COMPUMOITOR

F-SERIE:S

MOTOR/DRIVER

OPERATOR'S Mj~NUAL

P IN a a-()05 '7 2 8:-0 1

COMPUMOTOR CORPORATiON

5500 BUSINESS PARK DRiVE

ROHNERT PAF?K CA 94928

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COMPUMOTOR F-SERIES MOTOR/DRIVER SYSTEMS INSTALLATION I~ OPERATION MANUAL

INDEX Page

I. Introd.uction ........... II " ...... " ....................... II"" ........... ... 2

II. Inspection •••••••••••••••••••••••••••••••••••••• 2

III.. Unpac.k! ng ................... • ' ~Ih ., .... " ............................................. 2

IV. Motmtlng ...................... n •••••••••••••••••• 3

V. Connecting AC Power ........... n •••••••••••••••••• 4

VI. Checkout ....••...••....... 1. " •••••••••••••••••• •• 4

A. Proper Torque B. Pulse Source Connection C. Pulse Generation D. Compumotor Pulse Generation

VII. Limi ted Travel Mechanisms ........................ 6

VIII. Dynamic CharacteristIcs of <II Compumotor ••••••••• 7

IX. Periodic Maintenance •••••••••••••••••• , •••••••••• 7

x. Troubleshooting ••••••••••••••••••••••••••••••••• 8

XI. Factory Service ...... , It 'I ••• 1 •••••••••• "'1' •••••••• 9

XII • Further Notes .......... I, .... II ........................................... 9

XIII. Specifications ................. ' ..... ' ........ ' ................... ........... 10

Appendix A: Case Temp. RiS!!! "ITS. RMS Velocity ••• 12

Appendix B: Speed Torque Curve!I •••••••••••••••• 13

Appendix C: Wiring Diagram - Driver to Indexer •••••••••••••••••••••••••••• 15

Appendix D: Warranty ••••••••••••••••••••••••••• 16

CopyrIght 1986 by Canpumotor IC,orp'Clrattion Specifications Subject to Challge ,~rIthout Notice

pIN 88-005728-01

COMPUMOTOR F-SERIJ:!:S MOTOR/DRIVER SYSTEMS

INSTALLATION ANI) O:P'ERATION MANUAL

I. INTRODUCTION:

WARNING!

Compumotor Corporation has made a. spe'd;'!l effort In the design and construction ()f its products to IJl;Ilke the.m both versatile and easy to use. The mechanical torque produced by these motor/drivers is capable of damaging or' destroying the equipment tCI which they are connected if improperly installed, operated or senri,ced. Only persons qualified in servicing and installing hazardous voltage electrical and limited-travel mechanical systems should attempt thls procedure.

The F-Series motor/driver is a high pcn<ler tDicrostepping drive wi th a low pass filter added to reduce the 20KHZ switching noise in the ouput current which cannot be tolerated by the low inductance of F-series motors.

The F57-83 is a standard hybrid st:eppl~r motor. The F83-49 series motor dri ver is a disk rotor synchro-st4!lP m4Jtor. The disk rotor causes the motor to have an extremely low ro1:()r llnert:la making it ideal for appli­cations requiring high accelerat:Lo·ns.

II. INSPECTION

Carefully inspect the shipping cart:on(s) fClr any evidence of physical abuse or damage and note any findings 4Jn the Waybill at the time of receipt. In cases of severe damage, It Is r'ecommended that the shipment be rejected entirely. Ccmpumotor C.:)rpo'r'ation cannot be responsible for in-transit damage.

III. UNPACKING

Use care in opening the shipping c~n·ton( s) no that the cables supplied are not cut or damaged. Verify the It'ecei ptof the following Items:

Q!z

1

1

1

1

1

DeSCription

Compumotor with 1.0 [,oot (3M) Drive Cable

Driver (Power kIIlpl1f:1er-/1rranslator) Module

3-w1re AC Line Cord Ei feE!t (2M) with Ground Pin

Pulse Source Cable Kh

Standard Product LIne! Brochure

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Compumotor F-Series Motor/Driver Syst.ems Installation & Operation Manual

Report any shortages and/or direct any questions regarding ordered and supplied options directly t~, COII\PUlillOl:or Corporation (see Further Notes, page 9).

IV. MOUNTING THE MOTOR AND DRInR

The two F'-series motors confc>:r:ll1 Ito NE:M:A Standard frame sizes as follows:

COIIIpwnota.r Series

FS7 F83

NEMA Sl:lll1dard Frame Slze

231 34

Bolt Size

18-32 #10-32

Bolt Grade SAE

3 3

The Canpulllotor should be mounted rigidly wi th the proper size and grade of hardware at all four corners, and the motor case should be connected to third wire ground.

The Compwnotor's mounting surface a::ts as a heat sinking device which carries away thermal energy ge-nerated by self heating. Temperatures produced by the motor when not mounted may seem excessive, and are the result of the COIIIpumotor having full pe:>wer applied at all times. even when not rotating. This heatirlg h nonllal. The motor temperature will drop consIderably when the COIDpumoto>r is mounted.

The Driver may be mounted some dhtance from the motor if the wire lengths and minimum wire sizesl li~'ted lln Appendix B are observed. Motor cable extensions are ava1lablE~ fr()m the! factory.

Hount the Driver with the heat:dnk Hnsl running vertically for best convection cooling (Figure 5) .. A tllinim1W11 of 3 inches (7.62 em) of clearance must surround the Driver on the heatsink top and four sides.

Route the motor cable carefully se:> that movements of the motor and any attached mechanism(s) will not cause interference. In addition, the motor cable should be routed nway fr,om equipment that is sensi ti ve to electro-magnetic interference.

Environmental Considerations:

The mounting location for the Compum()to-r and driver must be free from all liquid.s and protected from con,dluc:tive chips and dust. The standard Compumotor is not suitable for explosive atmospheres. vaccuum beyond 10-2 torr, or life-support equipment. The bearings in the 1Iotor are not sealed and must be protected fr-om ,~:ontaminants. Ambient conditions for

a 0 c, ..D the Driver are 32 to 122 F (0 t.o 5~u G) and 0 to 95% humidity (non-condensing). The Compumotor can operate from 3i'to l5<f 1 (00 to 70° C) •

Continuous operation of the 157-83 motor velocity of 10 rps may be

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Compumotor F-Series Kotor/Driver Systems Installation & Operation Manual

limited depending on the ambient temperature. See Appendix A for case temperature versus velocity for 25, 30 and 50 degree ambient temperature environment.

Coil any excess cable at the Driver and secure it with a cable tie. This cable carries high voltage (150 VUe:) and alII wire runs must conform to all applicable local electrical c:o,dies ,lncl OSHA requirements. Check that the model number of the COQIpumotor ,uld Ithe Dri ver have the same type number (e.g. F83-49). Rotate the Kotor Cable Connec.t()r until it slips into the mating connector on the Drl',er. Tunl the locking collar clock­wise until it is tight.

V. CONNECTING AC POWER*

Select a source of 117 VAC power which Is free from line drop outs and transient voltage spikes. The maximum current draw of the various Motor/Driver Systems is listed in Appendl.:( U. Standard practices of sizing wire for these loads must be! c,bse!['ved to minimize the voltage drop at the driver.

VI. CHECKOUT

Prior to energizing the Motor/Driver, manually turn the Compumotor shaft by grasping the outer radius of the dumml:' load. One should feel the magnetic detents characteristic of this type of AC synchronous motor employing permanent magnets.

A. Proper Torque

A dummy load of the approximate inel~t1a listed in Appendix A should be mounted securely to the motor shaft for t:esting. Only collet-style mounting clamps are recommended for lIecurity and for concentricity between the load and the motor shaft,. Com.pumotor Corporation will supply a simple dummy load for the 157 and F83 Series motors upon request. The appropriate part numbers are pIN 53-0100536 fc)r the "i57 Series and pIN 53-000537 for the F83 Series.

Note: F-Series Kotor/Drivers haVE! a 111 internal interlock built into the motor cable (Pins 3 and 7). Tht! Ilnterlock will not allow power to be delivered to the motor c:,onnec:tor while the motor is dis­connected. This is a safety fe8ttlre to protect the operator from hazardous vol tages that wClllld othe't"wise be present. It is impor­tant that this interlock be sUlP,ported should an extension or custom cable be used to dri ve the m~otor. Consul t the factory for assistance prior to making any extension or custom cables.

*Caution: Hazardous voltages inside. Rehr installation and servicing to qualified personnel only.

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Compumotor F-Series Motor/Driver Systems Installation (, Operation Manual

Connect AC power to the Motor/Driver.

It is not unusual for there to be a snal> o,r pop caused by the in-rush energy charging the Motor/Driver l)QwE!r supply. Check that the rated holding torque is present at the Compuml)tClr shaft. This may be done empirically by feel, as the magnetic detent torque will have increased by at least an order of magnitude. A standard torque wrench may be used in place of the dummy load if a quic:k, qualltlfiable resul t is desired. Should the torque under power be low (Ir nonexistent, proceed to Section X, Trouble Shooting (page 8).

WARNING:

00 NOT connect or disconnect the tDI)tolr COO1lector while the Motor/Driver is energized because an arc will result in the connector subsequently and damage the Motor/Driver. To do so voids the Warranty. Multiple motors may be connected, one at a time, to the same driver by use of the Remote Power Shutdown and external switches. Consult the factory if this is required.

B. Pulse Source Indexer Connection (25-Pin D-Connector, female)

Si~nal l?in

Direction Input (+) :Z Direction Return (-) 15 Step Input (+) 1 Step Return (-) 14 Remote Shutdown (+) 16 Shutdown Return (-) 17 Chassis Ground J~ot

Current

20 Ma, TTL Level

20 Ma, TTL Level

20 Ma, TTL Level

conn,ected at drive.

Check the pulse source (indexer) c:ablt! for continuity and possible shorts prior to use. Use a dummy load of 180 ohms to ensure that a minimum of 20 Ma is available to drive each of the opto-isolators in the driver (HP -'HCPL 2530).

C. Pulse Generation

Set the pulse rate of your chosen ]pulse source to zero. Connect the Pulse Source Cable to the Driver. Make ElUre that the Remote Power Shut-down signal is not asserted (Logical "(Ie. Otl Pin 16).

Ccmpumotors are designed to be ac:c:elerated and decelerated. Compumotor Corporation provides a complete line clf preset indexers for creating the necessary velocity profiles and c:clOtrcIllitl,l~ total distance moved.

Gradually increase the pulse rate until the dummy load begins to notice­ably rotate. Decrease again to ze.rcI and dUlOge the logic state of the

Compumotor F-Series Motor Driver SystE!m!1 Installation & Operation Manual

direction input. Increase the pul:!u~ r,He and obser'l7e the change in direction of the Compumotor shaft. Return the pulse rate to zero. Simple frequency counters are helpful at thiel Eltage to observe velocity changes.

D. Compumotor Pulse Generation

If you are using one of Compumot:ClI' CClrp,orcltion's Preset Indexers with a 25,000 step per revolution Motor/Drive! sys:tem, perform the following test:

150, 170 or 2100 Series Preset Indexers

1. Set the Mode Switch to "Preset". 2. Dial in "10" rev/sec on the Acceleration thumbwheels. 3. Dial in "10.00" rev/sec (150 or 1710 Series) or '"10.000" rev/sec.

(2100) on the Velocity thumbwheels" 4. Dial in "+20.000" revolutions on the Po,sition thumbwheels (151 Series)

or 500,000 steps (170 or 2100 Series). 5. Depress "START".

If using the 2100 Series Indexer with RS-232C Computer Interface you may do the following:

"E MN A10 V10 0500000 G<CR)" (Carriage Return)

For 2100's exercising the Model U()O c:ompatibility option the following will have the same results:

Type "MN AlO V10 D20 G (Carriage Return)

All of the above will accelerate the motor at the rate of 10 rev/sec until a velocity of 10 rev/sec is reac:hed (5 complete revolutions in one second). After completing a total ()f 1~5 Ire"olutions, the motor will begin to decelerate at the rate of 10 rev/sec t() a stop. When stopped, it will have completed exactly 20 revolutions in three seconds.

VII. LIMITED-TRAVEL MECHANISM

Before connecting the actual load to the shaft of the Compumotor, all limited-travel mechanisms must be protecte:d by the use of electrical limit switches. If one of the COmp1Jmotor Preset Indexers is used, follow the instructions included with those units. In other cases, a limit switch must signal the need for a e:ontro,lled deceleration at the maximum rate possible. This rate must be c:l)ns:Lstent with load inertia and maximum load of the motor.

Note that since the required limits are nOlt the "End-of-Travel" type, they must be tripped fat enough before: the mechanical stop to allow the load to be safely decelerated. This d:Lstance lIay be computed using the Braking Curves of the appropriate Mot,e,r Specification Sheet and the

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Compumotor F-Series Motor/Driver SYEltem!J Installation & Operation Manual

formulas given in App l1cation Note 13. It a1 so may be deteroined empirically by initiating the decele:rati.,:>n cycle in the middle of travel and measuring the distance required to stop.

VIII. DYNAMIC CHARACTERISTICS OF THE COP-fPUHOTOR

A Compumotor is a special case of cl hyblLid poermanent magnet stop motor driven by a 20 KHZ, bi-polar, chopper powelL BiDlplifier. Its complex wave shaping circuitry allows signilicant cOlllpensation for many of the mechanical and electrical imbalances inherent in step motors. The digitally-controlled proportioning ,of current slmul taneously between multiple \Jindings gives high torque Cit llow speed without the jarring accelerations of traditional step motor~l.

The precision of Compumotor's drive proporltielning techniques yie Ids exceptional repeatability while maintaining the open-loop accuracy and ease of use characteristic of steppe!r meltors. The Compumotor shares the dynamic response curve of the stepp~!l~ m()tor ,!lnd its stall characteristics. That Is, full torque under acceleration is developed at a lag angle of approximately l.sO. Loading which cau;ses a larger lag angle \Jill result in the motor losing position.

In cases of severe overloading, the: roto,:r liill lose synchronism wi th the rotating magnetic vector of the stator and the rotor will stall and stop. The Compumotor has been designed to alle"11 ;1 continuous stall condition while overloaded without damage to the GomPUtDotor or the driver. If the motor is stalled, however, the rotating magnetic vector must be stopped by halting the input pulses, and the cause of the overloaded condition remedied before the Compumotor may bE! re~:!lt,iirted and run successfully.

Up to 1.8() of dynamic error under acc~elelration will be recovered when a constant velocity is reached, or wh~m the C01:llpumotor is stopped. How much error is recovered is proportional to' lo,ad friction and depends on the stick-slip characteristics of the lc).id. 'The degree of recovery may therefore have to be determined eiDlpirically. If using Compumotors or step motors in multi-axis systems, the error under load (if excessi ve) could be compensated for in the master con,trol system. Decelerating produces a similar error condition as the motor lea~s the load.

IX. PERIODIC MAINTENANCE

Periodically check the Compumotor lBcnmtlng be) 1 ts and shaft coup lings. The ball bearIngs used in the Compumotor are not sealed but are permanently lubricated and require no maintenance. There are no serviceable items in the COIIlpumotor or maintenance items such all brushes.

The motor strain relief and cable sl1icluld be Jlnspected at appropriate intervals for signs of wearing or excess:[ VI! force being applied to the cable. Tighten both cable connectors at the driver. Check that the driver

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Compumotor F-Series Motor/nriver S,ystl!ml!l Installation & Operation Manual

heatsink is free of dust and dirt and hu a free flow of air over its entire surface.

x. TROUBLESHOOTING

If problems develop in the operation of the Compumotor, refer to the following list of symptoms and c:aLliseSI tl) :I.dentifyor localize the problem:

1. Motor fails to turn

Probable causes:

(a) No AC power (b) Bad connections or bad cables (c) Tripped or faulty limit s:witc:hes - make sure that control signals

are not being inhibited by l:Lm:lt inputs to a preset indexer or supervisory logic.

(d) Load is jammed - remove AC pC)VE!r from the driver and verify that the load can be turned 1ll,a,nual1:,.

(e) No step signal coming to dri17er _. check that a pulse train meet­ing all requirements for voltage, current and pulse width is available (3.5 to 6V @ llliA. minilDUIlI, 25 mA maximum, 500 nSec pulse width minimum).

(f) Driver ouput is being turned off by Remote Pover Shutdown Option­Pin 16 of the input cable to the driver should not be high (ITL level) relative to Pin 17.

(g) Blown driver AC line fUSIE!. - Dtsconnect AC paver from the driver and dismount it from the surfal:e to which it is attached. Remove the four Phillips-head slc:rews l.mlch retain the sheet metal cover on the long sides of the dri ',elt'. Remove the four screws on the short edges of the end plates. Slip off the cover and inspect the fuse., If the fuse is blown, return the un! t for repair.

Notice: Probing of the driver with A.G po\,er applied should never be done by anyone other than COIIIpumo,ltor (Iualified personnel. LETHAL VOLTAGES ARE PRESENT and thelre hi no AC isolation in the driver.

2. Motor stops during acceleratio'n:

Probable cause:

This condition indicates an overlload c:ondition caused by excessi ve torque requirements, too steep an acce!leration ramp, or a gross mis­lIlatch of load inertia and rotor l.nertJla. Refer to Compulllotor Appli­cation Note 13 for calculations of torque. A larger motor and/or lower accelerations lIlay be indicatec!.

3. Motor fa11s to run above 20 rps (12()0 rpm)

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Compumotor F-'Series Motor/Dr! ver Systemls Installation & Operation Manual

This may be due to load/CompulDot'c,r interactions which can stimulate parametric oscillations and IHaUL the Compumotor. The addition of friction, system dampening or mec:hanical redesign to minimize lIIechanical resonances lIIay be required singly or in combination.

4. Motor is jerky, noisy or weak

Check that there are no mechanical problems at the load causing highly variable loading conditions BIt: the Ccx~pumotor shaft. Disconnect the Compumotor from the load and lrun it wi th a dummy load connec ted. If the problem persists, 8ervic:e~ repair jls indicated.

XI. FACTORY SERVICE

To return the Compumotor for repair o,r Ito order replacement parts, obtain the model and s~r1al numbers of the ID'C)tIH' and driver. Call the Compumotor Service Department for return authori:~at:1c'n. In California call collect: (707) 778-1244, otherwise call to,ll free (800) 3.58-9068. Return the Compu­motor and Driver, freight prepaid, to::

Note: Please mark both packing slip and packing label with the Return Material Authorization number supplied! by Compumotor.

~II. FURTHER NOTES

Compumotor Corporation is dedicatl!d tlJ be a leader in digital motion control. We invite your problems t que:~tions or comments.

This manual has been designed to provJlde a,n introduction for the user with typ lc.:t 1 app li<:a t ions. Signi ficant dep.lrtur,es from the operati ng parameters outlined here are possible. If you ha',e a volume requirement for our pro­ducts (of over 250 per year) we would like to discuss your specific needs.

Call or write:

Parker Compumotor 5500 BUSiness Park Drive Rohnert Park, CA 94928 (707) 584-7558 (800) 358-9068 RMA #

In California ,call collect: (/07) 584-7558 Outsid~ C~ltfornia. call toll free: (800) 358-9068

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Compumotor F-Series Motor/Driver Systems Installation & Operation Manual

XIII. SPECIFICATIONS

Environmental Specifications:

31' . 0 0 0 Operating: Driver - '-la F (0-50 C) ambient assumes driver fins mounted vert: ic:all YJ

convection cooling. Maximum. fin c~

temp. - 150 F (50) a to 95% hUDlicii ty. non-condensing

Motor .- 3f-lOLi.op (o!50o) ambient - assumes convection cooling. Ma~:imUlll. case temp. (measured mid-case) - 212 (101f C) o to 95% hualidlity. non-cond~nsing

Storage: {I C 0 c

-40 to l85 F (-40 to 85 C)

Electrical Specifications:

Input power: TTL Inputs:

105 to 125 VAc 50/60 Hz with brownout protection 3.5 to 6.0V pulse height

Driver Dimensions: Weight: Height: Length: Width:

~500 :cLSec pulse width minimum 20 mA tlllinimum current :750 KHZ maximum pulse rate

4 lbs. (1.82 kg) IL063 in.(10.32 em) 13.25 in. (20.96 em) ~)'38 in. (13.67 011)

Motor Specifications:

Rotor Inertia:

OI-inl. kg-cm1

FSi'-83

1 •. 28 .2~34

F83-49

.48

.008

Tc)rque: see appendix n fClr sp4!ed torque curves

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Velocity (rps)

o 2

10 20 30

F57-83 ' .. F('C)

50.0(1.0) 6:~ .0(2:0)

122.0 (50]1 14.3.6 (62 JI

1:59.8(71)

F83-49 .... F( .... C)

50.0(10) 50.0(10) 71.6 (22) 78.8(26) 78.8(26)

Continuous operation of the F57-83 motor above an RMS velocity of 10 rps may be limited depending on the ambIent temperature. See Appendix A for case temperature versus velocity for 25, 30 and 50 degree ambient temperature environment.

MINIMUM RECOMMENDED MOTOR/DRIV1!!:R WIRE SIZE (AWG)

Motor Series

F57 F83

Maximum Current: .E.!:.! phase (A)

1 2

Les:~ Than ~OO ft.(20.5m)

22 20

1. Cable runs of over 200 ft. (7'1) are n()t recommended.

2. Voltage drop per motor phase ., (c~!lble length (A) x 2) XR 100

where R • wire resistance in ohmsi per 100 ft.

100-200 Ft. (30 .S-11m)

20 18

Wire Size (A~) R (ohms/lOa ft)

16 .4

18 .64

20 1.0

22 1.6

·-ll-

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u (!) LrJ 0

I

n: 2 LrJ .... LrJ VI

() a:: 0 .... 0 :i

30

APPENDIX A

CASE TEt\AP. VS. IRMS VELOCITY F'M--SeriC9 5,7-83

130

120

110

100 -+----------,.~-----------........ =----------,,-~ ~-----

90 --e------

80

70

60

50

40 ---r--·~---r_-~-_r--'-.___-.___'~I---~--~---r-~---~~

2 6 10 'r·4 18 22 26 .30

Rt.lS VELOCITY - RPS DEG. AUB. + 40 DEG. AMB. 50 DEG. At,IB.

To calculate rms velocity::

Vrms :or SQRT«Vl**Ztl + V2*~'2t2 -+ ••• Vn**2tn}/(tl+tZ+ .•• tn)

where: Vn is constant velod.ty t.n is time at consta,nt velocJlty

The time, tn, spent at constant velocity, Vn, greater than 10 rps must be less than 30 minutes.,

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p::j

X H

ffi p..

~

it-SERIES 57-03 SPEED/TORQUE CURVE

TI_ I IORQUE: OZ-IN

. __ L -- --. --1--.1

120

l~G

_---r- "" 1--- -~. .. 96

, . ... \ 31

I --!---l \

L \\ \

I , ., '.

\ \ \ \ I Iii i \i ____ L ~ I '-___ J~ ___ ~L' 1 __ LI 1 . ____ f....;...\_

I--~-

I \. 'i \ I .

~ I

\

72

60 dQ .,\1

36

24

!

. . ! I I I I 1_- _____ _ _

12

.10 *

.20 .30 .4~.5C 1 2 3 4 5 10 o

2~ 3~ SPEED - ~p5

t--

>--

• M ...... •

""' ... c o !.J -~

>< H

ffi p..

~

F-SERIES 83- 119 SPEED TORQUE CURVE I TORQUE: OZ-IN 1GG

- 90 .---8G

7G I

-- -- --- I 2-- \ -.--- \, .. \.

! I . ' .

I __ I

I I I I \\

I_~ __ L ___________ I__ ___ '.

r---l 1 \ __ 1 I ."". • •

-I I •

HjjJ . II I II I t\:1

6e r'1"\ J\j

4~ i

-<7 ....

3~ I

28

I I I I I I le ~

.10 ,20 .30 .40,50 1 2 3 4 5 le 23 3~ * SPEED - ~P5

?ULSE SO:.J~CE OR !t;JEXEiR

cr.:"S SIS G~O:.;"'()

STEP + OUTPUT

STEP -RETURN

D:;:<ECTION + OUTPUT

D:RECTION -RETURN

SHUTDOWN + OUTPUT

SHUTDCSN -RETUi'\N

APPENDIX C

DF\/vER

SHIELD

~

'--"

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LIMITED WARRANTY.

O~ 11,.,.1 Q-Z!al 5/8.3

SeUer WilTTants that the products sold will be free /rom defects in matenal and worlcmansrup and perform to Seller's apphc.a.bl~! pubhshed specmcatlons for a penod of I yeaz from do!te of shipment. The liability of Seller hereu~lder shiill be liIlllteci to replaonq or repauinq. &t its option. any defective uruU which are retLLmed F. 0 B. Seller's plant, Petaluma. Califorrua. In no C4Se are products to be returned withmJt hut obtc!lninq permission and a c:ustcmer retum order number from SelleL In no event !.h.all Seller be liable for any consequentiAl or incidental damages,

EqUlpment or parts which haTt! ~II su.bject to abuse. misuse, accident, alteration, neqlect, unauthonzed rep&l1 or installabon aze not l:overed by WilTTanty, Seller shall mue the hnal determinabon as to the e:usten,'e and c:ause oJ any alleged defect. No liability is assumed for expendable items such &S lamps lLIld fuses. Nc) wilTTanty is made with respect to custom eqWpment or products produced to Buyer"s speaficabons except as spetihcally stated In wribng by Seller in the contract for such C'Llstolll equipment.

This wilTTanty is the only WilTTa.n~ made by Seller with respect to the goods delivered hereunder, and may be modibed o:r a.rD'e'nded only by a wntten instrument Slgned by a duly authorized offic-er of Seller and accepted by BuyeL

ucept as hereinabove prOvided SELLER l'.1AKES NO WARRANTIES. EXPRESS OR IMPUED, INCLUDING ANY WARRANTY OF MERCHANTABIUTY OR FITNESS FOR A PARTICULAR PURPOSE.

The leader in microstepping technology

~(OmiPUmc)t:O=i ~~ ~~[P@~M~[KQ)Oll-

(707) ne·1244 1 (1lCX)) 358·90681 n.x 5 IO·744211 5

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CompUlDotor Div of Parker Hannifin

AP'F'ENDU .A

F Series Drive

Dimensions

The drive should be mounted with heat sink vertical (not as shol.'Tl below). Allow a 5" vertical and 3" horizontal clearance for proper convection cooling.

D T o .0 o - ,

IL-0_ °_0 -,--1 ~-,,'c~I~ ~---,~~:.

Drive we ight: Heatsink Fin Area:

5 lbs. (2.2Kg) 350 in2 (2258 em)

Drive Connector Listing

Hotor Cable Color 1 Phase 2 + Black 2 Phase 1 Green 3 Interlock - Yellow 4 Earth Gnd Shield 5 NC 6 Phase 2 Red 7 Interlock + Yello,", 8 Phase 1 + 1.."11 i te

Indexer Connector

25 Pin nD" Pin No. Signal 1 Step 2 Direction

14 Step 15 Direction 16 Shutdol.'Tl 17 Shutdo\o1ll

Remaining pins are (No Connection)

+ +

+

NC

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L5A Configurations

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Gompumotor Div of Parker Hannifin

AP1'ENDIX B (Cont inlJed )

Complete S'y-stem

F-L5A-P15 F-L5A-P26 F-L5A-PS4

Drive and ForceI~ F-L5A LE-LSA

Drive only F-lA LE-lA

LE-LSA-P13 LE-LSA··P26 LE-LSA··PS4

Forcer onlY LSA

,Platen Olill PO-LSA-P13 PO-LSA-P26 PO-LSA-P54

29

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LINEAR MOTOR SYSTEMS

Spec ifications

System Name: Dr ive Type:

Static Force: Maximum Bearing Load:

Resolutions: steps/inch R-14

R-13

MaximWD Current: MaximWD Speed:

(inch/second)

Drive Weight: Drive Inputs:

Repea tab i 11 t)': (unidirectional)

Hysteresis: Error:

APPENDIX B

F-L5A-PXX F-Series

5 Lbs (2.25 Kg)

10 Ibs (4.05 Kg)

12,500 25,000* 18,000

1 amp

40

4 1bs (1. 82 Kg) Step/Direction

±.00004" (±l Micron) .0005" (.Ol.] !DIn)

LE-L5C·PXX LE Series

6 Lbs (2,70Kg)

10 Ibs (4.05 Kg)

12,500 25,000

1 amp

40

Step/Direction

Cyclic .002" TIR (.005 =) Cumulative Flaten .0002 inch per inch (.2mm per meter) Cumula tive Thermal ±.0000066 in/in/oF eta. 07 Micron/cm/°C)

Max Forcer Case Temperature: \.leight:

Forcer Platen

Bearing:

Load: Perpendicular Unidirectional

Flatness requirement

.8 lbs (.36 Kg) 4.16 oz per i.nch (.0045 Kg/rnm) Ball bearing rollers

10 lbs (4.05 Kg) 10 1bs (4.05 Kg)

for mounting: .001 inch/foot

Standard platen lengths: P13-l3 (330); P26-26 (660); P54-54 (1320) inch (lDlD) Shorter lengths available for cost of standard length

plus a cutting charge.

*R-option by special order. These options may reduce maximum speed.

Rev. -01

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Compumotor Div of Parker Hannifin

Al'PENDIX B

(Continued)

Performance Curves

Speed!Force

I" ,\ " \\

2 (91)

I CASI

:

\~,

10 20 30

-

~A) ~":E! (1IJil ilnd\~'1(~ (c,.,."IoIr-cD~

Distance YS. Move 'Time (under various load cond~iol\S)

n-IN'<O"'do )

O,!

5~_

-.

.,~ '\ ' v.

QlI3 ~ .," . ......-.~. W/ '/ ....

D.2!. n5

1.0

Il~

(I ~JJ)

hc"'r·ltJ"I'l) 'h~

-,....._ ...... -~!"'.~~ .. -

..... _--

~--

-------_ ...

"-15 (J.B1)

~ .~ .~ ""~/--4-_~"~~."':: ... :"" .. ~.

"YI (I.\~~ .... ~\ ••••

OA

c

'" ,~~.""". (\~ ..... . --;;;;r- -~: ... "

",~ ......

V'

Vv ","" .." ......... ----+-----+-

Z~ ~., ~ .... ..-/

~~ ... o 5

(1<7) 10 I~, 2Il

~'AJ P!~ I~ _.(em)

.... ""

31

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LINEAR MOTOR SYSTEMS

Dimensions Forcer

Platen

1 ·L......-+-!-+--8 --- -

Forcer Pin-out

5-32 lI'O:';1I • 211~)31 D~ I') I'Iaa.

T 1

p." "

Rev. -01

NOTE:

Cornpumotor Div of Parker Hannifin

APPENDIX C

Minimum Recommended Linear Motor \.Tire Size (A\.TG)

Awg Awg MaxiIDum Current Less Than 100-200 Ft.

Motor Series per Phas,~ (A) 100 ft. (30.5M) (30. 5M- OlM)

-----------

F-L5A 1.0 20 18

LE-LSA 1.5 20 18

F-L3C 2.0 20 18

C-L3C 1.09 ~'O 10

CX-L3C 1. 09 20 18

F-L9A 2.0 20 18

1. Cable runs over 200 ft. 6lM are not recommended.

2. Voltage drop in the wire:

V - I x R I - peak current per phase R - wire resistance ..Qfl~_100 ft x length in ft x 2 lengths

100

\.Tire Size (A\,;'G) R (ohms/laO ft)

16 0.4

18 0.64

20 1.0

22 1.6

r T "

37

38

LINEAR MOTOR SYSTEMS

J~PPENDIX C (Continued)

f Drive Pulse Soyrce (Indexer) Connection

(25-Pin D-Connector, female)

Signal rin .Current

Direction Input (+) 2 .20 Ma, TTL Level Direction Return ( -) 15 Step Input (+) 1 20 Ma, TTL Level Step Return ( - ) 14 Remote Shutdololl (+) 16 20 Ma, TTL Level ShutdololTI Return ( -) 17 Chassis Ground Not connected at drive.

Check the pulse source (indexer) c:able for continuity and possible shorts prior to use. Use a dummy load of 180 ohms to ensure that a minimum of 20 Ma is available to drive each of the opto-isolators in the driver (HP ~HCPL 2530).

PUlSE SO:.JRCE OR INDEXER

CHASSIS GROllND

STEP + OUTPUT

STEP -RETURN

DIRECTION + OUTPUT

DIRECTION -RETURN

SHUTDOWN + OUTPUT

SHUTDOWN -RETURN

DRIVER

SHIEL

A [) _[ __ INC~ ~ 2.21( 100 ....

- --<, 3; - -~ D.

-~5:~'

I

Rev. -01

T 1

(

•

1-40

1::30

120

no ..... 100 W ::r C] 90 Q; :J: 80 ~ III 70 1.1 w 60 a::: '-' w

50 0

-40

,)0

20

10 0

\

Compumotor Div of Parker Hannifin

A}'FENDIX E

Case Temperature Rise vs. Velocity

C:C)NTINUC)U$ OPERATION -----

/ //

,;

I ---,----,-. - I

-4 e 12 16 20

V[LOCI1Y - INCHES PER SECOND 0 F"-L5A + f"-DC

Note: These curves are b':lsed on a 90-100% duty cycle.

/i

24 28

39

r 1

.--LJ :r z w 0::

~ 1:3 w 0:: 0 w 0

LINEAR MOTOR SYSTEMS

170

1150

1~0

140

1:30

120

110

100

gO

eo

70

EO

2

APPENDIX F

Maximum Ambient TE:rnperature Curve

F"--l,5.A. ~IDDEL ONLY -------

'~

~ I ----.---,- T

6 10 1-4 18 22

VELOCITY - INCHES PER SECOND

Note: These curves ,assume operation at duty cycles of 90-100%.

26 :30

40 Rev. -01

r 1

Compumotor Div of Parker Hannifin

APHNDIX G

Air Gap Adjustment for F-L5A

1) Remove the spring from the forcer's spring loaded bearing.

2) For the following procedure use a piece of 0.0015 (lmil) shim stock for motor operation below 20 IPS, or use 0.002" (2mil) shim stock for continuous motor operation more than 20 IPS. Place the shim stock on the platen covering the platen teeth but, leave the bearing track open (see Figure A). Approx. dimensions of shim are 5" x I 1/4".

3) Place the forcer on the platen over the shim stock. Make sure that the bearings are resting on the platen and not on the shim.

4) Loosen the 4 socket head screws on the 2 side sections of the forcer.

5) Press dl")wn firmly on the sfde section with the spring loaded bearings and tighten the socket head SCrE!WS.

6) Next tighten the screws on the other side section. Since this section has only one bearing in contact with the platen surface, the section can pivot. Make sure the section is in the !Same plane as the forcer body when the screws are tightened.

7) Remove forcer from platen, replace spring. Remove shim from platen, replace forcer on the platen. If the gap has been set correctly the forcer will move freely.

If the forcer won't move or if there is interference, repeat the procedure.

Firm dO\.-nward pressure on the side sections is necessary when tightening the screws.

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42

LINEAR MOTOR SYSTEMS

APPENlDIX G Figure A

r---.-_-_~~=b,~~_~~"'-·-___ ----, [ r- (

Rev. -01

(

r 1 "