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Table of Contents
Related Manuals for Parker Compumotor OEM350
Summary of Contents for Parker Compumotor OEM350
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Page 1: User Guide
OEM650/OEM650X OEM350/OEM350X Drive and Drive/Indexer User Guide o t o Compumotor Division Parker Hannifin Corporation p/n 88-013157-02 A... -
Page 2: Important User Information
Important User Information Installation & 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. -
Page 3: Table Of Contents
Warnings & Cautions ... v 1 Introduction Chapter Objective ... 1 OEM650 Description ... 1 OEM650X Description ... 1 OEM350/350X Description ... 1 Features ... 2 2 Installation Chapter Objectives ... 3 OEM650/OEM650X Ship kit ... 3 Quick Test (OEM650/OEM650X) ... 4 Quick Test: OEM650 with Separate Indexer ... - Page 4 3 Tuning & Specifications Chapter Objectives ... 33 Short-Circuit Protection ... 33 Resonance ... 33 Mid-Range Instability ... 33 Tuning Procedures ... 33 Gauging Motor Resonance ... 34 Tuning the Drive to the Motor ... 35 Motor Waveforms ... 35 Performance Specifications ...
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Page 5: How To Use This User Guide
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. -
Page 6: Installation Preparation
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. - Page 7 OVERVIEW • OEM650/OEM650X...
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Page 8: Introduction
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... -
Page 9: Features
0.5 mH. For best performance, motor inductance should be between 1 mH and 10 mH, but motors with inductance ratings 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/... -
Page 10: Installation
2 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 components and their interrelationships Ensure that each component functions properly by bench testing Mount unit within recommended thermal specifications OEM650/OEM650X Ship kit Inspect the OEM650 or OEM650X upon receipt for obvious damage... -
Page 11: Quick Test (Oem650/Oem650X)
INSTALLATION • OEM650/OEM650X Option Description -DS23 Double Shaft Size 23 Motors -DS34 Double Shaft Size 34 Motors Table 2-4. Double Motor Shaft Option The following accessories are available. Accessories OEM650/OEM650X User Guide OEM Series Software Ref. Guide Low Current Heatsink High Current Heatsink Table 2-5. - Page 12 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.
- Page 13 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.
- Page 14 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.
- Page 15 (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 Table 2-9 for resistor and current values to use with high-inductance (10 mH to 80 mH), low current motors.
- Page 16 2.49 k 3.57 k 4.64 k 5.90 k OEM350/350X Table 2-9. 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.
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Page 17: Quick Test: Oem650 With Separate Indexer
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. -
Page 18: Quick Test: Oem650X
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. - Page 19 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 & Trouble- shooting. This test assumes that your indexer’s motor resolution is set to 25,000 steps/rev.
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Page 20: Oem650/Oem650X Mounting
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 0.812... -
Page 21: Panel Layout
INSTALLATION • OEM650/OEM650X Panel Layout If you mount the OEM650/OEM650X in an enclosure, observe the following guidelines: Do not mount large, heat-producing equipment directly beneath the OEM650 or OEM650X. Do not mount the OEM650 directly below an indexer (the drive produces more heat than an indexer). - Page 22 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/OEM650X is over-temperature protected. 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"...
- Page 23 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.
- Page 24 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. Figure 2-14.
- Page 25 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.
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Page 26: Jumper Functions
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. -
Page 27: Jumpers #6 - #8: Motor Waveform Shape
INSTALLATION • OEM650/OEM650X Resolution 50,800 Steps/Rev 50,000 Steps/Rev 36,000 Steps/Rev 25,600 Steps/Rev 25,400 Steps/Rev 25,000 Steps/Rev * 21,600 Steps/Rev 20,000 Steps/Rev 18,000 Steps/Rev 12,800 Steps/Rev 10,000 Steps/Rev 5,000 Steps/Rev 2,000 Steps/Rev 1,000 Steps/Rev 400 Steps/Rev 200 Steps/Rev * Default Setting Table 2-10. -
Page 28: Jumper #11: Auto Test
Standby Current Full Current* 75% Current 50% Current 25% Current * 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. -
Page 29: Motor Mounting
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. -
Page 30: Couplings
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. -
Page 31: Oem650 Inputs And Outputs
INSTALLATION • OEM650/OEM650X OEM650 Inputs and Outputs Inputs & Outputs Step Input Direction Input Remote Input Fault Output Gear Shift Input 25 Pin D-Connector on OEM650 Figure 2-18. OEM650 Inputs & 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. - Page 32 Remote Input 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 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.
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Page 33: Oem650X Inputs And Outputs
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. -
Page 34: Cw (Signal 3) & Ccw (Signal 4) Limit Inputs
CW (Signal 3) & CCW (Signal 4) Limit Inputs The OEM650X has two dedicated hardware end-of-travel limits (CCW and CW ). When you power up the OEM650X, these inputs are enabled (high). To test the OEM650X without connect- ing the CCW and CW limits, you must disable the limits with the LD3 command. -
Page 35: Sequence Inputs #1 - #3 (Signals 11 - 13)
INSTALLATION • OEM650/OEM650X typical configuration of this output. Sequence Inputs #1 - #3 (Signals 11 - 13) The OEM650X has three dedi- cated sequence inputs that allow you to control seven different sequences. Refer to the X commands for information on how to control these inputs. -
Page 36: Trigger Inputs #1 - #3 (Signals 20 - 22)
connect a single-ended, incremental, optical encoder to the OEM650X. When an encoder is used, the following functions will be added to the system: Encoder referenced positioning Encoder position servoing Motor stall detection Higher accuracy homing function 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... - Page 37 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.
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Page 38: Sizing Power Supply
Sizing Power Supply Table 2-14 contains power ratings to help system designers size a power supply. Combinations 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. - Page 39 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.
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Page 40: Tuning & Specifications
OEM650/OEM650X • TUNING & SPECIFICATIONS 3 Tuning & Specifications Chapter Objectives The information in this chapter will enable you to: Tune 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 OEM Series is protected against phase-to-phase and phase-to- ground short circuits. -
Page 41: Gauging Motor Resonance
TUNING & 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. -
Page 42: Tuning The Drive To The Motor
OEM650/OEM650X • TUNING & 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 for maximum smoothness in the same way. -
Page 43: Performance Specifications
TUNING & 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 OEM57-40-MO 0.38 OEM57-51-MO 0.65 OEM57-83-MO 1.36... - Page 44 OEM650/OEM650X • TUNING & SPECIFICATIONS OEM650/OEM650X with OEM57-51-MOS (75VDC @ 3.3A) Torque Shaft Power SPEED (RPS) OEM650/OEM650X with OEM57-83-MOS (75VDC @ 3.8A) Torque Shaft Power SPEED (RPS)
- Page 45 TUNING & SPECIFICATIONS • OEM650/OEM650X OEM57 Motors (Parallel Configuration) OEM650/OEM650X with OEM57-40-MOP (38VDC @ 5.3A) Torque SPEED (RPS) OEM650/OEM650X with OEM57-51-MOP (38VDC @ 6.6A) Torque SPEED (RPS) Shaft Power Shaft Power...
- Page 46 OEM650/OEM650X • TUNING & SPECIFICATIONS OEM650/OEM650X with OEM57-83-MOP (38VDC @ 7.5A) Torque Shaft Power SPEED (RPS) OEM83 Motors OEM650/OEM650X with OEM83-62-MO (75VDC @ 4.4A) Torque SPEED (RPS) Shaft Power...
- Page 47 TUNING & SPECIFICATIONS • OEM650/OEM650X OEM650/OEM650X with OEM83-93-MO (75VDC @ 5.6A) Torque SPEED (RPS) OEM650/OEM650X with OEM83-135-MO (75VDC @ 6.9A) Torque SPEED (RPS) Shaft Power Shaft Power...
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Page 48: Troubleshooting
4 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). -
Page 49: Front Panel Leds
TROUBLESHOOTING • OEM650/OEM650X 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. - Page 50 Symptoms Possible Causes Power LED is not The drive is not receiving on (illuminated) adequate DC voltage Drive screw are terminals loose Power LED is DC Line voltage is too low flashing I/O incorrectly connected Internal damage to the drive There is little or no The current select resistor is not holding torque;...
- Page 51 TROUBLESHOOTING • OEM650/OEM650X Symptoms Probable Causes The drive loses Indexer is overdriving step input pulses at high speed Indexer is underdriving step input Indexer is sending pulses too fast Motor is out of torque The motor stalls at The velocity is too high high speeds Motor current is not set correctly Motor is undersized for...
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Page 52: Testing The Motor
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. -
Page 53: Software Debugging Tips
TROUBLESHOOTING • OEM650/OEM650X 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 using some form of line driver, optical coupler, or shield. - Page 54 • 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? •...
- Page 55 TROUBLESHOOTING • OEM650/OEM650X...
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Page 56: Index
22 Gauging Motor Resonance 34 tachometer 34 Gear Shift Input 26 heatplate 14 Hysteresis 36 fault output 27 Inductance Range—OEM350 1 Inductance Range—OEM650 2 Jumper Settings Auto Standby 20 Auto Test 21 Motor Current Range 19 Motor Resolution 19... - Page 57 INDEX • OEM650/OEM650X power supply 9 Power Supply Sizing 31 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...
- Page 58 Inputs & Outputs Step Input Direction Input Remote Input Fault Output Gear Shift Input 25 Pin D-Connector Mounted on OEM650 OEM650 Inputs & Outputs, and Internal Connections 25 Pin D-Connector Mounted on OEM650 Step Output Direction Output N.C. CW Limit Shutdown N.C.