 3 2 16 5 KQ 0 83 22 6 KQ 5 7 4 53 KQ 3 1 17 4 KQ 5 6 4 87 KQ 3 0 18 2 KQ 5 5 5 11 KQ 2 9 19 1 KQ 5 4 5 49 kQ 2 8 20 0 kQ 5 3 5 76 kQ 2 7 20 5 kQ 5 2 6 19 kQ 2 6 21 5 KQ 5 1 6 49 kQ 2 5 22 6 KQ 5 0 6 81 kQ Table 2 8 OEM650 650X Resistor Selection for Motor Current OEM650 OEM650X INSTALLATION Jumper 1 Installed Jumper 1 Removed Current Resistance Current Resistance Current Resistance Amps Ohms Amps Ohms Amps Ohms 2 0 0Q 1 3 7 32 KQ 0 7 02 1 9 787 Q 1 2 8 87 kQ 0 6 2 21 KQ 1 8 1 62 KQ 1A 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
23. Trigger inputs These inputs are pulled up internally These inputs are used with the FIRR 5V Maximum low level input 0 8V Sinks 1 2 mA Trigger TR command to control Minimum high level input 2V the OEM650X s trigger function lt O The figure represents a typical HeT configuration of these inputs Address Signals 1 3 Signals 23 25 The OEM650X has three dedicated address inputs that allow you to specify a unique address for each OEM650X in your configuration Units may be assigned a valid 5V address from 1 to 8 Each unit _ Ears Maximum low level input 0 8V in the configuration must have a es Sinks 1 2 mA unique address The default Minimum high level input 2V address is 8 all three inputs are internally pulled up The address lt Meri 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 8 7 by tbe e2 Address 1 1 1 1 1 Address 2 1 1 1 1 Address 3 G6 OG OG 1 1 1 1 29 INSTALLATION OEM650 OEM650X Daisy Chaining You may daisy chain up to 8 OEM650Xs Individual drive addresses are set with signals 23 24 and 25 on the 25 pin D connector When daisy chained the units may be addressed individually or simulta neously You should establish a unique device address for each OEM650X Refer to Figure 2 20 for OEM650X dai
24. W Limit te gt 2 7 Encoder Channel A fal gt n 0 Home EPS oe bd 18 Encoder Channel B Be Reserved P ey 19 Encoder Channel Z GND Ref Lig oo 20 Trigger Input 1 N C 9 Output 2 3 eee 9 4 Trigger Input 2 N C e 4 Fault Output 9 21 gger np 5 A Trigger Input 3 N C 8 a Quit hog IEE eem Ww Address Sel 1 N C 3 4 NC Sequence 1 Lig N C N C Sequence 2 lige Address Sel 2 N C N C Sequence 3 Lig Address Sel 3 lt s 1 Figure 2 19 OEM650X Inputs amp Output Schematic CAUTION I O is not OPTO isolated I O GND is common to VDC Step Signal 1 amp Direction Signal 2 Outputs The OEM650X produces a step and direction output that is FSN identical to the indexer s internal Minimum high level output 4 26V i J Source 24mA step and direction signals These outputs can be used to Maximum low level output 0 44V p Sinks 12 mA slave to another drive or to monitor the OEM650X 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 figure represents a typical configu ration of this output 26 OEM650 OEM650X INSTALLATION CW Signal 3 amp CCW Signal 4 Limit Inputs The OEM650X has two dedicated hardware end of travel limits FOV CCW and CW When you secre ia input 0 8V power up the OEM650X these ETK e Minimum high leve
25. bout your configuration Mounting Without a Heatsink If you are operating the OEM650 OEM650X without a heatsink use the panel layout recommendations provided in Figure 2 10 to mount the unit s in an enclosure 0 375 4 FE 2 gt Minimum Figure 2 10 OEM650 OEM650X Without a Heatsink Figure 2 11 shows the heat generated by the OEM650 OEM650X that needs to be dissipated by the mounting surface 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 total thermal dissipation in the OEM650 OEM650xX is almost constant regardless of whether the motor is stationary or in motion The motor current output jumper settings determine the motor phase currents that cause the power losses shown in Figure 2 11 The cabinet s thermal resistance is approximately 0 35 C Watt in still air with the heatplate vertically oriented 14 OEM650 OEM650X INSTALLATION OEM57 83P OEM57 51P OEM83 135 OEM57 83S OEM83 62 OEMS57 40P OEM83 93 Watts OEM57 51S D 2 p Q 3 lo S a OEM57 40S Drive Current Amps S Series Configuration P Parallel Configuration 34 size motors are internally wired in Parallel Figure 2 11 OEM650 OEM650X Power Dissipation Over Temperature Protection The OEM650 OEM650xX is over temperature protected
26. d Motor winding open D Internal fault detected The POWER LED is green and turns on when the internal bias supply is operating and providing 5V Common Problems and Solutions The following table will help you eradicate most of the problems you might have with the OEM650 OEM650X 42 OEM650 OEM650X TROUBLESHOOTING Power LED is not The drive is not receiving Verify the VDC and VDC connection on illuminated adequate DC voltage Verify you power supply is producing adequate power Verify that there is DC voltage at the drive and at the VDC and VDC connection Drive screw are terminals loose Tighten screws do not tin wires Power LED is DC Line voltage is too low Check DC line voltage 24VDC flashing 1 0 incorrectly connected minimum Internal damage to the drive Remove 25 Pin D connector to isolate he problem Return drive to Compumotor for servicing There is little or no The current select resistor is not Check for current select resistor holding torque the installed or loose ighten screws check wiring power LED is on the motor fault LED The incorrect current select Verify the current selector resistor with is off resistor is being used he current table measure the resistor with an ohmmeter Jumper 1 removed and you want nstall Jumper 1 Double check the between 7 5A 2 5A desired resistor value Remote input activated Remove 25 pin D connector to isolate he problem Auto standby function enabled Check ju
27. distance between the ends of two shafts 22 OEM650 OEM650X INSTALLATION Couplings The motor and load should be aligned as accurately as possible Any misalignment may degrade your system s performance There are three types of shaft couplings single flex double flex and rigid Like a hinge a single flex coupling accepts angular misalignment only A double flex coupling accepts both angular and parallel misalignments Both single flex and double flex depending on their design may or may not accept end play A rigid coupling cannot compensate for any misalignment Single Flex Coupling When a single flex coupling is used one and only one of the shafts must be free to move in the radial direction without constraint Do not use a double flex coupling in this situation it will allow too much freedom and the shaft will rotate eccentrically which will cause large vibrations and immediate failure Double Flex Coupling Use a double flexed coupling whenever two shafts are joined that are fixed in the radial and angular direction angular misalignment Do not use a single flex coupling with a parallel misalignment this will bend the shafts causing excessive bearing loads and premature failure Rigid Coupling Rigid couplings are generally not recommended They should be used only if the motor is on some form of floating mounts which allow for alignment compensation 23 INSTALLATION OEM650 OEM650X OEM650 Inputs and Outp
28. e stalling due to resonance You can add inertia to the motor shaft by putting a drill chuck on the shaft The drill chuck may provide enough inertia to test the motor when it is not loaded In extreme cases a viscous damper may also be needed Mid Range Instability All step motors are subject to mid range instability also referred to as parametric oscillations These oscillations may stall the motor at speeds from 6 to 16 rps Tuning Procedures You can tune the OEM650X to minimize resonance and optimize smoothness by adjusting the small potentiometers pots on the top of the unit Figure 3 1 shows the location of the potentiometers and their functions D Phase A Offset Adjusts DC offset of the phase current for Phase A D Phase B Offset Adjusts DC offset of the phase current or Phase B Since tuning is affected by operating current you may have to adjust these pots during the configuration or installation process For best 33 TUNING amp SPECIFICATIONS OEM650 OEM650X results the drive and motor should be on connected to the load and warmed up for 30 minutes prior to tuning Phase B Offset Top View Phase A Offset Figure 3 1 Tuning Potentiometers Gauging Motor Resonance There are several methods that 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
29. ecision measurement equipment you may select the correct motor waveform with one of the three methods described previously in this chapter Tachometer Method Sounding Board Method Stethoscope Method and Touch Method These empirical methods generally yield acceptable results 35 TUNING amp SPECIFICATIONS OEM650 OEM650X Performance Specifications Accuracy 5 arcminutes typical unloaded bidirectional with OEM Series motors Repeatability 5 arcseconds typical unloaded bidirectional Hysteresis Less than 2 arcminutes 0 0334 unloaded bidirectional Rotor Inertia Motor Size Rotor Inertia oz in Rotor Inertia Kg cm OEM57 40 MO 0 38 0 07 OEM57 51 MO 0 65 0 12 OEM57 83 MO 1 36 0 25 OEM83 62 MO 3 50 0 64 OEM83 93 MO 6 70 1 23 OEM83 135 MO 10 24 1 87 Table 3 2 Rotor Inertia OEM Series Motors Motor Performance The performance speed torque curves in this section show that different levels of performance can be achieved by wiring your motor in series or parallel and the power supply used to run the system Size 34 motors are internally wired in parallel and can only be operated in this configuration OEM57 Motors Series Configuration OEM650 OEM650X with OEM57 40 MOS 75VDC 2 65A Shaft Power Torque a e as A N 2 m gt fej O e 20 30 SPEED RPS TORQUE OZ IN TORQUE OZ IN OEM650 OEM650X TUNING amp SPECIFICATIONS OEM650 OEM650X with OEM57 51 M
30. enerator use the pinouts of the OEM650 s 25 pin D k connector as shown in this figure Refer to Refer to Figures 2 2 and the indexer or pulse generator s user guide 2 3 for specific motor for any specific instructions associated with wiring instructions the device Figure 2 7 OEM650 with non Compumotor Indexer or Pulse Generator Test Configuration Quick Test OEM650X 1 Complete steps 1 6 from the OEM650 Quick Test but do not remove jumper 11 Auto Test Function 2 Connect the OEM650X to an RS 232C communications device i e computer PLC etc The OEM650X s communication parameters are listed below J Baud Rate 9600 T Data Bits 8 D Stop Bit 1 J Parity None 11 INSTALLATION OEM650 OEM650X Handshaking is not supported Terminals should be set for full duplex mode 3 Apply power The OEM s green power LED should be on If the red FAULT LED is on consult Chapter 4 Maintenance amp Trouble shooting This test assumes that your indexer s motor resolution is set to 25 000 steps rev This is the default motor resolution setting Jor the OEM650X 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 A19 Set acceleration to 10 rps V19 Set velocity to 10 rps D2500G Set move distance to 1 CW revolution G Initiate move Go H Reverse move direction CCW G Initiate move Go
31. for maximum smoothness in the same way Tuning the Drive to the Motor To tune the OEM650X follow the directions below 1 Command the drive via RS 232C or STEP amp DIRECTION inputs so that the motor is running at maximum roughness as shown in Table 3 1 for the 1st speed motor resonance Motor Size 1st Speed Resonance 2nd Speed Resonance OEM57 40 MO 1 8 rps 3 6 rps OEM57 51 MO 1 8 rps 3 6 rps OEM57 83 MO 1 8 rps 3 6 rps OEM83 62 MO 1 4 rps 2 8 rps OEM83 93 MO 1 4 rps 2 8 rps OEMB83 135 MO 1 4 rps 2 8 rps Table 3 1 Motor Resonance for Unloaded Motors 2 Adjust Offsets A and B for best smoothness 3 Double the motor speed 2nd speed resonance until the motor runs rough again 4 Adjust offsets A and B again for best smoothness 5 Repeat above steps until no further improvement is noted Motor Waveforms Step motor manufacturers make every effort to design step motors that work well with sinusoidal current waveforms However due to physical limitations most motors operate best with a current wave form 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 matching will also help the motor run more smoothly This can be changed with jumpers 6 8 refer to Table 2 11 Motor waveforms are usually adjusted after the drive has been tuned to its motor If you do not have pr
32. gs as low as 0 5 mH may be used Use the OEM350 OEM350X with motors whose inductance is in the 10 mH to 80 mH range The OEM650 OEM650xX provides the following features O Microprocessor controlled microstepping provides smooth opera tion over a wide range of speeds O Full short circuit protection for phase to phase and phase to ground short circuits O Motor regeneration protection iz Over temperature protection Uses low inductance motors for improved high speed performance 23 34 frame size motors available with torques from 65 400 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 are compatible with all Compumotor indexers 25 pin D connector Oo O A fault output to signal other equipment if a fault occurs 24VDC 75VDC single power input 16 jumper selectable motor resolutions 200 50 800 steps rev 2 Mhz step input Waveform correction and phase offset for improved smoothness Built in indexer position controller Ta a E M2 option allows users to store programmed sequences in nonvolatile memory I O for motion and basic machine coordination N OEM650 OEM650X INSTALLATION 2 Installation Chapter Objectives The information in this chapter will enable you to O Verify that each component of your system has been delivered safely and completely O Become familia
33. he same frame size from other manufacturers may sustain considerably higher iron losses than an OEM650 OEM650X motor OEM motors are wound to render inductances within a range suitable for OEM Series prod ucts If you do not use an OEM Series motor you should consult Compumotor s Applications Engineering Department for assistance 800 358 9070 OEM650s OEM650Xs are designed to run 2 phase PM step motors only Do not use variable reluctance or DC motors 31 INSTALLATION OEM650 OEM650X Current Amps Compumotor has assigned the values shown in Table 2 14 for OEM Series motors to produce the highest possible torque while main taining smoothness Higher currents will produce higher static torque but the motor will run roughly and may overheat 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 surges caused by a regenerative load The power dump circuit is used in conjunction with an externally mounted power resistor The circuitry effectively closes a switch to ground when the power supply voltage exceeds 85VDC This switch terminal is at the screw termi nal 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 unit from overvoltage caused by a poorly regulated or faulty power supply A 35Q
34. ions speed torque curves environmental specifications etc Tuning procedures that are designed to help you operate your system at peak performance are also provided Chapter 4 Troubleshooting This chapter contains information on identifying and resolving system problems Descriptions of LED signals debugging tools problems solutions table are included Installation Process Overview To ensure trouble free operation pay special attention to the envi ronment in which the equipment will operate the layout and mount ing and the recommended wiring and grounding These recommen dations will help you easily and safely integrate the OEM650 OEM 650X into your manufacturing facility If your environment contains conditions that may adversely affect solid state equipment electrical noise or atmospheric contamination be sure to follow any special instruction to ensure the safety and long life of your equipment iv OEM650 OEM650X OVERVIEW 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 CD Complete the basic system configuration and wiring instructions in a simulated environment not a permanent installation pro vided in Chapter 2 Installation A
35. ions of motors and current levels other than those shown may result in power values that are not recommended Connection OEM57 motors may be configured in parallel or series OEM83 motors must be wired in parallel Refer to the OEM650 Quick Test Motor Size Motor Motor Heat Drive Supply 75VDC Current Avg Shaft Power Heat Total OEM57 40 MOS 2 65A 56 Watts 9 Watts 65 Watts OEM57 40 MOP 5 3A 56 Watts 19 Watts 75 Watts OEM57 51 MOS 3 3A 75 Watts 11 Watts 86 Watts OEM57 51 MOP 6 6A 75 Watts 25 Watts 100 Watts OEM57 83 MOS 3 8A 86 Watts 13 Watts 99 Watts OEM57 83 MOP 7 5A 86 Watts 31 Watts 117 Watts OEM83 62 MO 4 4A 113 Watts 15 Watts 128 Watts OEM83 93 MO 5 6A 133 Watts 20 Watts 153 Watts OEM83 135 MO 6 9A 155 Watts 27 Watts 182 Watts S Series Configuration P Parallel Configuration 34 size motors are internal wired in Parallel User must supply this level of wattage Table 2 14 Power Sizing Use the following equation to determine drive heat Drive Heat Watts 0 31 Iy 1 13 ly 3 Iq Motor Current Calculations To convert watts to horsepower divide by 746 QO To convert watts to BTU hour multiply by 3 413 QO To convert watts to BTU minute multiply by 0 0569 Motor Type OEM650 OEM650X motors are custom made for use with these drives and drive indexers They are not available as a standard model from any other manufacturer These motors are designed for low loss at rest and at high speed Motors in t
36. is run independently 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 use them to replace existing components in your system to help identify the source of the problem 41 TROUBLESHOOTING OFEHM650 OE1M650X Determine if the problem is mechanical electrical or software related Can you repeat or re create the problem Random events may appear to be related but they may not be contributing factors to your problem Investigate the events that occur before the subse quent system problem You may be experiencing more than one problem You must solve one problem at a time Document all testing and problem isolation procedures You may need to review 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 call Compumotor at 800 358 9070 Front Panel LEDs There are two LEDs on the front panel of the OLEM650 OEM650X refer to Figure 5 1 Green POWER LED Red FAULT LED f REMOTE REF CURRENT DUMP VDC Figure 5 1 OEM650 OEM650X LEDs The FAULT LED is red and turns on when the amplifier is disabled This LED is activated when any of the following conditions occur T Motor short circuit detected Li Drive over temperature
37. ize 34 Motors Table 2 4 Double Motor Shaft Option The following accessories are available Accessories Part Number OEM650 OEM650X User Guide 88 013157 02 OEM Series Software Ref Guide 88 013785 01 Low Current Heatsink OEM HS1 High Current Heatsink OEM HS2 Table 2 5 OEM650 0EM650X Accessories Evaluation kits Evaluation kits include all items necessary to evaluate the OEM650 OEM650 EK and OEM650X OEM650X EK in a simulated produc tion environment The kits are intended to be used to prototype a machine or operation before production units are purchased The following items are included in an evaluation kit Motors must be ordered separately they are not included in the kit If a component is missing contact Compumotor s Customer Service Department Part Part Number Drive or Drive Indexer OEM650 or OEM650X OEM650 OEM650X User Guide 88 013157 02 OEM Series Software Ref Guide 88 013785 01 High Current Heatsink OEM HS2 Ship kit Items Resistors for current selection the following types are available 21 0KQ 1 Resistor 12 008319 01 e 5 76KQ 1 Resistor 12 008265 01 e 15 8KQ 1 Resistor 12 008307 01 2 05KQ 1 Resistor 12 008222 01 12 7KQ 1 Resistor 12 008298 01 0 00KQ 5 Resistor 12 003645 01 9 53KQ 1 Resistor 12 008286 01 4 87KQ 1 Resistor 12 008258 01 1 27KQ 1 Resistor 12 008202 01 O Screwdriver 58 013155 01 25 Pin D Mating Connector 43 001989 01 O X Ware Support Disk OEM650X EK Only e 3 1 2 Di
38. l input 2V inputs are enabled high To test the OEM650X without connect lt ing the CCW and CW limits you HOTE must disable the limits with the LD3 command You can use the Limit Switch Status Report RA and Input Status IS commands to monitor the limits status The figure represents a typical configura tion of these inputs Home Position Input Signal 5 The OEM650X has one dedicated 5V home input The Home Limit i _ i Maximum low level input 0 8V input allows you to establish a Ao Sinks 1 2 mA home reference input This input Minimum high level input 2V is not active during power up Refer to the Go Home command lt Metai 9 for more information on setting up and using this function The figure represents a typical configu ration of this input Refer to the OS and GH commands Reserved Signal 6 This signal cannot currently be used to perform any function in this release of the OEM650X Additional functionality may be provided in future revisions Output 1 Signal 10 and Output 2 Signal 8 The OEM650X has two dedicated programmable outputs They ace may be used to signal peripheral e Minimum high level output 4 26V Source 24mA devices upon the start or comple gt tion of a move The default state Sinks 23 mA ae for Outputs 1 and 2 is logic low The figure represents a typical configuration of these outputs Refer to the O command Dedicated Fault Output Sig
39. me size as the OEM650 and it incorporates the same design technologies bipolar recirculating microstepping drive designed to drive two phase permanent magnet hybrid step motors custom ASIC surface mount and MOSFET technologies The indexer utilizes commands from Compumotor s popular and easy to use X Series Language The indexer also provides additional I O control and communication OEM350 350X Description The OEM350 OEM350X is a low power version of the OEM650 drive It is designed for use with step motors that have lower current ratings and higher inductance 10 mH to 80 mH than Compumotor INTRODUCTION OEM650 OEM650X step motors Operation of the OEM350 OEM350xX is identical to that of the OEM650 OEM650x For clarity instructions in this manual use only the name OEM650 OEM650X Except where differences are specifically noted resistor values for motor current settings for example OEM650 instructions also apply to the OEM350 and OEM650xX instructions also apply to the OEM350X Features The OEM650 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 operation The motor s inductance cannot drop below 0 5 mH For best performance motor inductance should be between 1 mH and 10 mH but motors with inductance ratin
40. mpers 9 and 10 The motor fault LED The motor is not connected Connect the motor is on A motor winding is open Measure winding continuity check the series connections for an 8 leaded motor The drive has detected a short Check for miswiring carefully check circuit in the motor wiring the motor wires for loose strands shorting the windings The drive is overheating Verify that the drives heatsink does not exceed 55 C The drive may have internal Return the drive to Compumotor for damage servicing The motor moves Motor current is set incorrectly Check the current select resistor and erratically at low verify that the current is set correctly speeds Indexer pulses are being sent to Verify with an oscilloscope that the the drive erratically indexer pulses are being sent at a constant rate and are not being frequency modulated Motor resolution is set for 200 or Full and half step modes will cause the 400 steps per revolution motor to run roughly at low speeds 43 TROUBLESHOOTING OFEHM650 DE1M650X The drive loses pulses at high speed Indexer is overdriving step input Indexer is underdriving step input Indexer is sending pulses too fast Motor is out of torque 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
41. nal 9 The OEM650X has one dedicated BV fault output This output may be 4 75k used to signal peripheral devices o eran Output Oey if a unit failure occurs The Fault 5 oii Reladinaeal output s default state is logic high The figure represents a 85170 27 INSTALLATION OEM650 OEM650X typical configuration of this output Sequence Inputs 1 3 Signals 11 13 The OEM650X has three dedi 5V cated sequence inputs that allow you to control seven different 5 Maximum low level Input 0 8 Sinks 1 2 mA sequences Refer to the X ISR commands for information on how to control these inputs lt Sequence is not a valid Horea sequence e Minimum high level input 2V Sequences are executed remotely by using one of the following logic patterns 1 represents a 5V signal represents a V signal Sequence a a 2 ee O SEQ Input 1 1 1 1 1 SEQ Input 2 o 1 1 1 1 SEQ Input 3 o G6 OG GO 1 1 1 1 The figure represents a typical configuration of these outputs RS 232C Tx Signal 14 Rx Signal 15 and Ground Signal 7 The OEM650X uses RS 232C as its communication medium This indexer does not support hand on f Meets EIA RS 232C amp CCITT shaking A typical three wire Rx V 28 specifications lt Rx Tx and Signal Ground configu ration is used The figure represents a typical RS 232C Signal ground configuration a Shutdown Output Signal
42. on Problems and Solutions 42 Compumotor indexer 10 Couplings 23 Current Amps 32 D Daisy Chain Configuration 30 debugging 46 Direction Input 24 double flexed coupling 23 Drive Maintenance 41 E enclosure 14 Encoder Compatibility 29 end of travel limits 27 Evaluation kits 4 F failed drive 46 Fancooling 14 FaultLED 42 Fault Output 25 flange bolts 22 G Gauging Motor Resonance 34 tachometer 34 Gear Shift Input 26 H heatplate 14 Hysteresis 36 l O fault output 27 Inductance Range OEM350 1 Inductance Range OEM650 2 J Jumper Settings Auto Standby 20 Auto Test 21 Motor Current Range 19 Motor Resolution 19 Motor Waveform Shape 20 L load 22 OEM650 0EM650X INDEX Metric Heatsink 16 mid range instability 33 misalignments 22 motor motor waveform 35 Motor Configuration parallel 6 series 6 motor current 8 Motor Current Selection Resistor 7 motor current 7 Motor Maintenance 41 Motor Performance 36 Motor Resonance for Unloaded Motors 35 Motor Type 31 Motor Waveforms 35 Motor Wiring NEMA 23 Size OEM 6 NEMA 34 Size OEM Motor 7 Motors double shaft option 3 single shafted 3 motors 3 Mounting screws 16 Mounting With OEM HS1 16 Mounting Without a Heatsink 14 N non Compumotor indexer 10 non Compumotor motor 8 0 OEM HS1 Minimum Area Panel Layout 17 OEM HS1 Minimum Depth Panel Layout 17 OEM HS2 Minimum Area Panel Layout 19 OEM350 Description 1 OEM650 Inputs amp Output Schema
43. onduct when the drive is functioning properly The transistor will not conduct properly when any of the following conditions exist 1 No power is applied to the drive D There is insufficient voltage lt 24VDC D The driver detects a motor fault D The remote input is enabled This output has the following electrical characteristics J Vos 835VDC O Voesar 0 3VDC D Collector Current 10 mA maximum D Dissipation 100 mW maximum 25 INSTALLATION OEM650 OEM650X Gear Shift Input The Gear shift input is an optically isolated input that uses and ILQ2 quad OPTO isolator The GS terminal is connected to the anode of the OPTO lead via a 681 current limiting resistor The GS terminal is connected to the cathode of the OPTO lead The OPTO requires a minimum of 3 5 mA approximately 3 5VDC to ensure proper system operation This function allows a user with a limited frequency generator to achieve higher velocities while using high resolution settings This is accomplished by the drive multiplying each step pulse that it re ceives by a factor of 8 This function may be invoked on the fly however to prevent stalling and to keep track of motor position it should only be invoked when the motor is not moving OEM650X Inputs and Outputs Y 4 stepouput Ip N i Ou x fal Direction Output 2 3 _ gt u 4 715 RX X O N C CW Limit EPS D Y X 16 _ Shutdown vy i N C CC
44. otor leads A and A at the drive connector When a move is commanded no motion occurs 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 Check hard limit or disable limits with the LD3 command Try another distance and issue Go G command The unit may appear to not be responding to If you defined a sequence and never issued XT the OEM650 OEM650x still thinks Issue an XT command at the end of the sequence to end sequence definition commands you are defining a sequence OEM650X may be off line F Issue an E command to bring the unit command on line 44 OEM650 OEM650X TROUBLESHOOTING Testing the Motor If the motor fails to move you should test the motor with an ohmme ter 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 motor is not faulty remove power and remove the motor from the drive Use the follow ing 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 CD Now use the ohmmeter to check the resistance across Phase B It should be approxima
45. otor to cool when it is not moving This function reduces the current to the motor when the drive does not receive a step pulse for one second Full current is restored upon the first step pulse that the drive receives Do not use this function in systems that use an indexer and an encoder for position maintenance If used in this environment the system will go in and out of the Auto Standby mode 20 OEM650 OEM650X INSTALLATION Standby Current JU9 JU10 Full Current on on 75 Current off on 50 Current on off 25 Current off off Default Setting Table 2 12 Auto Standby Jumper Settings Jumper 11 Auto Test The Automatic Test function turns the motor shaft slightly less than six revolutions in Alternating mode at 1 rps The Automatic Standby function and motor resolution settings are disabled when you use the Automatic Test function Auto Test JU11 Enabled off Disabled on Default Setting Table 2 13 Auto Test Jumper Settings 21 INSTALLATION OEM650 OEM650X Motor Mounting Rotary stepper motors should be mounted with flange bolts and positioned with the centering flange on the front face Foot mount or cradle configurations are not recommended because the motor s torque is not evenly distributed around the motor case and they offer poor registration Any radial load on the motor shaft is multiplied by a much longer lever arm when a foot mount is used rather than a face flange WARNING Improper moun
46. output a DC voltage propor tional 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 tuning method is to tune the motor for its 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 phenomenon will cause an audible vibration The goal of this tuning method is to tune the motor 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 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 tuning method is to tune the motor for the least amount of vibration 34 OEM650 OEM650X TUNING amp SPECIFICATIONS 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 velocity Once the reso nance speed is located you can tune the motor
47. r with components and their interrelationships O Ensure that each component functions properly by bench testing O Mount unit within recommended thermal specifications OEM650 OEM650X Ship kit Inspect the OEM650 or OEM650X 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 receive either a drive OEM650 or drive indexer OEM650X Compare your order with the units shipped Part Part Number OEM Microstepping Drive OEM650 OEM Microstepping Drive Indexer OEM650X Table 2 1 OEM650 Drive amp OEM650X Drive Indexer The following options may be used with the OEM650X Option Description M2 Nonvolatile Memory 2k BBRAM Table 2 2 OEM650X Options The following motor s may be used with the OEM650 and OEM650X Compare your order with the motors shipped Part Part Number Size 23 1 2 Stack Stepping Motor OEM57 40 MO Size 23 1 Stack Stepping Motor OEM57 51 MO Size 23 2 Stack Stepping Motor OEM57 83 MO Size 34 1 Stack Stepping Motor OEM83 62 MO Size 34 2 Stack Stepping Motor OEM83 93 MO Size 34 3 Stack Stepping Motor OEM83 135 MO Table 2 3 OEM650 amp OEM650X Motors The standard OEM650 Series motor is single shafted Motors can be purchased with a double shaft option INSTALLATION OEM650 OEM650X Option Description DS23 Double Shaft Size 23 Motors DS34 Double Shaft S
48. rovide adequate drive cooling when adequate cooling cannot otherwise be achieved refer to Figures 2 16 and 2 17 Secure the drive or drive indexer to the heatsink with 8 screws Use thermal grease or a thermal pad between the unit and the heatsink to facilitate heat transfer Secure the drive and heat sink to your mounting surface with two 8 screws 2x 8 32 UNC 2B Thru 2x 0 187 Thru Figure 2 16 OEM HS2 Dimensions 18 OEM650 OEM650X INSTALLATION 5 5 _ Minimum Figure 2 17 OEM650 OEM650X OEM HS2 Minimum Area Panel Layout Jumper Functions Figure 2 1 shows the location and function of the 11 OEM650 OEM650X jumpers When the unit is shipped to you all 11 jumpers are installed Each jumper s function is defined in this section Jumper 1 Motor Current Range This jumper sets the range of user configurable motor current settings Refer to Tables 2 8 and 2 9 for motor current values with jumper 1 installed and removed Jumpers 2 5 Motor Resolution These jumpers control motor resolution how many steps are in one revolution Although higher resolutions typically result in finer positioning and improved low speed smoothness it does not necessar ily result in improved accuracy 19 INSTALLATION OEM650 OEM650X Resolution JU2 JU3 JU4 JU5 50
49. sk 95 013066 01 e 5 1 4 Disk 95 013067 01 Table 2 6 OEM650 Series Evaluation kit Contents Quick Test OEM650 OEM650X Use the following steps to set the drive s jumpers wire the unit and test your system You will need the following tools Needle nose pliers or tweezers O Flathead screw driver 1 10 4 OEM650 OEM650X INSTALLATION WARNING The drive and motor should be mounted to a heatsink Drive mounting does not affect the following tests but if you operate the OEM650 OEM650X for extended periods without proper mounting it will damage the drive and or motor 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 1 Remove the cover by applying pressure to the 25 pin D connector To remove cover When the cover is push the 25 pin D removed the connector in while jumpers will be holding the sides of visible at the upper the unit Jumpers portion of the unit olololcigicig ej e e e o o ol Compumotor Compumotor Made In USA Made In USA TR TT WOU TTTOUO WA UUAA AWA 0 WOODA A 0 DONMA TH Prod G571G2 2 6 G17 G1G Prod 571 2 2 6 17 1 5500 Business Park Dr Rohnert Park CA_94928 5500 Business Park Dr Rohnert Park CA_94928
50. sy chain wiring Figure 2 20 Daisy Chain Configuration Commands prefixed with a device address control only the unit specified Commands without a device address control all units on the daisy chain The general rule is Any command 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 units from all transmitting at the same time Attach device identifiers to the front of the command The Go G command instructs all units on the daisy chain to go while 1G tells only unit 1 to go When you use a single communications port to control more than one OEM650xX all units in a daisy chain receive and echo the same commands Each device executes these commands unless this command is preceded with an address that differs from the units on the daisy chain This becomes critical if you instruct any indexer to transmit information To prevent all of the units on the line from responding to a command you must precede the command with the device address of the designated unit No OEM650X executes a device specific command unless the unit number specified with the command matches the OEM650 s unit number Device specific commands include both buffered and immediate commands 30 OEM650 OEM650X INSTALLATION Sizing Power Supply Table 2 14 contains power ratings to help system designers size a power supply Combinat
51. tallation DUMP results be sure that the VDC resistor lead wire is long VDC enough for easy insertion A into the REF and A CURRENT terminals B B Geeeeeeeee OEM650 OEM650X Terminals Figure 2 4 Motor Current Selection Resistor INSTALLATION OEM650 OEM650X Motor Size Current Resistor Voltage OEM57 40 MOS 2 65A 21 0 KQ 48 75VDC OEM57 40 MOP 5 3A 5 76 KQ 24 48VDC OEM57 51 MOS 3 3A 15 8 KQ 48 75VDC OEM57 51 MOP 6 6A 2 05 kQ 24 48VDC OEM57 83 MOS 3 8A 12 7 KQ 48 75VDC OEM57 83 MOP 7 5A 0 00 kQ 24 48VDC OEM83 62 MO 4 4A 9 53 KQ 24 75VDC OEM83 93 MO 5 6A 4 87 kQ 24 75VDC OEM83 135 MO 6 9A 1 27 kQ 24 75VDC S Series Configuration P Parallel Configuration 34 size motors are internally wired in parallel Table 2 7 OEM Drive Motor Current Compumotor Motors If you use a non Compumotor motor carefully follow the motor manufacturer s instructions regarding motor wiring and the proper operating current Compumotor recommends a motor inductance of 2 mH measured in series or parallel 0 5 mH 10 mH is acceptable Table 2 8 shows resistor values that you must use to properly set motor current when using the OEM650 OEM650X with a non Compumotor motor When the motor current range jumper jumper 1 see Figure 2 1 is installed the drive can generate 2 5 to 7 5 amps When jumper 1 is removed the drive can generate 0 83 to 2 5 amps If you use the OEM350 OEM350X use
52. tely 2 ohms too the resistance across Phase A and Phase B should be nearly identical hs Use the ohmmeter to check the resistance between Phase A and Phase B It should be infinite co ol Use the ohmmeter to check the resistance between Phase A and Earth the motor case shaft It should be infinite oO Use the ohmmeter to check the resistance between Phase B and Earth the motor case shaft It should be infinite co 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 prob lems that you may have with the OEM650X 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 connec tion Switch the receive and transmit wires on either the host or peripheral if the problem persists CAUTION OEM650X Rx Tx and GND pin outs are not 2 3 and 7 like most devices TROUBLESHOOTING OFEHM650 OE1M650X 2 Confirm that the host and peripheral are configured for the same baud rate 8 data bits 1 stop bit and no parity 3 Use DC common or Signal ground as a reference not earth ground 4 Cable lengths should not exceed 50 ft unless you are
53. 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 Periodi cally check the mounting screws to ensure they are tight Motor Maintenance Inspect the motor regularly to ensure that no bolts or couplings 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 inspec tion interval is 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 the current Compumotor Catalog Problem Isolation When your system does not function properly or as you expect it to operate the first thing that you must do is identify 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
54. tic 24 OEM650 OEM650X Dimensions 13 OEM650X Inputs and Outputs 26 27 28 29 Options DS23 4 DS34 4 M2 3 oscillation 34 oscilloscope 34 over temperature protection 15 P Panel Layout 14 parallel misalignment 23 parametric oscillations 33 Phase A Offset 33 Phase B Offset 33 potentiometers 33 Power Dissipation 15 Power Dump 32 Power LED 42 49 INDEX OEM650 OEM650X power supply 9 Power Supply Sizing 31 R radial load 22 Remote Input 25 repair 46 Repeatability 36 resistor 7 Resistors 4 Resonance 33 resonance speed 34 35 Return Material Authorization RMA 47 Rigid coupling 23 Rotor Inertia 36 RS 232C 11 45 Baud Rate 11 Daisy Chaining 30 Data Bits 11 Handshaking 12 Parity 11 Stop Bit 11 S shaft couplings 23 double flex 23 rigid 23 single flex 23 Ship kit 3 sine wave 35 single flex coupling 23 sinusoidal current waveforms 35 Sizing Power Supply 31 smoothness 35 Step Pulse Input 24 stepper motors 22 T tune 35 tuning motor resonance 35 potentiometers 33 Tuning Potentiometers 34 Tuning Procedures 33 V viscous damper 33 Ww waveform matching 35 waveforms 35 50 Inputs amp Outputs Step Input _ Internal Connections EZ 5 Direction Input Remote Input Fault Output Gear Shift Input 25 Pin D Connector Mounted on OEM650 13 HPCL 2631 OEM
55. ting can reduce system performance amp jeopardize personal safety The motors used with the OEM650 OEM650X can produce very large torques These motors can also produce high accelerations This combination can shear shafts and mounting hardware if the mounting is not adequate High accelerations can produce shocks and vibrations that require much heavier hardware than would be expected for static loads of the same magnitude The motor under certain profiles can produce low frequency vibrations in the mount ing structure These vibrations can cause metal fatigue in structural members if harmonic resonances are induced by the move profiles you are using A mechanical engineer should check the machine design to ensure that the mounting structure is adequate CAUTION Consult a Compumotor Applications Engineer 800 358 9070 before you machine the motor shaft Improper shaft machining can destroy the motor s bearings Never disassemble the motor it will cause a significant loss of torque Attaching the Load This section discusses the main factors involved when attaching the load to the motor The following three types of misalignments can exist in any combination Parallel Misalignment The offset of two mating shaft center lines although the center lines remain parallel to each other Angular Misalignment When two shaft center lines intersect at an angle other than zero degrees End Float A change in the relative
56. tor immediately after it has been in use for an extended period of time The motor may be hot lt OVERVIEW OEM650 OEM650X vi OEM650 OEM650X INTRODUCTION 1 Introduction Chapter Objective The information in this chapter will enable you to O Understand the product s basic functions and features OEM650 Description The OEM650 Drive is intended to be a high performance basic engine around which the original equipment manufacturer OEM designs his motion control system Its single power DC input makes it a convenient and cost effective motion control module The drive offers a basic set of customer configurable features These features are designed to meet the needs of most customers The OEM650 is optimized to operate size 23 and 34 motors The OEM650 is a bipolar recirculating microstepping drive designed to drive two phase permanent magnet hybrid step motors The drive uses a custom ASIC surface mount and MOSFET technologies to give high performance in a small package while providing short circuit protection The OEM650 is compatible with all Compumotor indexers The mechanical design is a fully enclosed product that uses a heatplate technique to provide a heat dissipation path The user must attach the OEM650 module to a suitable mounting surface OEM650X Description The OEM650X Drive Indexer is the same drive product as the OEME650 but it includes an indexer position controller The OEM650X is the sa
57. ut The Remote input is an optically isolated input that uses an ILQ2 quad OPTO isolator The REMOTE terminal is connected to the anode of the OPTO lead via a 681 current limiting resistor The REMOTE terminal is connected to the cathode of the OPTO lead The OPTO requires a minimum of 3 5 mA 3 5VDC to ensure proper system operation This input allows you to reduce current to a motor from a remote location This is accomplished by changing the current select resistor via the remote input When the remote input is enabled the open collector transistor connected to the REMOTE screw terminal will conduct to ground If the CURRENT and REMOTE terminals are shorted together with a wire motor current will be reduced to zero Motor current can also be reduced by a percentage if CURRENT and REMOTE are shorted with the appropriate resistor A remote motor current value must be selected see Table 2 8 to set the operating current Identify the current resistor associated with the operating current you select Use the resistor values to determine the remote resistor that must be installed between the CURRENT and REMOTE terminals Use the following equation to detemine Rewvors Remorse 13 300 3650 R R R3 R Resistor associated with the operating current R Resistor associated with the desired standby current Fault Output This output is an open collector open emitter output from a ILQ2 OPTO isolator The output transistor will c
58. uts Internal Connections Inputs amp Outputs 2601 5 Step Input 2439 4640 ILQ2 5 11 Direction Input 6 Z 12 Remote Input 6810 Fault Output Gear Shift Input 25 Pin D Connector on OEM650 13 HPCL 2631 Figure 2 18 OEM650 Inputs amp Output Schematic Step Input Signal Specification The OEM650 s inputs are optically isolated and may be driven activated by providing a positive pulse to the plus input with respect to the minus input This input may also be differentially driven The input driver must provide a minimum of 6 5 mA approximately 3 5 VDC 15 mA maximum Step Pulse Input Operate the step pulse input within the following guidelines D 200 nanosecond pulse minimum LY 40 60 duty cycle 2 MHz maximum pulse rate Direction Input Signal Specification The OEM650 s inputs are optically isolated and may be driven activated by providing a positive pulse to the plus input with respect to the minus input The input may also be differentially driven The input driver must provide a minimum of 10 mA approximately 3 5 VDC to ensure adequate operation Direction Input The direction may change polarity coincident with the last step pulse The direction input must be stable for at least 120 psec before the drive receives the first pulse 24 OEM650 OEM650X INSTALLATION Remote Inp

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