Parker Hannifin 88-020292-01 A User Manual
p/n 88-020292-01 A
Automation
E-AC Drive
Hardware Installation
Guide
Effective: April 9, 2002
User Information
!!
WARNING
E Series products are used to control electrical and mechanical
components of motion control systems. You should test your motion
system for safety under all potential conditions. Failure to do so can result
in damage to equipment and/or serious injury to personnel.
E Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may
not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this user guide and software and
hardware mentioned therein at any time without notice.
In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any kind or nature
whatsoever, including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide.
© 2002 Parker Hannifin Corporation
All Rights Reserved
Technical Assistance
North America and Asia:
Compumotor Division of Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: (800) 358-9070 or (707) 584-7558
Fax: (707) 584-3793
FaxBack: (800) 936-6939 or (707) 586-8586
e-mail: tech_help@cmotor.com
Internet: http://www.compumotor.com
Automation
Contact your local automation technology center (ATC) or distributor, or ...
Europe (non-German speaking):
Parker Digiplan
21 Balena Close
Poole, Dorset
England BH17 7DX
Telephone: +44 (0)1202 69 9000
Fax: +44 (0)1202 69 5750
Germany, Austria, Switzerland:
HAUSER Elektronik GmbH
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: +49 (0)781 509-0
Fax: +49 (0)781 509-176
Technical Support Email
tech_help@cmotor.com
Table of Contents
Chapter 1 – Introduction................................................................................................................................ 5
E-AC Drive – Description .................................................................................................................... 6
E-AC Drive – Compatible Motors .........................................................................................................7
Chapter 2 – Installation.................................................................................................................................. 9
What You Should Have (ship kit) ........................................................................................................10
Precautions ....................................................................................................................................... 10
Installation Overview ......................................................................................................................... 10
Automatic Test ....................................................................................................................................12
Installation ......................................................................................................................................... 14
ELECT A MOTOR ......................................................................................................................14
1 – S
2 – CONNECT THE MOTOR TO THE DRIVE – WIRING...............................................................................18
3 – SET DIP SWITCHES .................................................................................................................. 20
4 – CONNECT A CONTROLLER – INPUTS & OUTPUTS .............................................................................22
5 – M
OUNT THE DRIVE .....................................................................................................................25
6 – MOUNT THE MOTOR ....................................................................................................................26
7 – CONNECT THE MOTOR TO THE LOAD – COUPLERS ...........................................................................28
8 – CONNECT AC POWER ................................................................................................................29
9 – TEST THE INSTALLATION ...............................................................................................................30
Chapter 3 – Troubleshooting........................................................................................................................31
Troubleshooting Basics ......................................................................................................................32
Diagnostic LEDs................................................................................................................................ 32
Protective Circuits ..............................................................................................................................32
OVERTEMPERATURE PROTECTION ........................................................................................................32
SHORT CIRCUIT PROTECTION .............................................................................................................33
Automatic Test ....................................................................................................................................33
Anti-Resonance Disable.....................................................................................................................33
Technical Support ..............................................................................................................................33
Product Return Procedure ................................................................................................................ 34
Appendix A – Using Non-Compumotor Motors .........................................................................................35
Appendix B – Regulatory Compliance: UL and CE....................................................................................41
Index.............................................................................................................................................................. 47
E-AC Drive Hardware Installation Guide
3
4
E-AC Drive Hardware Installation Guide
CHAPTER ONE
Introduction
1
• E-AC Drive Description
• Compumotor Products
E-AC Drive Hardware Installation Guide
IN THIS CHAPTER
Chapter 1 – Introduction
5
E-AC DRIVE – DESCRIPTION
C
r
e
or
or
C
s
p
ses
l
C
s
r
o
e
C
r
The E-AC Drive is a microstepping drive that runs two-phase step motors.
It operates directly from 120VAC power; no separate DC power supply or
transformer is required.
A typical system is shown below.
L1
N
A +
A -
MOTOR
B +
B -
Compumotor
DRIVE I/O
Motor
Controller
To AC
Power Source
SERIES
PWR/FLT
120V
E-AC Drive
System Components
The controller sends step and direction signals to the drive. For each step
pulse it receives, the drive will commutate the motor to increment rotor
position. This is shown in the next drawing.
Host Compute
r
Programmabl
ontrolle
High Leve
ommand
ontrolle
Pul
Ste
E-AC Driv
Mot
urrent
Mot
Block Diagram of E-AC Drive System
The host computer or programmable controller may or may not be necessary, depending upon the controller’s capabilities.
The motor can be wired in series or parallel; the amount of current the
drive sends to the motor is set by DIP switches.
DIP SWITCHES
DIP switches are located on top of the E-AC Drive, accessible through an
opening in the top of the cover. During the installation procedure, the
user sets these DIP switches to configure the drive for motor current,
resolution, waveform, and other functions.
CAUTION
Remove power before changing DIP switches
6
E-AC Drive Hardware Installation Guide Chapter 1 – Introduction
INPUTS & OUTPUTS
All communications with the controller take place through the
E-AC Drive’s 25-pin D-connector. Available inputs and outputs are:
• Step Input
• Direction Input
• Shutdown Input
• Fault Output
• Reset Input
ANTI-RESONANCE
All step motors are subject to resonance, and to ringing after quick transient moves. The E-AC Drive has an anti-resonance circuit. This is a
general purpose damping circuit that provides aggressive and effective
damping. Anti-resonance can be disabled with a DIP switch.
E-AC DRIVE – COMPATIBLE MOTORS
Compumotor offers a wide range of motors that are compatible with the
E-AC Drive. See Chapter 2 – Installation for recommended motors.
COMPUMOTOR FAMILY OF PRODUCTS
The E-AC Drive is compatible with Compumotor’s broad range of
microstepper controllers (single-axis and multi-axis) and motion control
products.
E-AC Drive Hardware Installation Guide
Chapter 1 – Introduction
7
8
E-AC Drive Hardware Installation Guide Chapter 1 – Introduction
CHAPTER TWO
Installation
2
• Product Ship Kit
• Quick T est
• Motor Selection and Wiring
• Drive Configuration – DIP Switches and I/O
• Mounting the Drive and Motor; Attaching the Load
• Connecting AC Power
• Testing the Installation
E-AC Drive Hardware Installation Guide
IN THIS CHAPTER
Chapter 2 – Installation
9
WHAT YOU SHOULD HAVE
Inspect your shipment carefully. You should have received one or more of
the following:
Part Part Number
E-AC Drive E-AC
E-AC Drive Quick Reference Guide 88-020290-01
You may have ordered a motor from one of the following families of
Compumotor motors:
OS Motors
VS Motors
PRECAUTIONS
To prevent injuries to personnel and damage to equipment, observe the
following guidelines:
• Never probe the drive. Hazardous voltages are present within the drive.
• Never open the drive. Opening the drive will void the warranty.
• Never increase the current setting to a value greater than that specified for
the motor you are using. Excessive current may cause motor overheating
and failure.
• Always remove AC power before changing or reconfiguring DIP switches.
(
SHIP KIT
)
INSTALLATION OVERVIEW
Topics in this chapter are arranged to lead you through the installation
process in a step–by–step manner. Complete each step before proceeding
to the next.
The order of topics in the installation procedure is:
• Quick Test
• Motor selection: specifications, speed/torque curves and dimensions
• Motor wiring—series vs. parallel
• DIP switch configuration
• Controller connections and 25 pin D-connector input/output schematic
• Drive mounting
• Motor mounting
• Connecting the load
• Connecting AC power
• Testing the installation
10
E-AC Drive Hardware Installation Guide Chapter 2 – Installation
INSTALLATION PROCEDURE
11
23
21
17
16
15
14
RESET+
RESET
FLT C
FLT E
SD
SD +
DIR
DIR +
STEP
STEP +
In the following installation procedure, we assume you are using a
Compumotor motor with your E-AC Drive. If you are using a nonCompumotor motor, consult Appendix A – Using Non-Compumotor Motors
for information you may need during the following installation steps.
The next drawing shows locations and names of the various connectors,
switches and LEDs that you will encounter during the installation procedure.
Heatsink
DIP Switches
RESET+
RESET
FLT C
FLT E
SD
–
SD +
DIR
–
DIR +
STEP
STEP +
11
–
23
9
21
17
16
15
2
–
14
1
SERIES
DRIVE I/ O
I/O Connections
SERIES
Status LEDs
AC Power
PWR/FLT
V
N
120
A +
A -
MOTOR
B +
B -
otor
m
pu
om
C
Motor Power
PWR/FLT
120V
A +
MOTOR
B +
L1
N
A -
B -
Compumotor
Component Locations
E-AC Drive Hardware Installation Guide
Chapter 2 – Installation
11
AUTOMATIC TEST
Follow this procedure to have your E-AC Drive perform its automatic test
function. Once you set DIP switches, connect the motor, and connect AC
power, the automatic test will begin—the motor shaft will turn at one
revolution per second in an alternating mode until you remove power.
This will verify that the drive, motor, and motor cable work properly as a
system.
Alternating
Shaft Rotation
Motor
Automatic Test Setup
This is a bench top procedure—as the drawing shows, you can perform it
before you connect a controller, mount the drive, or mount the motor. Full
installation instructions follow this Automatic Test section.
1. SET DIP SWITCHES FOR Motor Current
Two 8-position DIP switches are located on top of the E-AC Drive.
NOTE: if you are testing a drive that has already been configured for an
application, make note of the original DIP switch settings.
Set DIP switches SW2-#4 — SW2-#8 for the current for your motor,
according to the table. (For non-Compumotor motors, see Appendix A.)
To AC
Power Source
SERIES
PWR/FLT
L1
120V
N
A +
A -
MOTOR
B +
B -
Compumotor
E-AC Drive
DRIVE I/O
12
2. SET DIP SWITCHES FOR THE A utomatic Test Function
Set DIP switch SW1-#1 to the on position. This selects the automatic test
function.
3. CONNECT THE MOTOR
Connect your motor cable to the drive’s MOTOR terminals. Motor wiring
instructions are presented later in this chapter. (For non-Compumotor
motors, see Appendix A.) Always observe the following two warnings:
WARNING
POWER MUST BE OFF when you connect or disconnect the motor connector. Lethal
voltages are present on the screw terminals!
WARNING
You must ground the motor case. Large potentials can develop at the motor case that can
create a lethal shock hazard if the motor case is not grounded.
E-AC Drive Hardware Installation Guide Chapter 2 – Installation
Default Position:
Drive ships from factory
with all DIP switches in
the OFF position.
Edge of
Circuit Board
Auto Test
1 rps for 2 revs in each
direction until disabled
Disabled
Enabled
1
off
on
Resolution
25,000
50,800
50,000
36,000
25,600
25,400
21,600
20,000
18,000
12,800
10,000
5,000
2,000
1,000
400
200
200 & 400 not affected by
waveform settings
Waveform
Auto Standby
Remove power before
changing DIP switches
SW1
12345678 12345678
4
2
off
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
Pure sine
-4% 3
-6% 3
-8% 3
5
3
off
off
off
off
off
off
off
off
on
off
off
on
on
off
off
on
off
off
on
off
on
on
off
on
off
on
off
off
on
off
off
on
on
off
on
on
on
on
off
on
on
off
on
on
on
on
on
on
76
off
rd
harmonic
rd
harmonic
rd
harmonic
Full Current
50% Current Reduction
on
off
off
on
off
on
on
8
off
on
1
off
on
off
on
off
on
Disabled
Enabled
SW2
off
54
off
off
off
off
off
off
off
off
on
on
on
on
on
on
on
on
off
off
off
off
off
off
off
off
on
on
on
on
on
on
on
on on
off
off
off
off
on
off
on
off
off
on
off
on
on
on
on
on
off
off
off
off
on
off
on
off
off
on
off
on
on
on
on
on
off
off
off
off
on
off
on
off
off
on
off
on
on
on
on
on
off
off
off
off
on
off
on
off
off
on
off
on
on
on
on
off
off
off
off
off
off
off
off
off
off
off
off
off
off
off
off
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
32
on
< 32 mH (all VS, OS motors)
off
32 – 64 mH
off
> 64 mH
on
> 64 mH
on
Edge of
Circuit Board
876
(amps)
Current
0.02
off
0.13
on
0.24
off
0.35
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
Select a setting based on
motor inductance (in mH).
Series = S
0.46
Parallel = P
0.58
0.69
0.80
0.91
1.03
VS12BS, VS13BS
1.14
1.25
1.36
1.48
1.59
1.70
OS2HBS
1.82
OS21BS
1.93
VS12BP, VS13BP
2.04
VS22BS, VS23BS
2.15
2.27
VS21BS
2.38
OS22BS
2.49
2.60
2.72
2.83
2.94
3.05
VS31BS
3.16
VS32BS
3.28
3.39
OS2HBP VS2xBP, VS3xBP
3.50
OS21BP, OS22BP
Gain
Anti-Resonance
NOTE: This drawing is duplicated in
4. CONNECT AC POWER
The E-AC Drive does not have an ON/OFF switch. When you connect
power, the automatic test will begin—the drive will turn on and the motor
will start turning. Therefore, before you apply power to the E-AC Drive:
• Properly secure the motor.
• Do not attach a load to the motor shaft.
To apply power, connect one end of your power cable to the drive’s 120V
and terminals. Connect the other end to a grounded 120VAC power
source. (Further instructions are presented later in this chapter.)
5. OBSERVE THE AUTOMATIC TEST
Your E-AC Drive should now be running in the automatic test mode.
• The motor shaft should rotate at approximately one revolution per second
(1 rps) in an alternating mode, until you remove power.
• LED Operation – observe the LEDs on the front panel:
6. STOP THE AUTOMATIC TEST
Disconnect power to stop the motor. Set DIP SW1-#1 to off. (Return DIP
switches of previously configured drives to original settings, if desired.)
E-AC Drive Hardware Installation Guide
Installation – Step 3: DIP Switches
PWR LED (power; green) should illuminate
FLT LED (fault; red) should be off
Chapter 2 – Installation
, later in this chapter.
13
INSTALLATION
00
0
00
0
0
84
OS
e
q
(
)
(
)
OS
e
q
(
)
OS
e
(
)
0
3040
50
0
8
35
01020
3040
50
0
0
80
0
35
9
56
0
3040
50
8.56.70
01020
3040
50
200
0
1.05
1.40
8001000
5.607.01
e
)
(
)
e
)
q
(
)
(
)
e
)
(
)
e
)
q
(
)
(
)
e
q
(
)
e
e
q
(
)
(
)
00
300
The procedures in the rest of this chapter will lead you through the steps
required to permanently install your E-AC Drive and motor.
1 – SELECT A MOTOR
Speed/Torque curves, specifications, and motor dimensions for
Compumotor motors are shown below.
SPEED/TORQUE CURVES
2HB/E-AC Driv
60
50
40
30
Torque (oz-in)
20
10
0
0 1020304050
Speed (RPS)
21B/E-AC Driv
12
Torque
.35
.28
.21
.14
.07
0
1
oz-in
80
Nm
ue
60
or
40
20
0
0 1020304050
Speed (RPS)
.
.7
.56
.42
.28
.14
0
24
Torque
2
oz-in
160
Nm
ue
120
or
80
40
0
0 1020304050
22B/E-AC Driv
Speed (RPS)
1.68
1.40
1.12
.84
.56
.28
0
Torque (Nm)
VS12B/E-AC Driv
60
50
40
30
Torque (oz-in)
20
10
0
0102
Speed (RPM
VS21B/E-AC Driv
100
80
60
40
Torque (oz-in)
20
0
0102
Speed (RPM
VS31B/E-AC Driv
600
500
400
300
Torque (oz-in)
200
100
0
0 1020304050
Speed (RPM)
.
.2
.21
.14
.07
.2
.14
0
3.5
2.8
2.1
1.4
.70
0
Series
Parallel
VS13B/E-AC Driv
7
Torque
oz-in
Nm
ue
40
or
30
20
10
Speed (RPM
VS22B/E-AC Driv
Torque
oz-in
Nm
ue
or
50
0
Speed (RPM
VS32B/E-AC Driv
Torque (Nm)
oz-in
600
ue
or
400
200
0
0 1020304050
Speed (RPM)
Full Step
.7
.35
0
4.20
2.80
1.40
0
.
.4
.
.28
.21
.14
.07
Torque
Nm
VS23B/E-AC Driv
Torque
oz-in
2
Nm
ue
or
100
50
0
0 1020304050
Speed (RPM)
Torque
Nm
Series
Parallel
Full Step
2.10
1.75
1.40
1.05
.70
.35
0
Torque (Nm)
14
E-AC Drive Hardware Installation Guide Chapter 2 – Installation
MOTOR SPECIFICATIONS
OS Motors
Size 23 Frame
Parameters Units OS2HB OS21B OS22B
Static torque oz-in 61.35 126.5 238
Rotor inertia oz-in
Drive Current Series 1.76 (1.24) 1.88 (1.33) 2.38 (1.68)
(Apk)(Arms) Parallel 3.25 (2.48) 3.76 (2.66) 4.76 (3.36)
Phase Inductance Series 8.6 12 16.6
(mH) Parallel 2.2 3 4.2
Detent Tor que oz-in 2.5 4.0 7.0
Bearings
Information
Thrust Load lb 13 13 13
Radial Load lb 20 20 20
End Play in 0.001 0.001 0.001
(Reversing load (mm) (0.025) (0.025) (0.025)
equal to 1 lb)
Radial Play in 0.0008 0.0008 0.0008
(Per 0.5 lb load) (mm) (0.02) (0.02) (0.02)
Motor Weight lb 1 1.5 2.5
Certifications UL recognized Pending Pending Pending
(Nm) (0.43) (0.84) (1.68)
2
(kg-cm2) (0.07) (0.12) (0.25)
(N-m) (0.02) (0.03) (0.05)
(kg) (5.9) (5.9) (5.9)
(kg) (9.1) (9.1) (9.1)
(kg) (0.5) (0.7) (1.1)
CE (LVD) Yes Yes Yes
CE (EMC & LVD) No No No
0.39 0.66 1.39
VS Motors
Size 17 Frame Size 23 Frame Size 34 Frame
Parameters Units VS12B VS13B VS21B VS22B VS23B VS31B VS32B
Static torque oz-in 55.27 72.8 115.5 194.5 334.5 551.8 1269.67
Rotor inertia oz-in
Drive Current Series 1.00 (0.71) 1.01(0.71) 2.26 (1.6) 2.01 (1.42) 2.01 (1.42) 3.0 (2.12) 3.13 (2.21)
(Apk)(Arms) Parallel 2.00 (1.42) 2.02 (1.43) 4.52 (3.2) 4.02 (2.84) 4.02 (2.84) 6.0 (4.24) 6.26 (4.42)
Phase Inductance Series 12.8 11.2 5.0 12.0 15.4 15.8 25
(mH) Parallel (3.2) (2.8) (1.2) (3.0) (3.8) 4.0 6.25
Detent Tor que oz-in 2.5 4.0 7.0 8.8 18.0 27.0 50
Bearings
Information
Thrust Load lb 11.0 11.0 17.6 17.6 17.6 35.3 35.3
Radial Load lb 7.7 7.7 15.0 15.0 15.0 30.9 30.9
End Play in 0.003 0.003 0.003 0.003 0.003 0.0032 0.0032
(with 2.2 lbs axial (mm) (0.075) (0.075) (0.075) (0.075) (0.075) (0.080) (0.080)
load)
Radial Play (with in 0.001 0.001 0.001 0.001 0.001 0.0008 0.0008
1.1 lb radial load) (mm) (0.025) (0.025) (0.025) (0.025) (0.025) (0.020) (0.020)
Motor Weight lb 0.55 0.77 1.03 1.54 2.2 3.86 6.18
(Nm) (0.39) (0.51) (0.82) (1.37) (2.36) (3.90) (8.97)
2
2
(kg-cm
) (0.054) (0.068) (0.12) (0.3) (0.48) (1.4) (2.7)
(N-m) (0.02) (0.03) (0.05) (0.06) (0.13) (0.19) (0.35)
(kg) (5) (5) (8) (8) (8) (16) (16)
(kg) (3.5) (3.5) (6.8) (6.8) (6.8) (14) (14)
(kg) (0.25) (0.35) (0.47) (0.7) (1.0) (1.75) (2.8)
0.3 0.37 0.66 1.64 2.62 7.65 4.8
E-AC Drive Hardware Installation Guide
Chapter 2 – Installation
15
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