Parker Compumotor OEM350, Compumotor OEM650, Compumotor OEM350X, Compumotor OEM650X User Manual

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OEM650/OEM650X

OEM

OEM350/OEM350X

Drive and Drive/Indexer

User Guide

OEM

s e r

i e s

POWER

FAULT

Compumotor Division Parker Hannifin Corporation

Compumotor

p/n 88-013157-02 A

OEM650/OEM650X • OVERVIEW

For assistance in the United States, contact:

For assistance in Europe, contact:

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. 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.

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:

Compumotor Division of Parker Hannifin

Compumotor Division of Parker Hannifin 5500 Business Park Drive

5500 Business Park Drive

Rohnert Park, CA 94928

Telephone: (800) 358-9070

Fax: (707) 584-8015

Compumotor

For assistance in Europe, contact:

Parker Digiplan

Parker Digiplan 21 Balena Close

21 Balena Close

Poole, Dorset

England BH17 7DX

Telephone: 0202-690911

Fax: (707) 584-8015

Fax: (707) 584-8015)

88-013157-02A

OVERVIEW • OEM650/OEM650X

Contents

How To Use This User Guide .................................................................................. iv

Assumptions ........................................................................................................ iv

User Guide Contents ........................................................................................... iv

Installation Process Overview.............................................................................. iv

Installation Preparation ......................................................................................... v

Software Reference Manual ................................................................................. v

Warnings & Cautions ............................................................................................ v

1 Introduction 1

Chapter Objective .....................................................................................................1

OEM650 Description.................................................................................................1

OEM650X Description .............................................................................................. 1

OEM350/350X Description ....................................................................................... 1

Features....................................................................................................................2

2 Installation 3

Chapter Objectives ................................................................................................... 3

OEM650/OEM650X Ship kit ..................................................................................... 3

Quick Test (OEM650/OEM650X)..............................................................................4

Quick Test: OEM650 with Separate Indexer......................................................10

Quick Test: OEM650X .......................................................................................11

OEM650/OEM650X Mounting ................................................................................ 13

Panel Layout ....................................................................................................... 14

Jumper Functions ................................................................................................... 19

Jumper #1: Motor Current Range .....................................................................19

Jumpers #2 - #5: Motor Resolution...................................................................19

Jumpers #6 - #8: Motor Waveform Shape ........................................................ 20

Jumpers #9 - #10: Auto Standby ...................................................................... 20

Jumper #11: Auto Test......................................................................................21

Motor Mounting ....................................................................................................... 22

Attaching the Load .............................................................................................. 22

Couplings ............................................................................................................ 23

OEM650 Inputs and Outputs .................................................................................. 24

Step Input Signal Specification ...........................................................................24

Direction Input Signal Specification ................................................................... 24

OEM650X Inputs and Outputs ................................................................................ 26

Step (Signal 1) & Direction (Signal 2) Outputs...................................................26

CW (Signal 3) & CCW (Signal 4) Limit Inputs.....................................................27

Home Position Input (Signal 5) ...........................................................................27

Reserved (Signal 6) ............................................................................................27

Output #1 (Signal 10) and Output #2 (Signal 8)................................................27

Dedicated Fault Output (Signal 9).......................................................................27

Sequence Inputs #1 - #3 (Signals 11 - 13) ......................................................... 28

RS-232C—Tx (Signal 14), Rx (Signal 15), and Ground (Signal 7) ..................... 28

Shutdown Output (Signal 16)..............................................................................28

Closed Loop Operation ....................................................................................... 28

Trigger Inputs #1 - #3 (Signals 20 - 22) ..............................................................29

Address Signals #1 - #3 (Signals 23 - 25) .......................................................... 29

Sizing Power Supply ............................................................................................... 31

OEM650/OEM650X • OVERVIEW

3 Tuning & Specifications 33

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 ....................................................................................36

Accuracy .............................................................................................................36

Repeatability .......................................................................................................36

Hysteresis ...........................................................................................................36

Rotor Inertia ........................................................................................................36

Motor Performance .............................................................................................36

4 Troubleshooting 41

Chapter Objectives ................................................................................................. 41

Drive Maintenance .................................................................................................. 41

Motor Maintenance .................................................................................................41

Problem Isolation ....................................................................................................41

Front Panel LEDs....................................................................................................42

Common Problems and Solutions ...................................................................... 42

Testing the Motor ................................................................................................ 45

RS-232C Problems ............................................................................................. 45

Software Debugging Tips....................................................................................46

Returning the System ......................................................................................... 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.

❏ Electronics concepts (voltage, switches, current, etc.)

❏ Motion control concepts (torque, velocity, distance, force, etc.)

User Guide Contents

Chapter 1: Introduction

This chapter provides a description of the product and a brief

account of its specific features.

Chapter 2: Installation

This chapter contains a ship kit list of items you should have

received with your 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 & Specifications

This chapter contains information on system performance specifica-

tions (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.

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.

3. Complete the basic system configuration and wiring instructions (in a simulated environment, not a permanent installation) provided in Chapter 2, Installation.

4. Perform as many basic functions as you can with the preliminary configuration. Try to simulate the task(s) that you expect to perform when you permanently install your application (however, do not attach a load at this time). This will give you a realistic preview of what to expect from the complete configuration.

5. After you have tested the system’s functions and become familiar with the system’s basic features, carefully read Chapter 2.

6. 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.

7. Before you customize your system, check all of the system functions and features to ensure that you have completed the installation process correctly.

The successful completion of these steps will prevent 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 & 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 motor immediately after it has been in use for an extended period of

time. The motor may be hot.

OVERVIEW • OEM650/OEM650X

OEM650/OEM650X • INTRODUCTION

1 Introduction

Chapter Objective

The information in this chapter will enable you to:

❐ 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 OEM650, but it includes an indexer (position controller). The OEM650X is the same 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/OEM350X 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 OEM650X 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 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/

OEM650X provides the following features:

❐ Microprocessor controlled microstepping provides smooth opera-

tion over a wide range of speeds

❐ Full short circuit protection for phase-to-phase and phase-to-

ground short circuits

❐ Motor regeneration protection ❐ Over-temperature protection ❐ Uses low-inductance motors for improved high-speed performance

(23, 34 frame size motors available with torques from 65 - 400 ozin)

❐ 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)

❐ 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) ❐ -M2 option allows users to store programmed sequences in

nonvolatile memory

❐ I/O for motion and basic machine coordination

OEM650/OEM650X • 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 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 & 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 & 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 Size 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/OEM650X Accessories

Evaluation kits

Evaluation kits include all items necessary to evaluate the OEM650 (OEM650-EK) and OEM650X (OEM650X-EK) in a simulated production 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)

• 21.0KΩ 1% Resistor 12-008319-01

• 5.76KΩ 1% Resistor 12-008265-01

• 15.8KΩ 1% Resistor 12-008307-01

• 2.05KΩ 1% Resistor 12-008222-01

• 12.7KΩ 1% Resistor 12-008298-01

• 0.00KΩ 5% Resistor 12-003645-01

• 9.53KΩ 1% Resistor 12-008286-01

• 4.87KΩ 1% Resistor 12-008258-01

• 1.27KΩ 1% Resistor 12-008202-01

❐ Screwdriver 58-013155-01 ❐ 25-Pin D Mating Connector 43-001989-01 ❐ X-Ware Support Disk (OEM650X-EK Only)

• 3 1/2" Disk 95-013066-01

• 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 ❐ Flathead screw driver (1/10")

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, push the 25-pin D connector in while

holding the sides of the unit.

Compumotor

Prod: Ø571Ø2-2-6-Ø17-Ø1Ø

5500 Business Park Dr. Rohnert Park, CA 94928

Made In USA

Enlarged view of jumpers

Jumpers

1110987654321

Auto

Test

Standby

Motor

Waveform

Shape

When the cover is removed, the jumpers will be visible at the upper portion of the unit.

Compumotor

Prod: Ø571Ø2-2-6-Ø17-Ø1Ø

5500 Business Park Dr. Rohnert Park, CA 94928

Resolution

Motor

Made In USA

Motor

Current

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 Automatic 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, Compumotor 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, OEM57-51-MO, OEM57-83-MO)

Size 23 OEM650 Motors: Series Wiring

RED BLUE

GREEN ORANGE

Top View

YELLOW BLACK BROWN WHITE

A+ A-

B+ B-

}

OEM

s e r i e s

POWER

FAULT

REMOTE

CURRENT

DUMP

VDC+

REF

VDC-

A+

A-

B+

B-

Size 23 OEM650 Motors: Parallel Wiring

RED BLUE GREEN ORANGE

Top View

Figure 2-2. NEMA 23 Size OEM Motor Wiring—Series & Parallel

YELLOW BLACK BROWN WHITE

A+ A-

B+ B-

}

OEM

s e r i e s

POWER

FAULT

REMOTE

CURRENT

DUMP

VDC+

REF

VDC-

A+

A-

B+

B-

OEM650/OEM650X • INSTALLATION

OEM size 34 motors are internally wired in parallel. A 75VDC power supply (OEM300) must be used to achieve maximum performance; however, lower voltage power supplies may be used (less than 75VDC but must be greater than 24VDC). The lower voltage power supply will not adversely affect the system's low-speed performance, but it will not yield the optimum high-speed performance achieved by using the 75VDC power supply.

❐ 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

RED

BLACK

WHITE

GREEN

A+ A-

B+ B-

}

OEM

s e r i e s

POWER

FAULT

REMOTE

CURRENT

DUMP

VDC+

REF

VDC-

A+

A-

B+

B-

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

For best installation results, be sure that the resistor lead wire is long enough for easy insertion into the REF and CURRENT terminals.

CURRENT

DUMP

VDC+

VDC-

A+

A-

B+

B-

OEM650/OEM650X

Terminals

Figure 2-4. Motor Current Selection Resistor

OEM

s e r i e s

POWER

FAULT

REMOTE

CURRENT

DUMP

VDC+

REF

VDC-

A+

A-

B+

B-

INSTALLATION • OEM650/OEM650X

Motor Size Current Resistor Voltage

OEM57-40-MOS 2.65A 21.0 kΩ 48 - 75VDC OEM57-40-MOP 5.3A 5.76 kΩ 24 - 48VDC OEM57-51-MOS 3.3A 15.8 kΩ 48 - 75VDC OEM57-51-MOP 6.6A 2.05 kΩ 24 - 48VDC OEM57-83-MOS 3.8A 12.7 kΩ 48 - 75VDC OEM57-83-MOP 7.5A 0.00 kΩ 24 - 48VDC OEM83-62-MO* 4.4A 9.53 kΩ 24 - 75VDC OEM83-93-MO* 5.6A 4.87 kΩ 24 - 75VDC

OEM83-135-MO* 6.9A 1.27 kΩ 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 Table 2-9 for resistor and current values to use with high-inductance (10 mH to 80 mH), low current motors.

Current Resistance Current Resistance Current Resistance

(Amps) (Ohms) (Amps) (Ohms) (Amps) (Ohms)

7.5 0 Ω 4.9 7.32 kΩ 2.5 0 Ω

7.4 205 Ω 4.8 7.68 kΩ 2.4 619 Ω

7.3 412 Ω 4.7 8.06 kΩ 2.3 1.27 kΩ

7.2 619 Ω 4.6 8.45 kΩ 2.2 2.05 kΩ

7.1 825 Ω 4.5 8.87 kΩ 2.1 2.80 kΩ

7.0 1.02 kΩ 4.4 9.53 kΩ 2.0 3.57 kΩ

6.9 1.27 kΩ 4.3 10.0 kΩ 1.9 4.53 kΩ

6.8 1.54 kΩ 4.2 10.5 kΩ 1.8 5.49 kΩ

6.7 1.78 kΩ 4.1 10.0 kΩ 1.7 6.49 kΩ

6.6 2.05 kΩ 4.0 11.5 kΩ 1.6 7.68 kΩ

6.5 2.26 kΩ 3.9 12.1 kΩ 1.5 8.87 kΩ

6.4 2.55 kΩ 3.8 12.7 kΩ 1.4 10.5 kΩ

6.3 2.80 kΩ 3.7 13.3 kΩ 1.3 12.1 kΩ

6.2 3.09 kΩ 3.6 13.7 kΩ 1.2 13.7 kΩ

6.1 3.32 kΩ 3.5 14.3 kΩ 1.1 15.8 kΩ

6.0 3.57 kΩ 3.4 15.0 kΩ 1.0 18.2 kΩ

5.9 3.92 kΩ 3.3 15.8 kΩ 0.9 20.5 kΩ

5.8 4.22 kΩ 3.2 16.5 kΩ 0.83 22.6 kΩ

5.7 4.53 kΩ 3.1 17.4 kΩ

5.6 4.87 kΩ 3.0 18.2 kΩ

5.5 5.11 kΩ 2.9 19.1 kΩ

5.4 5.49 kΩ 2.8 20.0 kΩ

5.3 5.76 kΩ 2.7 20.5 kΩ

5.2 6.19 kΩ 2.6 21.5 kΩ

5.1 6.49 kΩ 2.5 22.6 kΩ

5.0 6.81 kΩ

Table 2-8. OEM650/650X Resistor Selection for Motor Current

Jumper #1 Installed Jumper #1 Removed

OEM650/OEM650X • INSTALLATION

Current Resistance Current Resistance Current Resistance

Jumper #1 Installed Jumper #1 Removed

(Amps) (Ohms) (Amps) (Ohms) (Amps) (Ohms)

2.0 0 Ω 1.3 7.32 kΩ 0.7 0 Ω

1.9 787 Ω 1.2 8.87 kΩ 0.6 2.21 kΩ

1.8 1.62 kΩ 1.1 10.7 kΩ 0.5 5.36 kΩ

1.7 2.49 kΩ 1.0 13.0 kΩ 0.4 10.0 kΩ

1.6 3.57 kΩ 0.9 15.4 kΩ 0.3 16.2 kΩ

1.5 4.64 kΩ 0.8 18.2 kΩ 0.2 27.4 kΩ

1.4 5.90 kΩ 0.7 21.5 kΩ

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.

OEM

s e r i e s

POWER

FAULT

REMOTE

REF

CURRENT

DUMP

VDC+ VDC-

A+

A-

B+

B-

OEM

Series

Motor

Power

Supply

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. ❐ Snap off cover. ❐ Install jumper 11. ❐ 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, 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).

5. 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.

❐ 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.

Power

Supply

OEM

Series

Motor

Refer to Figures 2-2 and 2-3 for specific motor wiring instructions

OEM

s e r i e s

POWER

FAULT

REMOTE

REF

CURRENT

DUMP

VDC+ VDC-

A+

A-

B+

B-

Compumotor

Drive

Figure 2-6. OEM650 with Compumotor Indexer Test Configuration

1 Step+

14 Step—

2 Direction+

15 Direction—

Connect to non-Compumotor

Indexer or Pulse Generator

To connect the OEM650 to a nonCompumotor indexer or pulse generator, use the pinouts of the OEM650's 25-pin D connector as shown in this figure. Refer to the indexer or pulse generator's user guide for any specific instructions associated with the device.

OEM

Series

Motor

Power

Supply

Refer to Figures 2-2 and 2-3 for specific motor wiring instructions

OEM

s e r i e s

POWER

FAULT

REMOTE

CURRENT

DUMP

VDC+ VDC-

REF

A+ AB+ B-

Indexer

Compumotor

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:

❏ Baud Rate: 9600 ❏ Data Bits: 8 ❏ Stop Bit: 1 ❏ Parity: None

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. This is the default motor resolution setting for 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 & CCW Limits A1Ø Set acceleration to 10 rps

V1Ø Set velocity to 10 rps D25ØØØ Set move distance to 1 CW revolution G Initiate move (Go) H Reverse move direction (CCW) G Initiate move (Go)

5. After verifying that the motor moves CW and CCW, turn off power.

CAUTION

RS-232C signals are not on pins 2, 3, and 7 on the 25-pin D connector.

14 Tx

OEM

s e r i e s

POWER

FAULT

REMOTE

REF

CURRENT

DUMP

VDC+

VDC-

A+

A-

B+

B-

Refer to Figures 2-2 and 2-3 for specific motor wiring instructions

OEM

Series

Motor

Power

Supply

Figure 2-8. OEM650X Test Configuration

15 Rx 7 GND

Rx Tx

GND

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.

0.420

This surface must be thermally coupled to a cold plate in most applications

3.555

3.315

0.812

1.625

2x 0.177 Thru (Clearance for #8 PHP Screw)

1.000

Compumotor

5500 Business Park Dr. Rohnert Park, CA 94928

5.000

4.650

0.335

Compumotor

OEM

0.175

e r i e s

POWER

FAULT

REMOTE

REF

CURRENT

DUMP

VDC+

VDC-

A+

A-

B+

B-

1.000

2.000

Mtg Clearance

7.000

Mounting Clearance

Exposed aluminum for electrical grounding

Figure 2-9. OEM650/OEM650X Dimensions

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).

❏ Fan cooling may be necessary.

Refer to the subsequent instructions and diagrams in this section for specific mounting information about 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"

OEM

s e r i e s

POWER

FAULT

REMOTE

REF

CURRENT

DUMP VDC+

VDC-

OEM

s e r i e s

4.65"

POWER

FAULT

REMOTE

REF

CURRENT

DUMP VDC+

VDCA+ AB+ B-

A+ AB+ B-

2.35"

A+ AB+ B-

Minimum

OEM

POWER

CURRENT

s e r i e s

FAULT

REMOTE

REF

DUMP VDC+

VDC-

A+ AB+ B-

OEM

POWER

CURRENT

s e r i e s

FAULT

REMOTE

REF

DUMP VDC+

VDC-

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/OEM650X 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.

OEM650/OEM650X • INSTALLATION

OEM

40 35 30

OEM83-62*

(Amps)

OEM83-93*

OEM57-40P

25 20

OEM57-40S

OEM57-83S

OEM57-51S

Drive Current

(Watts)

Power Dissipated

2345678

S—Series Configuration P—Parallel Configuration *—34 size motors are internally wired in Parallel

OEM57-83P

OEM83-135*

OEM57-51P

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" from the top of the drive, as shown in Figure 2-12.

Measure heatplate temperature 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).

Compumotor

OEM

s e r

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. 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 Ø0.187 Thru

2x #8-32 UNC-2B Thru

0.637"

0.450"

2.100"

2.000"

Figure 2-13. OEM-HS1 Dimensions

0.200"

1.175"

4.650"

4.650" 0.175"

5.000"

0.200"

0.175"

1.287"

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 (minimum area). The other configuration provides minimum depth.

Panel layout for minimum area is shown in Figure 2-14.

0.5"

OEM

s e r i e s

POWER

FAULT

REMOTE

REF

CURRENT

DUMP VDC+

VDC-

A+ AB+ B-

OEM

CURRENT

s e r i e s

4.65"

POWER

FAULT

REMOTE

REF

DUMP VDC+

VDC-

A+

A-

B+

B-

2.35"

OEM

s e r i e s

POWER

FAULT

REMOTE

REF

CURRENT

DUMP VDC+

VDC-

A+ AB+ B-

Figure 2-14. OEM650/OEM650X OEM-HS1 Minimum Area Panel Layout

Panel layout for minimum depth is shown in Figure 2-15.

4.65"

2.35"

OEM

s e r i e s

POWER

FAULT

REMOTE

REF

CURRENT

DUMP VDC+

VDC-

A+

A-

B+

B-

2.5"

Minimum

Figure 2-15. OEM650/OEM650X OEM-HS1 Minimum Depth Panel Layout

Minimum Betwen Mounting Holes

6.32"

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 provide 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 heatsink to your mounting surface with two #8 screws.

2.62"

2x #8-32 UNC-2B Thru 2x Ø0.187 Thru

0.500"

Figure 2-16. OEM-HS2 Dimensions

4.650"

6.000"

7.000"

0.37"

1.175"

4.50"

2.25"

OEM650/OEM650X • INSTALLATION

OEM

s e r i e s

4.65"

POWER FAULT

REMOTE

REF

CURRENT

DUMP VDC+ VDC-

A+ AB+ B-

2.0"

OEM

s e r i e s

POWER FAULT

REMOTE

REF

CURRENT

DUMP VDC+ VDC-

A+ AB+ B-

5.5"

Minimum

Figure 2-17. OEM650/OEM650X OEM-HS2 Minimum Area Panel Layout

Jumper Functions

OEM

POWER

CURRENT

OEM

POWER

CURRENT

s e r i e s

FAULT

REMOTE

DUMP

6.0"

REF

VDC+ VDC-

A+ AB+ B-

3.0"

s e r i e s

FAULT

REMOTE

REF

DUMP

VDC+ VDC-

A+ AB+ B-

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 necessarily result in improved accuracy.

INSTALLATION • OEM650/OEM650X

Resolution JU2 JU3 JU4 JU5

50,800 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 motor 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.

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

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 mounting can reduce system performance & 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 mounting 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.

disassemble the motor (it will cause a significant loss of torque).

Never

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 distance between the ends of two shafts.

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.

INSTALLATION • OEM650/OEM650X

OEM650 Inputs and Outputs

Internal Connections

243Ω

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

243Ω

681Ω

2 3

HCPL-2601

8 7

4 3

ILQ2

4N35

ILQ2

1 2

10kΩ

HPCL-2631

+5V

464Ω

+5V

464Ω

+5V

464Ω

+5V

BS170

+5V

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:

❏ 200 nanosecond-pulse minimum ❏ 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 µsec before the drive receives the first pulse.

OEM650/OEM650X • INSTALLATION

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 681Ω 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 R

REMOTE

RC = Resistor associated with the operating current

RS = Resistor associated with the desired standby current

= -13,300 (3650 + RC) / (RC - RS)

REMOTE

Fault Output

This output is an open-collector, open emitter output from a ILQ2 OPTO isolator. The output transistor will conduct when the drive is functioning properly. The transistor will not conduct properly when any of the following conditions exist.

❏ No power is applied to the drive ❏ There is insufficient voltage (<24VDC) ❏ The driver detects a motor fault ❏ The remote input is enabled

This output has the following electrical characteristics:

❏ V

= 35VDC

❏ V ❏ Collector Current = 10 mA maximum

CESAT

= 0.3VDC

❏ Dissipation = 100 mW maximum

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 681Ω 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 receives 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

Shutdown

Encoder Channel A

Encoder Channel B

Encoder Channel Z

Trigger Input #1

Trigger Input #2

Trigger Input #3

Address Sel. #1

Address Sel. #2

Address Sel. #3

N.C. N.C. N.C. N.C. N.C. N.C.

RS-232C

Slave

Drive

OEM

s e r i e s

POWER

FAULT

REMOTE

CURRENT

DUMP

VDC+

Step Output

N.C. N.C.

N.O.

N.C. N.C. N.C.

Direction Output CW Limit

CCW Limit Home Reserved

GND Ref. Output #2 Fault Output Output #1 Sequence #1 Sequence #2 Sequence #3

Slave

Drive

REF

VDC-

A+ AB+ B-

Customer

Equipment

Figure 2-19. OEM650X Inputs & Output Schematic

CAUTION

I/O is not OPTO isolated, I/O GND is common to VDC-.

Step (Signal 1) & Direction (Signal 2) Outputs

The OEM650X produces a step and direction output that is identical to the indexer's internal step and direction signals. These outputs can be used to

ACTØ4

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 configuration of this output.

4.75k

+5V

• Minimum high-level output: 4.26V (Source 24mA)

• Maximum low-level output: 0.44V (Sinks 12 mA)

OEM650/OEM650X • INSTALLATION

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 connecting the CCW and CW limits, you must disable the limits with the LD3 command. You can use the Limit Switch Status Report (RA) and Input Status (IS) commands to monitor the limits’ status. The figure represents a typical configuration of these inputs.

4.75k

+5V

• Maximum low-level input: 0.8V (Sinks 1.2 mA)

• Minimum high-level input: 2V

HCT244

Home Position Input (Signal 5)

The OEM650X has one dedicated home input. The Home Limit input allows you to establish a home reference input. This input is not active during power-up. Refer to the Go Home command for more information on setting up and using this function. The figure represents a typical configuration of this input. (Refer to the OS and GH commands.)

4.75k

+5V

• Maximum low-level input: 0.8V (Sinks 1.2 mA)

• Minimum high-level input: 2V

HCT541

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 may be used to signal peripheral devices upon the start or completion of a move. The default state

ACTØ4

• Minimum high-level output: 4.26V

(Source -24mA)

• Maximum low-level output: 0.44V (Sinks @ 23 mA)

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 (Signal 9)

The OEM650X has one dedicated fault output. This output may be used to signal peripheral devices if a unit failure occurs. The Fault output's default state is logic high. The figure represents a

+5V

+4.75k

• Maximum low-level output: 0.8V (Sinks 1.2 mA)

• High-level output: 5V

BS170

INSTALLATION • OEM650/OEM650X

typical configuration of this output.

Sequence Inputs #1 - #3 (Signals 11 - 13)

The OEM650X has three dedicated sequence inputs that allow you to control seven different sequences. Refer to the X commands for information on how to control these inputs. Sequence #Ø is not a valid sequence.

Sequences are executed remotely by using one of the following logic patterns. (1 represents a +5V signal, Ø represents a ØV signal.)

Sequence # Ø 1234567

SEQ Input #1 Ø 1 Ø 1 Ø 1 Ø 1 SEQ Input #2 ØØ11ØØ11 SEQ Input #3 ØØØØ1111

The figure represents a typical configuration of these outputs.

4.75k

+5V

• Maximum low-level input: 0.8V (Sinks 1.2 mA)

• Minimum high-level input: 2V

HCT244

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 handshaking. A typical three-wire (Rx, Tx, and Signal Ground) configuration is used). The figure represents a typical RS-232C configuration.

• Meets EIA RS-232C & CCITT V.28 specifications

•Signal ground

Shutdown Output (Signal 16)

The OEM produces a Shutdown output that is identical to the indexer's internal signal. This output may be used to slave to another drive or to monitor the 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

10k

ACTØ4

+5V

• Minimum high-level output: 4.26V (Source -24mA)

• Maximum low-level output: 0.44V (Sinks @ 23 mA)

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:

❏ 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 dedicated inputs for use with a single ended incremental encoder. These inputs in

4.75k

+5V

• Maximum low-level input: 0.8V (Sinks 1.2 mA)

• Minimum high-level input: 2V

conjunction with the FS commands will determine the encoder functionality.

HCT244

Trigger Inputs #1 - #3 (Signals 20 - 22)

The OEM650X has three dedicated Trigger inputs. These inputs are pulled up internally. These inputs are used with the Trigger (TR) command to control the OEM650X's trigger function. The figure represents a typical configuration of these inputs.

4.75k

+5V

• Maximum low-level input: 0.8V (Sinks 1.2 mA)

• Minimum high-level input: 2V

HCT541

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 address from 1 to 8. Each unit in the configuration must have a unique address. The default address is 8 (all three inputs are internally pulled up. The address inputs are read only during power-up and when Restart (Z) commands are issued. Use the matrix below to assign unique address values. (Refer to the # command for more information.)

Address # 87654321

Address #1 Ø 1 Ø 1 Ø 1 Ø 1 Address #2 ØØ11ØØ11 Address #3 ØØØØ1111

4.75k

+5V

• Maximum low-level input: 0.8V (Sinks 1.2 mA)

• Minimum high-level input: 2V

HCT541

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 simultaneously. You should establish a unique device address for each OEM650X. Refer to Figure 2-20 for OEM650X daisy chain wiring.

Rx Tx Gnd

OEM

CURRENT

Tx Rx

s e

Gnd

r i e s

POWER

FAULT

REMOTE

REF

DUMP VDC+

VDC-

A+ AB+ B-

OEM

CURRENT

Tx Rx

s e

Gnd

r i e s

POWER FAULT

REMOTE

REF

DUMP

VDC+ VDC-

A+ AB+ B-

OEM

POWER

CURRENT

Tx Rx

s e

Gnd

r i e s

FAULT

REMOTE

REF

DUMP VDC+

VDC-

A+ AB+ B-

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 OEM650X, 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.

OEM650/OEM650X • INSTALLATION

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. 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) (I

) + (1.13 IM) + 3 IM =

Motor Current

Calculations

❏ To convert watts to horsepower, divide by 746 ❏ To convert watts to BTU/hour, multiply by 3.413 ❏ 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 the 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 products. 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.

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 maintaining 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 terminal labeled DUMP. The power dump feature dissipates the energy created by a regenerative load (100 joules maximum). The power

dump is not designed to protect the unit from overvoltage caused by a

poorly regulated or faulty power supply. A 35Ω, 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 & 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-toground 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 be 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.

❏ Phase A Offset: Adjusts DC offset of the phase current for Phase A. ❏ 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

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.

Tachometer Method

Use an oscilloscope to gauge the output of a tachometer attached to the motor shaft. The tachometer will output a DC voltage, proportional to speed. This voltage will oscillate around an average voltage when the motor is resonating. The amplitude of this oscillation will be at its maximum when you run the motor at its resonance speed. The goal of this 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.

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.

Tuning the Drive to the Motor

To tune the OEM650X, follow the directions below:

1. Command the drive (via RS-232C or STEP & 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

OEM83-135-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 waveform other than a pure sine wave.

The purpose of adjusting motor current waveforms is to cause the step motor to move with equal step sizes as the current waveforms are sequenced through the motor. This waveform 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 precision 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.

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

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

TORQUE (OZ-IN)

Torque

0 1020304050

(75VDC @ 2.65A)

Shaft Power

SPEED (RPS)

WATTS

OEM650/OEM650X • TUNING & SPECIFICATIONS

OEM650/OEM650X with OEM57-51-MOS

(75VDC @ 3.3A)

80 70 60

Torque

Shaft Power

50 40 30 20

TORQUE (OZ-IN)

0 1020304050

SPEED (RPS)

OEM650/OEM650X with OEM57-83-MOS

(75VDC @ 3.8A)

150

120

Torque

Shaft Power

WATTS

TORQUE (OZ-IN)

0 1020304050

SPEED (RPS)

TUNING & SPECIFICATIONS • OEM650/OEM650X

OEM57 Motors (Parallel Configuration)

OEM650/OEM650X with OEM57-40-MOP

TORQUE (OZ-IN)

Torque

0 1020304050

OEM650/OEM650X with OEM57-51-MOP

(38VDC @ 5.3A)

Shaft Power

SPEED (RPS)

(38VDC @ 6.6A)

80 70 60

Torque

Shaft Power

50 40 30 20

TORQUE (OZ-IN)

0 1020304050

SPEED (RPS)

WATTS

OEM650/OEM650X • TUNING & SPECIFICATIONS

OEM650/OEM650X with OEM57-83-MOP

(38VDC @ 7.5A)

150

120

Torque

Shaft Power

TORQUE (OZ-IN)

0 1020304050

SPEED (RPS)

OEM83 Motors

OEM650/OEM650X with OEM83-62-MO

150

120

(75VDC @ 4.4A)

Torque

Shaft Power

WATTS

TORQUE (OZ-IN)

0 1020304050

SPEED (RPS)

WATTS

TUNING & SPECIFICATIONS • OEM650/OEM650X

OEM650/OEM650X with OEM83-93-MO

(75VDC @ 5.6A)

250

Torque

200

150

Shaft Power

100

TORQUE (OZ-IN)

0 1020304050

SPEED (RPS)

OEM650/OEM650X with OEM83-135-MO

(75VDC @ 6.9A)

400

350

Torque

300

WATTS

250

200

150

TORQUE (OZ-IN)

100

WATTS

Shaft Power

0 1020304050

SPEED (RPS)

OEM650/OEM650X • 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 lowimpedance path for ground-fault or noise-induced currents (use a star washer with the lower mounting screw on the drive). All earth ground connections must be continuous and permanent. Periodically check the mounting screws to ensure they are tight.

Motor Maintenance

Inspect the motor regularly to ensure that no bolts or 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 inspection 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 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.

TROUBLESHOOTING • OEM650/OEM650X

Determine if the problem is mechanical, electrical, or softwarerelated. 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 subsequent 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 OEM650/OEM650X (refer to Figure 5-1).

OEM

s e r i e s

POWER

FAULT

REMOTE

CURRENT

DUMP VDC+

VDC-

REF

A+

A-

B+

B-

Green POWER LED Red FAULT LED

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:

❏ Motor short circuit detected ❏ Drive over-temperature ❏ Motor winding open ❏ 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.

OEM650/OEM650X • TROUBLESHOOTING

Symptoms Possible Causes Solutions

Power LED is not on (illuminated)

Power LED is flashing

There is little or no holding torque; the power LED is on; the motor fault LED is off

The motor fault LED is on

The drive is not receiving adequate DC voltage

Drive screw are terminals loose

DC Line voltage is too low I/O incorrectly connected

Internal damage to the drive

The current select resistor is not installed or loose

The incorrect current select resistor is being used

Jumper #1 removed and you want between 7.5A - 2.5A

Remote input activated

Auto standby function enabled

The motor is not connected A motor winding is open

The drive has detected a short circuit in the motor wiring

The drive is overheating

The drive may have internal damage

Verify the VDC+ and VDC- connection Verify you power supply is producing

adequate power Verify that there is DC voltage at the

drive and at the VDC+ and VDCconnection

Tighten screws—do not tin wires

Check DC line voltage (24VDC minimum)

Remove 25-Pin D connector to isolate the problem

Return drive to Compumotor for servicing

Check for current select resistor, tighten screws, check wiring

Verify the current selector resistor with the current table—measure the resistor with an ohmmeter

Install Jumper #1. Double check the desired resistor value

Remove 25-pin D connector to isolate the problem

Check jumpers #9 and #10

Connect the motor Measure winding continuity—check the

series connections for an 8-leaded motor

Check for miswiring—carefully check the motor wires for loose strands shorting the windings

Verify that the drives heatsink does not exceed 55°C

Return the drive to Compumotor for servicing

The motor moves erratically at low speeds

Motor current is set incorrectly

Indexer pulses are being sent to the drive erratically

Motor resolution is set for 200 or 400 steps per revolution

Check the current select resistor and verify that the current is set correctly

Verify, with an oscilloscope, that the indexer pulses are being sent at a constant rate and are not being frequency modulated

Full and half step modes will cause the motor to run roughly at low speeds

TROUBLESHOOTING • OEM650/OEM650X

Symptoms Probable Causes Solutions

The drive loses pulses at high speed

The motor stalls at high speeds

The motor stalls during acceleration

The motor (unloaded) stalls at nominal speed

Motor does not move commanded distance

Indexer is overdriving step input

Indexer is underdriving step input

Indexer is sending pulses too fast

Motor is out of torque

The velocity is too high

Motor current is not set correctly

Motor is undersized for application

Motor current is not set correctly

The acceleration is set too high There is insufficient rotor inertia Motor is undersized for application

There is insufficient rotor inertia Mid-frequency resonance

Motor resolution is set incorrectly Determine the resolution on your

Verify that the step input current is not greater than 15 mA

Verify that the step input current is greater than 6.25 mA

Verify that the indexer is not exceeding the 2 MHz maximum pulse rate

Verify that the motor is sized correctly for your application

The drive can handle a maximum pulse rate of 2 MHz or 50 rps, whichever comes first—decrease the velocity

Check the current select resistor and verify that the current is set correctly

Verify that the motor is sized correctly for your application

Check the current select resistor and verify that the current is set correctly

Decrease the acceleration Add inertia to the motor shaft Verify that the motor is sized correctly

for your application

Add inertia to the motor shaft Add a damper to the shaft

indexer and verify that the drive resolution setting is the same

Motor will not change direction as commanded

Indexer moves motor in wrong direction

When a move is commanded, no motion occurs

The unit may appear to not be responding to commands

The direction input is not being enabled

There is a direction conflict within the indexer

A limit may be enabled and active

You may be in Absolute mode and are already at the position you are commanding the motor to move to

If you defined a sequence and never issued XT, the OEM650/OEM650X still thinks you are defining a sequence

OEM650X may be off-line (F command)

Verify that the direction input is being enabled (6.4 mA to 15 mA)

Change direction within your indexer or by swapping motor leads A+ and A- at the drive connector

Check hard limit or disable limits with the LD3 command

Try another distance and issue Go (G) command

Issue an XT command at the end of the sequence to end sequence definition

Issue an E command to bring the unit on-line

OEM650/OEM650X • TROUBLESHOOTING

Testing the Motor

If the motor fails to move, you should test the motor with an ohmmeter to examine the resistance between the motor connections. If the

motor is not malfunctioning, the source of the problem is probably within the drive. If you operate a faulty drive with a reliable motor, you may damage the motor. If you find that the motor is not faulty, remove power, and remove the motor from the drive. Use the following steps to test the motor.

1. Remove power from the system. Detach the motor from the drive.

2. With the motor detached from the system, use an ohmmeter to check the resistance across Phase A. It should be approximately 2 ohms.

3. Now use the ohmmeter to check the resistance across Phase B. It should be approximately 2 ohms too (the resistance across Phase A and Phase B should be nearly identical).

4. Use the ohmmeter to check the resistance between Phase A and

Phase B. It should be infinite (∞).

5. Use the ohmmeter to check the resistance between Phase A and

Earth (the motor case shaft). It should be infinite (∞).

6. Use the ohmmeter to check the resistance between Phase B and

Earth (the motor case shaft). It should be infinite (∞).

7. Turn the shaft manually. There should not be any torque.

If the motor responds as described to each of these steps, it is functioning properly. The source of the problem is probably within

the drive.

RS-232C Problems

Use the following procedure to troubleshoot communication problems that you may have with the 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) connection. 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 • 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. 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 RS232C 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. Connect 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 understanding 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 IS—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 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:

• What is the extent of the failure/reason for return?

• How long did it operate?

• How many units are still working?

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)?

3. 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.

4. Ship the unit to: Parker Compumotor Corporation

5500 Business Park Drive Rohnert Park, CA 94928 Attn: RMA # xxxxxxx

TROUBLESHOOTING • OEM650/OEM650X

Index

Accessories

High Current Heatsink 4

Low Current Heatsink 4 accessories 4 Accuracy 36 Attaching the Load 22 Automatic Test 5

Closed Loop Operation 28 Common Problems and Solutions 42 Compumotor indexer 10 Couplings 23 Current (Amps) 32

Daisy Chain Configuration 30 debugging 46 Direction Input 24 double-flexed coupling 23 Drive Maintenance 41

enclosure 14 Encoder Compatibility 29 end-of-travel limits 27 Evaluation kits 4

failed drive 46 Fan cooling 14 Fault LED 42 Fault Output 25 flange bolts 22

Gauging Motor Resonance 34

tachometer 34

Gear Shift Input 26

heatplate 14 Hysteresis 36

I/O

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

Motor Waveform Shape 20

load 22

OEM650/OEM650X • 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

non-Compumotor indexer 10 non-Compumotor motor 8

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 & Output Schematic 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

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

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 Data Bits 11 Handshaking 12 Parity 11 Stop Bit 11

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

tune 35 tuning

motor resonance 35

potentiometers 33 Tuning Potentiometers 34 Tuning Procedures 33

viscous damper 33

waveform matching 35 waveforms 35

Internal Connections

Inputs & Outputs

Step Input

Direction Input

Remote Input

Fault Output

Gear Shift Input

25 Pin D-Connector

Mounted on OEM650

2 3

HCPL-2601

8 7

4 3

+5V

4N35

ILQ2

243Ω

681Ω

1 2

+5V

464Ω

+5V

464Ω

+5V

10kΩ

HPCL-2631

OEM650 Inputs & Outputs, and Internal Connections

+5V

464Ω

BS170

25 Pin D-Connector Mounted on OEM650

Slave

Drive

Customer

Equipment

N.O.

N.C.

N.C. N.C.

Step Output Direction Output CW Limit

CCW Limit Home Reserved

GND Ref. Output #2 Fault Output Output #1 Sequence #1 Sequence #2 Sequence #3

OEM650X Inputs & Outputs

Tx Rx

Shutdown Encoder Channel A Encoder Channel B Encoder Channel Z

Trigger Input #1 Trigger Input #2 Trigger Input #3 Address Sel. #1 Address Sel. #2 Address Sel. #3

RS-232C

N.C. N.C. N.C. N.C. N.C. N.C.

POWER

Slave Drive

CURRENT

Screw Terminal

Connections

FAULT

REMOTE

REF

DUMP

VDC+

VDC-

A+ AB+ B-

Parker Compumotor OEM350, Compumotor OEM650, Compumotor OEM350X, Compumotor OEM650X User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual