Catalog 8000-4/USA
Servo Motors
SERVO MOTORS
A Full Line Up of Powerful Servos to Meet the
Demands of Your Application!
Compumotor began manufacturing brushless servo motors
with the release of the SM series in the spring of 1995. Since
that time, we have continued to expand our product offering
and have manufacturing plants in California and Italy.
inertia ratios, providing a performance advantage in
applications requiring high accelerations. The bridged stator
design also greatly reduces detent torque and mechanical
noise when compared to a conventional slotted motor.
Compumotor can also provide an integrated planetary
gearhead for use with our brushless servo motors. Our unique
design integrates the pinion of the gearhead into the motor
shaft, reducing total package length by almost two inches.
Innovation in Design
Compumotor utilizes two distinct technologies in the
manufacturing of brushless servo motors. The Slotless Design
and the Bridged Stator Design both reduce motor
manufacturing costs while providing performance advantages
to the user.
The slotless design eliminates all detent torque in the motor,
providing superior performance in applications requiring
smooth, low speed operation. This design also results in higher
rotor inertia, providing an advantage in applications involving
high inertia loads.
The bridged stator design results in extremely high torque-to-
•
•
•
Size 16 and 23
0.8 to 11.3 in-lb.
continuous torque
Slotless design
Rugged housing
(IP65 option)
Connection options
•
•
•
•
•
Planetary Gearheads
•
•
•
Compumotor’s brushless servo motors are manufactured in our
modern JIT manufacturing facility. Highly evolved manufacturing
philosophies provide levels of service and product availability
previously unattainable in the servo motor industry.
Compumotor’s lead times average less than ten days for all
standard and custom servo motors.
SE Series
SM Series
•
•
Standards or Specials in 10 Days
Size 16, 23, 34 and 92
Integrated pinion design
Shortest package length
available
Size 16 and 23
0.8 to 10.1 in-lb.
continuous torque
Slotless design
Plastic encoder cover
Short package length
M Series
•
•
•
•
•
•
Size 16, 23 and 34
1.4 to 46 in-lb. continuous torque
Bridged stator design
2000-line encoder
standard
Connection options
•
•
•
Size 105, 145 and
205mm
Up to 90 Nm of power
Brushless construction
Encoder feedback and
resolver
NeoMetric & J Series
SL Series
•
•
•
•
•
•
70 mm and 92 mm
6 to 61 in-lb. continuous torque
Bridged stator design
Rugged housing
(IP65 option)
Connection options
18
Automation
BE Series
•
•
•
•
Size 42, 63, 102
and 140mm
20 to 350 lbs continuous force
Slotless design
High speeds
High precision
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Custom Motors
SERVO MOTORS
Custom Designed Servo Motors for Your
Specific Application!
Compumotor offers a broad range of standard options with all
of our brushless servo motor families. Our numerous shaft,
feedback and connection options will fulfill the needs of most of
our customers. However, we realize that from time to time the
need arises to have a custom motor designed specially for your
application.
Whether you need custom connectors, mounting, or a
custom winding, Compumotor can build a motor designed to
your exact specifications. Compumotor provides these special
designs for our customers with:
• Minimal impact on product lead time
• Modest impact on pricing
• No minimum quantities
Compumotor’s modern manufacturing system allows us to
offer custom motor solutions without sacrificing product quality
and availability. All of our custom motors are built in our
standard servo motor work cell, and our computerized custom
product tracking system allows us to provide consistent, highquality custom products. And, because custom motor
manufacturing is integrated into our standard manufacturing
process, we can often build and ship custom designed motors
and cables in the same time frame as standard products.
Compumotor provides this service for one simple reason: to
make it easier for you, our customer, to integrate a Compumotor servo motor into your application. We provide more than
just a component, we provide a custom designed servo motor
solution.
Common Special Requests
Connectorization
•
Right angle connector housing
MS connectors on back cover
Special cable lengths
Hi-flex cables
Customer specified cables
and connectors
Cable exiting through
back cover
Flanges
Gearheads
•
•
•
•
•
Tapped mounting holes
Customer specified flanges
Face mount
•
Non-standard ratios
Customer specified
flanges
Customer specified
output shaft
Windings:
•
B
•
•
•
•
•
Specific bus voltage
Shafts
Brakes
Feedback
•
•
Internal or external
•
Higher resolution
encoders
Higher temperature
encoders
Miscellaneous Options
• Private label back
cover
• Special windings
• Shorter lengths
• High speed balancing
• Special finish
•
•
•
•
•
•
•
•
•
•
•
•
Special lengths
Special flats
Special keyways
Special shaft diameters
Metric shaft diameters
Hollow shafts
Rear Shaft Extension
Double flats
Shaft pinning
Pressed on gears
Center tapped
Special shaft materials
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
19
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
SM Series HighPerformance Slotless
Design
The SM Series brushless servo motors feature a slotless stator
design. This design eliminates all detent torque in the motor,
allowing the SM Series motors to provide extremely smooth
motion, especially at low speeds. The slotless design also
creates a higher rotor inertia, which is ideal for applications
involving high inertial loads (such as lead screws and belt
drives).
The SM Series motors also feature a rugged anodized
aluminum body and connector housing. An IP65 rating can be
obtained on motors with MS connectors and an optional shaft
seal. All SM motors are CE (LVD) compliant.
The SM Series servo motors are available with integrated
planetary gearheads in ratios up to 100:1. Our unique package
integrates the gearhead pinion into the motor shaft, reducing
the overall package length by up to 2 inches.
SM Series Features
•
•
•
•
•
•
Size 16 and 23
0.8 to 11.3 lb-in continuous torque
Brushless construction
Slotless design
–
Negligible detent
torque
–
Reduced torque
ripple
–
Medium inertia
High-performance
neodymium magnets
Thermostat protected
•
•
•
•
•
•
•
•
•
TENV housing
IP65 option
Feedback options
–
Encoder/Hall effect
–
Hall-effect only
–
Resolver
Connectorization choices
Special winding
availability
Ten day deliveries
Two-year warranty
CAD (.dxf) drawings
available
CE Compliant
Part Numbering System
SM
232
A
E-
N
MS
N
SM Series
Frame,
Magnet Length
Winding
Feedback
Shafting
Connection
Options
A
B
D - 500 ppr
encoder1
E - 1000 ppr
encoder1
H - Hall-effect only
R - resolver2
N - normal
F - flat
K - keyway2
L - long2
FL - 18” leads
10 - 10’ cable3
25 - 25’ cable3,5
MS - military style
TQ - trap drive
GS - Gemini amp6 series
N - none
V - shaft seal4
GXX - Gearhead7
160
161
162
1
2
3
4
230
231
232
233
Includes Hall-effect
Not available on size 16 or SM230
Cable is hard-wired
With MS, TQ or GS connectors—IP65,
not available on size 16
5
6
7
20
Automation
Size 23 only
See amplifier sections for specific motor/amplifier compatibility
Specify “K” shaft option with Gearheads
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
SE Series Low-Cost,
Space-Saving Package
The SE Series brushless servo motors were created with the
OEM in mind. The SE Series motors provide the same
performance as the SM Series, but in a lower cost, spacesaving package. Designed for embedded applications, these
motors are available in flying lead configurations and have a
plastic encoder cover. Customer specified connectors or shaft
modifications are easily incorporated with minimal impact on
price and delivery.
The performance curves and electrical specifications for the
SE series motors remain unchanged from the SM Series. All
SE Series motors are CE (LVD) compliant.
The SE Series servo motors are available with integrated
planetary gearheads in ratios up to 100:1. Our unique package
integrates the gearhead pinion into the motor shaft, reducing
the overall package length by up to 2 inches.
SE Features
•
•
•
•
•
•
•
•
Size 16 and 23
0.8 to 10.1 lb-in continuous torque
Brushless Construction
Slotless Design
Negligible detent torque
Reduced torque ripple
Medium Inertia
High performance neodymium magnets
Thermostat protected
1000 ppr encoder
Special winding availability
Ten day deliveries
Two year warranty
CAD (.dxf) drawings available
CE Compliant
B
•
•
•
•
SE Part Numbering System
SE
SE Series
1
2
3
161
Frame, Magnet
Length
1601
2301
161
231
162
232
233
A
E-
N
Winding
A
B
Feedback
E - 1000 ppr
encoder2
Shafting
N - Normal
F - Flat
K - Keyway3
L - Long3
FL
Connection
FL - 18” Leads
N
Options
N - None
GXX - Gearhead
SE160 and 230 do not include temperature switch
Includes Hall-effect
Not available on size 16 or SE230
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
21
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
Size 16, Encoder Feedback, Specifications*
Parameter
Symbol
Stall Torque Continuous1
Tcs
Units
SM160A
SM160B
SM161A
SM161B
SM162A
SM162B
3.1
lb-in
0.8
0.8
1.6
1.6
2.9
oz-in
13
13
26
26
47
49
Nm
0.09
0.09
0.18
0.18
0.33
0.34
Stall Current Continuous1,4,8
Ics(sine)
Amps Peak
2.8
5.6
2.7
5.2
2.6
5.1
Stall Current Continuous1,7
Ics(trap)
Amps DC
2.5
4.8
2.3
4.5
2.3
4.4
Tpk
lb-in
2.5
2.5
4.9
4.9
8.8
9.1
oz-in
40
40
78
78
141
145
Peak Torque6
Nm
0.28
0.28
0.55
0.54
0.99
1.02
Peak Current4,6,8
Ipk(sine)
Amps Peak
8.5
16.7
8.1
15.5
7.8
15.2
Peak Current6,7
Ipk(trap)
Amps DC
7.4
14.4
7.0
13.4
6.8
13.2
Rated Speed2
ωr
rpm
7,500
7,500
7,500
7,500
7,500
7,500
Current @ Rated Speed
Ir(sine)
Amps
2.5
4.9
2.2
4.2
2.2
4.3
Current @ Rated Speed
Ir(trap)
Amps
2.2
4.2
1.9
3.6
1.9
3.8
Torque @ Rated Speed
Tr
lb-in
0.6
0.6
1.1
1.1
2.3
2.3
oz-in
10
10
18
18
37
37
Nm
0.07
0.07
0.13
0.13
0.26
0.26
Shaft Power @ Rated Speed
Po
watts
57
55
97
100
205
204
Voltage Constant3,4
Kb
volts/radian/sec
0.038
0.020
0.079
0.041
0.147
0.078
8.17
Voltage Constant3,4
Torque Constant9
Torque Constant3.4
Ke
volts/KRPM
4.02
2.08
8.27
4.29
15.39
Kt(sine)
oz-in/Amp Peak
4.71
2.43
9.69
5.03
18.03
9.57
Nm/Amp Peak
0.033
0.017
0.068
0.035
0.126
0.067
oz-in/Amp DC
5.43
2.81
11.19
5.81
20.82
11.04
Nm/Amp DC
0.038
0.02
0.078
0.041
0.146
0.077
Kt(trap)
Resistance3
R
Ohms
3.43
0.90
4.53
1.24
6.50
1.73
Inductance5
L
mH
0.53
0.13
0.81
0.21
1.39
0.33
Maximum Bus Voltage
Thermal Resistance Wind-Amb
Motor Constant
Viscous Damping
Vm
Volts DC
100
100
170
170
170
170
Rth w-a
°C/watt
3.20
3.20
2.70
2.70
2.00
2.00
Km
oz-in/√watt
2.93
2.96
5.26
5.21
8.16
8.40
Nm/√watt
0.021
0.021
0.037
0.036
0.057
0.059
B
oz-in/Krpm
0.162
0.162
0.284
0.284
0.300
0.300
Nm/Krpm
1.13 E-3
1.13 E-3
1.99 E-3
1.99 E-3
2.10 E-3
2.10 E-3
0.10
7.0 E-4
10
0.10
7.0 E-4
10
0.15
1.05 E-3
11.6
0.15
1.05 E-3
11.6
0.20
1.40 E-3
14.2
0.20
1.40 E-3
14.2
Motor Thermal Time Constant
τth
oz-in
Nm
minutes
Electrical Time Constant
τelec
millisecs
0.16
0.15
0.18
0.17
0.21
0.19
Mechanical Time Constant
τmch
millisecs
11.7
11.5
7.7
7.8
5.5
5.2
Intermittent Torque Duration10
T2x
seconds
8
8
9
9
14
14
Peak Torque Duration11
T3x
seconds
3
3
4
4
5
5
J
lb-in-sec2
4.4 E-5
4.4 E-5
9.4 E-5
9.4 E-5
1.6 E-4
1.6 E-4
kg-m2
5.0 E-6
5.0 E-6
1.1 E-5
1.1 E-5
1.8 E-5
1.8 E-5
4
4
4
4
4
4
lbs
0.7
0.7
1.1
1.1
1.6
1.6
kg
0.3
0.3
0.5
0.5
0.7
0.7
H
H
H
H
H
H
Static Friction
Rotor Inertia
Number of Poles
Weight
Tf
Np
#
Winding Class
* SM & SE Series specifications are identical unless otherwise noted.
1
2
3
4
5
6
7
@ 25°C ambient, 125°C winding temperature, motor connected to a
10”x10”x1/4” aluminum mounting plate, @40°C ambient derate phase
currents and torques by 12%.
Maximum speed is 7500RPM. For higher speed operation please call the
factory.
Measured Line to Line, ±10% line-to-line
Value is mesured peak of sine wave.
±30%, Line-to-Line, inductance bridge measurement @ 1 kHz
Initial winding temperature must be 60°C or less before peak current is
applied.
DC current through a pair of motor phases of a trapazoidally
8
9
10
11
(six state) commutated motor.
Peak of the sinusoidal current in any phase for a sinusoidally commutated
motor.
Total motor torque per peak of the sinusoidal amps measured in any phase,
+/-10%.
Maximum Time duration with 2 times rated applied with initial winding temp
at 60°C.
Maximum Time duration with 3 times rated applied with initial winding temp
at 60°C.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
22
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
Size 16, Encoder Feedback, Performance Curves
(SM & SE Series data are identical unless otherwise noted)
SM160BE
SM160AE
Vbus=75VDC, Ics (sine)=5.6 amps, Ipk(sine)=16.7 amps
45
0.32
0.28
40
0.28
35
0.25
35
0.25
30
0.21
30
0.21
25
0.18
25
0.18
20
0.14
20
0.14
15
0.11
0.11
10
0.07
15
10
5
0
0.04
5
0.04
0
0
1000
2000
3000
4000
5000
6000
7000
0.07
0
1000
2000
SM161AE
6000
7000
0
SM161BE
Vbus=170VDC, Ics (sine)=5.2 amps, Ipk(sine)=15.5 amps
Vbus=170VDC, Ics (sine)=2.7 amps, Ipk(sine)=8.1 amps
0.56
80
70
0.49
70
0.49
60
0.42
60
0.42
50
0.35
50
0.35
40
0.28
40
0.28
30
0.21
30
0.21
20
0.14
20
0.14
10
0.07
0
1000
2000
3000
4000
5000
6000
7000
0.56
0.07
10
0
0
0
0
1000 2000
Speed (RPM)
3000 4000 5000
6000 7000
Speed (RPM)
SM162AE
SM162BE
Vbus=170VDC, Ics (sine)=2.6 amps, Ipk(sine)=7.8 amps
Vbus=170VDC, Ics (sine)=5.1 amps, Ipk(sine)=15.2 amps
160
1.13
0.99
140
0.99
120
0.85
120
0.85
100
0.71
80
0.56
60
0.42
40
0.28
20
0.14
Torque (Nm)
Torque (oz-in)
1.13
140
1000 2000
3000 4000
5000
0.71
80
0.56
60
0.42
40
0.28
20
0.14
0
0
0
0
100
6000 7000
Torque (Nm)
160
0
Torque (Nm)
0
Torque (oz-in)
80
Torque (Nm)
Torque (oz-in)
4000 5000
Speed (RPM)
Speed (RPM)
Torque (oz-in)
3000
B
0
Torque (oz-in)
0.32
Torque (Nm)
45
40
Torque (Nm)
Torque (oz-in)
Vbus=75VDC, Ics (sine)=2.8 amps, Ipk(sine)=8.5 amps
0
1000 2000
3000
4000 5000 6000
7000
Speed (RPM)
Speed (RPM)
CONTINUOUS
PEAK (170 VAC)
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
23
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
Size 23, Encoder Feedback, Specifications*
Parameter
Symbol
Stall Torque Continous1
Units
SM230A
SM230B
SM231A
SM231B
SM232A
SM232B
SM233A
SM233B
Tcs
lb-in
oz-in
Nm
1.7
27
0.19
1.6
26
0.18
3.8
61
0.43
3.4
54
0.38
6.6
106
0.74
7.0
111
0.78
10.1
161
1.13
9.7
156
1.09
Stall Current Continuous1,4,8
Ics(sine)
Amps Peak
2.7
5.5
2.9
5.5
2.8
5.4
2.7
5.3
Stall Current Continuous1,7
Peak Torque6
Ics(trap)
Tpk
Peak Current4,6,8
Peak Current6,7
Rated Speed2
Current@Rated Speed
Current@Rated Speed
Torque@Rated Speed
Ipk(sine)
Ipk(trap)
ωr
Ir(sine)
Ir(trap)
Tr
Shaft Power@Rated Speed
Voltage Constant3,4
Voltage Constant3,4
Torque Constant9
Po
Kb
Ke
Kt(sine)
Torque Constant3,4
Kt(trap)
Resistance3
Inductance5
Maximum Bus Voltage
Therm. Resistance Wind-Amb
Motor Constant
R
L
Vm
Rth w-a
Km
Amps DC
lb-in
oz-in
Nm
Amps Peak
Amps DC
rpm
Amps
Amps
lb-in
oz-in
Nm
watts
Volts/rad/s
Volts/KRPM
oz-in/Amp Peak
Nm/Amp Peak
oz-in/Amp DC
Nm/Amp DC
Ohms
mH
Volts DC
°C/watt
oz-in/√watt
Nm/√watt
oz-in/Krpm
Nm/Krpm
oz-in
Nm
minutes
millisecs
millisecs
seconds
seconds
lb-in-sec2
kg-m2
2.4
5.1
82
0.57
8.2
7.1
7500
2.4
2.1
1.4
22
0.15
122
0.081
8.48
9.93
0.070
11.47
0.080
4.43
1.19
100
2.67
5.45
0.038
0.160
1.12 E-3
0.20
1.40 E-3
18.3
0.27
18.3
11
5
2.4 E-4
2.7 E-5
4
1.2
0.5
H
4.7
4.9
78
0.55
16.4
14.2
7500
4.9
4.2
1.3
21
0.15
116
0.039
4.09
4.79
0.034
5.54
0.039
1.12
0.28
100
2.67
5.23
0.037
0.160
1.12 E-3
0.20
1.40 E-3
18.3
0.25
19.9
11
5
2.4 E-4
2.7 E-5
4
1.2
0.5
H
2.5
11.3
181
1.27
8.8
7.6
7500
2.5
2.2
2.9
47
0.33
261
0.169
17.70
20.72
0.145
23.93
0.168
5.22
1.64
170
2.00
10.47
0.073
0.250
1.75 E-3
0.30
2.10 E-3
20
0.31
9.5
11
4
4.6 E-4
5.2 E-5
4
2.1
1.0
H
4.8
10.0
160
1.12
16.6
14.3
7500
4.8
4.2
2.8
44
0.31
244
0.079
8.27
9.69
0.068
11.19
0.078
1.46
0.44
170
2.00
9.26
0.065
0.250
1.75 E-3
0.30
2.10 E-3
20
0.30
12.2
11
4
4.6 E-4
5.2 E-5
4
2.1
1.0
H
2.4
19.8
316
2.21
8.3
7.2
7500
2.3
2.0
5.1
81
0.57
449
0.310
32.46
38.02
0.266
43.90
0.307
7.50
2.90
340
1.54
16.03
0.112
0.360
2.52 E-3
0.70
4.90 E-3
21.6
0.39
7.2
18
6
8.2 E-4
9.3 E-5
4
3.0
1.4
H
4.7
20.9
334
2.34
16.1
14.0
7500
4.5
3.9
5.4
86
0.60
477
0.169
17.70
20.72
0.145
23.93
0.168
2.00
0.78
170
1.54
16.92
0.118
0.360
2.52 E-3
0.70
4.90 E-3
21.6
0.39
6.5
18
6
8.2 E-4
9.3 E-5
4
3.0
1.4
H
2.4
30.2
483
3.38
8.1
7.1
5800
2.4
2.0
8.1
129
0.90
553
0.484
50.68
59.35
0.415
68.53
0.480
9.65
4.08
340
1.25
22.06
0.154
0.540
3.78 E-3
1.00
7.00 E-3
23.3
0.42
5.4
20
7
1.2 E-3
1.3 E-4
4
3.9
1.8
H
4.5
29.2
467
3.27
15.8
13.6
5800
4.6
4.0
7.6
121
0.85
519
0.242
25.34
29.68
0.208
34.27
0.240
2.58
1.06
170
1.25
21.33
0.149
0.540
3.78 E-3
1.00
7.00 E-3
23.3
0.41
5.8
20
7
1.2 E-3
1.3 E-4
4
3.9
1.8
H
Viscous Damping
B
Static Friction
Tf
Motor Thermal Time Constant
Electrical Time Constant
Mechanical Time Constant
Intermittent Torque Duration10
Peak Torque Duration11
Rotor Inertia
τth
τelec
τmch
T2x
T3x
J
Number of Poles
Weight
Np
#
Winding Class
lbs
kg
* SM & SE Series specifications are identical unless otherwise noted.
1
2
3
4
5
6
@ 25°C ambient, 125°C winding temperature, motor connected to a
10”x10”x1/4” aluminum mounting plate, @40°C ambient derate phase
currents and torques by 12%.
Maximum speed is 7500RPM. For higher speed operation please call the
factory.
Measured Line to Line, ±10% line-to-line
Value is mesured peak of sine wave.
±30%, Line-to-Line, inductance bridge measurement @ 1 kHz
Initial winding temperature must be 60°C or less before peak current is
applied.
7
8
9
10
11
DC current through a pair of motor phases of a trapezoidally (six state)
commutated motor.
Peak of the sinusoidal current in any phase for a sinusoidally commutated
motor.
Total motor torque per peak of the sinusoidal amps measured in any phase,
+/-10%.
Maximum Time duration with 2 times rated applied with initial winding temp
at 60°C.
Maximum Time duration with 3 times rated applied with initial winding temp
at 60°C..
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
24
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
Size 23, Encoder Feedback, Performance Curves
(SM & SE Series data are identical unless otherwise noted)
SM230AE
SM230BE
Vbus=75VDC, Ics (sine)=5.5 amps, Ipk(sine)=16.4 amps
Vbus=75VDC, Ics (sine)=2.7 amps, Ipk(sine)=8.2 amps
0.49
50
0.35
0.28
0.42
40
30
0.21
20
0.14
10
0.07
0
1000
2000
3000
4000
5000
6000
7000
0.64
70
0.49
60
0.42
50
0.35
40
0.28
30
0.21
20
0.14
10
0
0.07
0
0
0
1000 2000
Ics (sine)=5.5 amps, Ipk(sine)=16.6 amps
0.85
0.71
0.56
0.42
0.28
0.14
4000 5000
6000
7000
Torque (oz-in)
Torque (oz-in)
120
100
80
60
40
20
180
160
1.27
1.13
140
0.99
120
0.85
100
0.71
80
60
0.56
0.42
40
0.28
20
0.14
0
0
0
1000
4000 5000
6000 7000
0
SM232AE
SM232BE
Ics (sine)=2.8 amps, Ipk(sine)=8.3 amps
Ics (sine)=5.4 amps, Ipk(sine)=16.1 amps
350
2.47
2.12
300
2.12
250
1.77
250
1.77
200
1.41
200
1.41
150
1.06
150
1.06
100
0.71
100
0.71
50
0.35
50
0.35
0
1000
2000
3000
4000
5000
6000
7000
Torque (oz-in)
2.47
300
0
0
0
0
1000
Speed (RPM)
SM233BE
SM233AE
Ics (sine)=5.3 amps, Ipk(sine)=15.8 amps
350
300
2.47
2.12
250
200
150
1.77
1.41
1.06
100
50
0.71
0.35
0
2000
3000
4000
5000
6000
Torque (oz-in)
3.18
2.82
500
450
3.53
3.18
400
350
300
2.82
2.47
2.12
250
200
1.77
1.41
150
100
1.06
0.71
50
0
7000
0
Torque (Nm)
3.53
450
400
Torque (Nm)
500
1000
2000 3000 4000 5000 6000 7000
Speed (RPM)
Ics (sine)=2.7 amps, Ipk(sine)=8.1 amps
0
Torque (Nm)
350
0
Torque (oz-in)
3000
Speed (RPM)
Torque (Nm)
Torque (oz-in)
Speed (RPM)
2000
Torque (Nm)
1.41
1.27
1.13
0.99
Torque (Nm)
200
180
160
140
1000 2000 3000
6000 7000
SM231BE
SM231AE
Ics (sine)=2.9 amps, Ipk(sine)=8.8 amps
0
0
3000 4000 5000
Speed (RPM)
Speed (RPM)
B
0
80
Torque (Nm)
70
60
Torque (Nm)
Torque (oz-in)
80
Torque (oz-in)
0.64
0.56
90
0.35
0
1000
2000 3000
4000 5000
6000
0
7000
Speed (RPM)
Speed (RPM)
CONTINUOUS
PEAK
CONTINUOUS
170 VDC
PEAK
340 VDC
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
25
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
Size 23, Resolver Feedback, Specifications*
Parameter
Symbol
Stall Torque Continous1
Stall Current Continuous1,4,7
Tcs
SM231A
SM231B
SM232A
SM232B
SM233A
SM233B
10.9
lb-in
4.3
3.8
7.4
7.8
11.3
oz-in
68
60
118
125
180
174
Nm
0.48
0.42
0.83
0.88
1.26
1.22
Ics(sine)
Amps Peak
3.3
6.2
3.1
6.0
3.0
5.9
Tpk
lb-in
12.7
11.2
22.1
23.3
33.8
32.7
Peak Torque6
Peak Current4,6,7
Units
oz-in
203
179
354
373
540
523
Nm
1.42
1.25
2.48
2.61
3.78
3.66
Ipk(sine)
Amps Peak
9.8
18.5
9.3
18.0
9.1
17.6
ωr
rpm
7500
7500
7500
7500
6000
6000
Rated Speed2
Current@Rated Speed
Ir(sine)
Amps
2.9
5.5
2.7
5.3
2.7
5.3
Current@Rated Speed
Ir(trap)
Amps
2.5
4.8
2.4
4.6
2.4
4.6
Torque@Rated Speed
Tr
lb-in
3.4
3.1
6.0
6.1
9.0
8.8
oz-in
54
50
96
98
144
140
0.98
Nm
0.38
0.35
0.67
0.69
1.01
Shaft Power@Rated Speed
Po
watts
300
277
533
544
639
621
Voltage Constant3,4
Kb
Volts/rad/s
0.169
0.079
0.310
0.169
0.484
0.242
Voltage Constant3,4
Torque Constant8
Ke
Volts/KRPM
17.70
8.27
32.46
17.70
50.68
25.34
Kt(sine)
oz-in/Amp Peak
20.72
9.69
38.02
20.72
59.35
29.68
0.208
Nm/Amp Peak
0.145
0.068
0.266
0.145
0.415
Resistance3
R
Ohms
5.22
1.46
7.50
2.00
9.65
2.58
Inductance5
L
mH
1.64
0.44
2.90
0.78
4.08
1.06
Maximum Bus Voltage
Therm. Resistance Wind-Amb
Vm
Volts DC
170
170
340
170
340
170
Rth w-a
°C/watt
2.00
2.00
1.54
1.54
1.25
1.25
Km
oz-in/√watt
10.47
9.26
16.03
16.92
22.06
21.33
Nm/√watt
0.073
0.065
0.112
0.118
0.154
0.149
oz-in/Krpm
0.25
0.25
0.36
0.36
0.54
0.54
Nm/Krpm
1.75 E-3
1.75 E-3
2.52 E-3
2.52 E-3
3.78 E-3
3.78 E-3
Motor Constant
Viscous Damping
B
Static Friction
Tf
oz-in
0.30
0.30
0.70
0.70
1.00
1.00
Nm
2.10 E-3
2.10 E-3
4.90 E-3
4.90 E-3
7.00 E-3
7.00 E-3
Motor Thermal Time Constant
τth
minutes
20
20
21.6
21.6
23.3
23.3
Electrical Time Constant
τelec
millisecs
0.31
0.30
0.39
0.39
0.42
0.41
Mechanical Time Constant
τmch
millisecs
9.5
12.2
7.2
6.5
5.4
5.8
Intermittent Torque Duration9
T2x
seconds
11
11
18
18
20
20
Peak Torque Duration10
T3x
seconds
4
4
6
6
7
7
J
lb-in-sec2
4.8 E-4
4.8 E-4
8.4 E-4
8.4 E-4
1.2 E-3
1.2 E-3
kg-m2
5.4 E-5
5.4 E-5
9.5 E-5
9.5 E-5
1.3 E-4
1.3 E-4
4
4
4
4
4
4
lbs
2.1
2.1
3.0
3.0
3.9
3.9
kg
1.0
1.0
1.4
1.4
1.8
1.8
H
H
H
H
H
H
Rotor Inertia
Number of Poles
Np
Weight
#
Winding Class
* SE Series not available with resolver.
1
2
3
4
5
6
@ 25°C ambient, 150°C winding temperature, motor connected to a
10”x10”x1/4” aluminum mounting plate, @40°C ambient derate phase
currents and torques by 12%.
Maximum speed is 7500RPM. For higher speed operation please call the
factory.
Measured Line to Line, ±10% line-to-line
Value is mesured peak of sine wave.
±30%, Line-to-Line, inductance bridge measurement @ 1 kHz
Initial winding temperature must be 60°C or less before peak current is
applied.
7
8
9
10
Peak of the sinusoidal current in any phase for a sinusoidally commutated
motor.
Total motor torque per peak of the sinusoidal amps measured in any
phase, +/-10%.
Maximum Time duration with 2 times rated applied with initial winding temp
at 60°C.
Maximum Time duration with 3 times rated applied with initial winding temp
at 60°C.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
26
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
Size 23, Resolver Feedback, Performance Curves
(SM Series only
SM231AR
SM231BR
Ics (sine)=6.2 amps, Ipk(sine)=18.5 amps
200
1.41
200
1.41
160
1.13
150
1.06
120
0.85
100
0.71
80
0.56
50
0.35
40
0.28
0
1000 2000
3000
4000 5000 6000
7000
0
0
0
1000 2000
4000 5000
6000
7000
SM232AR
SM232BR
Ics (sine)=3.1 amps, Ipk(sine)=9.3 amps
Ics (sine)=6.0 amps, Ipk(sine)=18.0 amps
0
400
2.82
2.47
350
2.47
300
2.12
300
2.12
250
1.77
250
1.77
200
1.41
200
1.41
150
1.06
150
1.06
100
0.71
100
0.71
50
0.35
50
0.35
0
0
1000
2000 3000
4000
5000 6000
7000
Torque (oz-in)
2.82
350
0
0
0
1000 2000
3000 4000
5000
6000
7000
0
Speed (RPM)
Speed (RPM)
SM233AR
SM233BR
Ics (sine)=3.0 amps, Ipk(sine)=9.1 amps
Ics (sine)=5.9 amps, Ipk(sine)=17.6 amps
600
4.24
500
3.53
500
3.53
400
2.82
400
2.82
300
2.12
300
2.12
200
1.41
200
1.41
100
0.71
100
0.71
Torque (oz-in)
0
0
1000
2000
3000
4000
5000 6000
0
7000
0
1000
Speed (RPM)
2000
3000
4000 5000 6000
7000
Torque (Nm)
4.24
Torque (Nm)
600
0
Torque (Nm)
400
Torque (Nm)
Torque (oz-in)
Speed (RPM)
Torque (oz-in)
3000
Speed (RPM)
0
Speed (RPM)
CONTINUOUS
PEAK
CONTINUOUS
170 VDC
PEAK
340 VDC
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
27
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
0
Torque (oz-in)
1.77
Torque (Nm)
250
Torque (Nm)
Torque (oz-in)
Ics (sine)=3.3 amps, Ipk(sine)=9.8 amps
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
SM Series Dimensional Drawings
Size 16, Dimensional Drawing
Dimensions in inches (mm)
[
FEEDBACK
CONNECTOR
+0.0000
.2500
-0.0005
+0.000
6.35
-0.012
]
.37
[9.3]
.98
[25]
.788 +-.001
[20.02 +-0.02]
1.30 SQ.
[33]
1.60 SQ.
[40.6]
1.91
[48.4]
L
MOTOR
CONNECTOR
.063
[1.6]
"MS", "TQ", "GS" CONNECTION
(4x)
0.125 [3.18] THRU HOLES
EQUALLY SPACED ON A
1.838 [46.69] BOLT CIRCLE
2.09
[53.2]
Motor Sizes
1.32
[33.4]
Model
SHAFT OPTIONS
0.230
[5.84]
Motor Length “L”
SM160
SM161
SM162
-F
(FLAT)
1.97 [50.0]
2.47 [62.7]
3.47 [88.1]
CABLE / FLYING LEAD CONNECTION
Size 23, Dimensional Drawing
Dimensions in inches (mm)
(4x) Ø.218 [ 5.54 ] THRU HOLES,
EQUALLY SPACED ON A
Ø2.625 [66.68] BOLT CIRCLE
A
L
.063
[ 1.6 ]
ØD
3.00
[ 76.3 ]
Ø 1.500 ±.001
[ 38.1 ±0.02 ]
1.856 SQ.
[ 47.15 ]
2.25 SQ.
[ 57.2 ]
.094
[ 2.38 ]
.60
[ 15.2 ]
1.25
[ 31.8 ]
Motor Sizes
.230
[ 5.84 ]
Model
"-F" FLAT (SM230)
.416
[ 10.56 ]
"-K" KEYWAY
SM230
"-L" LONG SHAFT
.340
[ 8.64 ]
SM231
"-F" FLAT (SM231, SM232, SM233)
SM232
SM233
28
Automation
Motor Length
“L”
Shaft Length
“A”
3.36
[85.3]
3.98
[101.1]
4.98
[126.5]
5.98
[151.9]
.78
[19.8]
.82
[20.8]
.82
[20.8]
.82
[20.8]
Shaft Diameter
“D”
.2500
[6.350
.3750
[9.525
.3750
[9.525
.3750
[9.525
+.0000/-.0005
+0.000/-0.013]
+.0000/-.0005
+0.000/-0.013]
+.0000/-.0005
+0.000/-0.013]
+.0000/-.0005
+0.000/-0.013]
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
SE Series Dimensional Drawings
Size 16, Dimensional Drawing
Dimensions in inches (mm)
"L"
.788 +- .001
[ 20.02 +- 0.02 ]
1.30 SQ.
[ 33 ]
1.60 SQ.
[ 40.6 ]
+.0000
.2500 -.0005
+0.000
6.35
-0.012
[
.98
[ 25 ]
.37
[ 9.3 ]
Motor Sizes
.063
[ 1.6 ]
]
Model
(4x)
.125 [ 3.18 ] THRU HOLES
EQUALLY SPACED ON A
1.838 [46.69]
BOLT CIRCLE
SE160
Size 23, Dimensional Drawing
Motor Length “L”
2.67 [67.8]
SE161
3.17 [80.5]
SE162
4.17 [105.9]
Dimensions in inches (mm)
L
.34
[ 8.7 ]
1.500 +- 0.001
[ 38.1 +- 0.02 ]
D
1.86 SQ.
[ 47.2 ]
2.25 SQ.
[ 57.2 ]
B
A
.063
[ 1.6 ]
(4x) .218 [ 5.54] THRU,
EQUALLY SPACED ON
A
2.625 [66.68] BOLT CIRCLE
Motor Sizes
Model
Motor Length
“L”
Shaft Length
“A”
Shaft Diameter
“D”
SE230
2.70
[68.6]
.78
[19.8]
.2500 +.0000/-.0005
[6.350 +0.000/-0.013]
SE231
3.36
[85.3]
.82
[20.8]
.3750 +.0000/-.0005
[9.525 +0.000/-0.013]
SE232
4.36
[110.7]
.82
[20.8]
.3750 +.0000/-.0005
[9.525 +0.000/-0.013]
SE233
5.36
[136.1]
.82
[20.8]
.3750 +.0000/-.0005
[9.525 +0.000/-0.013]
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
29
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
Feedback Specifications
Commutation Chart
Encoder Specifications
Clockwise rotation as viewed from front shaft.
Phase
B-A
Mechanical
Accuracy
±2 min of arc
Input power
Operating frequency
Output device
Sink/Source, nominal
Suggested user interface
5 VDC ±5%, 135 mA
100 kHz max
26LS31
20 mA
26LS32
Phase
A-C
Phase
C-B
Electrical
Hall #1
Hall-Effect Specifications
Hall #2
Electrical
5 VDC ±5%, 80 mA
LM339
Input power
Output device
(open collector)
Maximum pull up
Sink
Hall #3
12 VDC
16 mA
Resolver Schematic Diagram for SM
Resolver Specifications
RED
BROWN
BLACK
ROTOR
PRIMARY
Phasing Equation:
For CW rotation of rotor
facing mounting flange end.
ES1-S3 = KER1-R2 COSØ
ES2-S4 = KER1-R2 SINØ
S3
S1
STATOR
SECONDARY
S4
GREEN
R1
WHITE
BLUE
R2
S2
30
Automation
Parameter
Value
Input voltage @ 7 kHz
Input current, max
Input power, nominal
Impedance ZSO (@ 90°)
Impedance ZRO
Impedance ZRS
Transformation ratio
Output voltage
DC rotor resistance
DC stator resistance
Sensitivity
Max error from EZ
Phase shift, open circuit
Null voltage, total
Impedance ZSS
Inertia
4.25 volts
55 mA
0.12 watts
58+j145 ohms
53+j72 ohms
42+j55 ohms
0.470 ±5%
2.0 ±5% volts
23 ±10% ohms
19 ±10% ohms
35 mV/degree
±10 minutes
5° leading, ±3"
20 mV rms
50+j128 ohms
Incl. with motor spec.
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
Wiring and Cable Specifications
Flying Leads, Cabled and
“MS” Connection
Encoder/Hall Feedback Connection
Options
Pin Number
The “FL” (Flying Lead) connection option for the SM Series
motors features 18” leads extending from the motor body. Wire
color codes are the same as listed below for the “MS” connection
option.
The “10” and “25” connection option for the SM Series
motors consist of either 10 feet or 25 feet of jacketed cable
extending from the motor body. These cables terminate in flying
leads. Wire color codes are the same as listed below for the “MS”
connection option.
The “MS” connection option for the SM Series motors
provides quick disconnect, bayonet style connectors attached to
the motor body. Mating cables are specified and ordered separately. With the “MS” connection option, the motor phase and
temperature switch wires are in one cable/conector, and the hall
and encoder signals are in the other cable/connector. This option
works well when using an amplifier with a built-in controller, or
when all cables enter into a cabinet or enclosure and then are
wired into a terminal strip. When specifying the “R” (resolver)
feedback option, the motor phase wires reside in one connector,
the resolver signal and temperature switch wires in the other.
Designation
H
G
A
B
C
D
E
F
K
M
T
U
P
R
S
N.C.
N.C.
N.C.
Wire Color
Red
Black
White
Yellow
Green
Blue
Orange
Brown
White/Green
White/Blue
White/Brown
White/Orange
White/Violet
Red/Blue
Red/Blue
Clear
Orange/Yellow
Orange/Yellow
B
Encoder +5
Encoder Ground
CH A +
CH A CH B +
CH B Index +
Index Hall Ground
Hall +5
Hall 1
Hall 2
Hall 3
Brake1
Brake1
Shield
N.C.
N.C.
MS14-18
Motor Connection
Designation
1
2
Resolver Feedback Connection
Pin Number
MS14-12
Phase A
Phase B
Phase C
Ground
Temp2
J
K
L
M
G
Temp2
H
Shield
N.C.
Pin Number
MS14-18
Wire Color
Designation
Red/Yellow
White/Yellow
Black/Yellow
Green/Yellow
Orange/Yellow
or Yellow
Orange/Yellow
or Yellow
Clear
S1, COS +
S2, SIN +
S3, COS S4, SIN R1, EXC +
R2, EXC Temp2
E
L
J
G
C
U
R
Temp2
N
Brake1
Brake1
Shield
S
T
N.C.
Brake will operate regardless of polarity connection
For motors with the “R” (resolver) feedback option, the temperature switch
is connected to leads in the feedback cable/connector
Wire Color
Black
Green
Red
Blue
Brown
White
Orange/Yellow
or Yellow
Orange/Yellow
or Yellow
Red/Blue
Red/Blue
Clear
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
31
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SM & SE Motors
SERVO MOTORS
Wiring and Cable Specifications (Continued)
“GS” Connection Option
The “GS” connection option for the SM Series motors provides
quick disconnect, bayonet style connectors attached to the
motor body. Mating cables are specified and ordered separately. Wiring for the “GS” connection option for SM motors is
similar to the “MS” option, except the temperature switch leads
have been moved to the feedback connector. This connection
option should be selected when operating the SM motors with
the Gemini family of amplifiers.
Encoder/Hall Feedback Connection
Motor Connection
Pin Number
MS14-12
Wire Color
Phase A
J
Black 1
Phase B
K
Black 2
Designation
Phase C
L
Black 3
Ground
M
Green/Yellow
Pin Number
Designation
“TQ” Connection Option
The “TQ” connection option for the SM Series motors provides
quick disconnect, bayonet style connectors attached to the
motor body. Mating cables are specified and ordered separately. The “TQ” connection option joins the motor phase, hall
effect and temperature switch wires in one connector. The
second connector has only encoder signals. This connection
option applies well in applications where the hall and motor
phase wires connect directly to an amplifier, while the encoder
signals connect directly to a controller.
1
Wire Color
MS14-18
Encoder +5
H
Red
Encoder Ground
G
Black
CH A +
A
White
CH A -
B
Yellow
CH B +
C
Green
CH B -
D
Blue
Index +
E
Orange
Index -
F
Brown
Hall Ground
K
White/Green
Hall +5
M
White/Blue
Hall 1
T
White/Brown
Hall 2
U
White/Orange
Hall 3
P
White/Violet
Brake1
R
Red/Blue
Brake1
S
Red/Blue
Temp
L
Orange/Yellow
Temp
N
Orange/Yellow
Brake will operate regardless of polarity connection
Motor/HallConnection
Designation
Pin Number
MS14-12
Encoder Feedback Connection
Wire Color
Phase A
J
Red/Yellow
Phase B
K
White/Yellow
Phase C
L
Black/Yellow
Ground
M
Green/Yellow
Encoder +5
H
Red
Temp
G
Orange/Yellow
Encoder Ground
G
Black
or Yellow
CH A +
A
White
Temp
H
Orange/Yellow
CH A -
B
Yellow
or Yellow
CH B +
C
Green
Hall Ground
F
White/Green
CH B -
D
Blue
Hall +5
B
White/Blue
Index +
E
Orange
Hall 1
C
White/Brown
Index -
F
Brown
Hall 2
D
White/Orange
Brake1
R
Red/Blue
Hall 3
E
White/Violet
Brake1
S
Red/Blue
Shield
N.C.
Clear
Shield
N.C.
Clear
Designation
1
32
Automation
Pin Number
MS14-18
Wire Color
Brake will operate regardless of polarity of connection
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
BE Series
SERVO MOTORS
High-Torque Design,
Low-Cost Package
The BE Series servo motors are available with integrated
planetary gearheads in ratios up to 100:1. Our unique package
integrates the gearhead pinion into the motor shaft, reducing
the overall package length by up to 2 inches.
Features
Part Numbering System
BE
342
BE Series
Frame,
Magnet Length
161
162
163
164
1
2
3
4
230
231
232
233
341
342
343
344
H
•
•
•
•
•
•
•
•
•
•
•
•
•
•
B
Compumotor’s BE Series brushless servo motors produce high
continuous stall torque in a cost-reduced package.
The increased torque of the BE Series motors is the result of
an increased number of magnetic poles on the rotor. Traditional motors in these frame sizes have four magnetic poles on
the rotor, while the BE Series motors have eight poles.
The cost reduction of the BE Series motors is achieved from
their open lamination design. Unlike traditional servo motors,
the BE Series motors do not have a metal housing. Instead,
the laminations of the motor stator are shaped into the body of
the motor. This design reduces both material costs and time
required assembling the motor.
The BE Series motors are created using Compumotor’s
proven bridged stator design. This two-piece lamination design
simplifies the manufacturing process, creating further cost
savings. The bridged stator construction also results in less
audible noise being generated by the motor.
Size 16, 23 and 34
1.4 to 46 lb-in continuous torque
Brushless construction
High torque density packaging
Bridged stator design - quiet operation
High performance neodymium magnets
Thermoswitch protection
2000 line encoder standard
Resolver feedback option
Connectorization choices
10-day deliveries
Two year warranty
CAD (.dxf) drawings available
CE compliant
J-
N
Winding
Feedback
Shafting
Connection
Identifying character
C, D, F, J, K, L, etc.
J - 2000 ppr encoder
R - Resolver3
N - Normal
F - Flat
K - Keyway3
FO1 - Flying leads w/
plastic encoder cover
FL1 - Flying leads w/
connector housing
101 - 10’ cable
MS2 - Military style
TQ1,2 - Trap drive
Encoder feedback motors only
Refer to “Wiring and Cable Specifications” section for connector wiring
Not available on size 16
Specify “K” shaft option with gearheads
N
MS
Options
N - None
B - Brake3
GXX - Gearhead3,4
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
33
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
BE Series
SERVO MOTORS
Size 16, Encoder Feedback, Specifications
Parameter
Symbol
Stall Torque Continous
1
Tcs
Units
BE161C
BE161F
BE162C
BE162D
BE162F
lb-in
1.3
1.4
1.4
2.3
2.5
oz-in
21
23
22
37
39
2.4
39
Nm
0.15
0.16
0.15
0.26
0.28
0.27
Stall Current Continuous1,4,8
Ics(sine)
Amps Peak
2.9
4.6
6.9
3.0
4.5
6.8
Stall Current Continuous1,7
Ics(trap)
Amps DC
2.5
4.0
6.0
2.6
3.9
5.9
Tpk
lb-in
4.0
4.2
4.1
6.9
7.4
7.2
oz-in
64
68
66
111
118
116
Peak Torque6
Nm
0.45
0.47
0.46
0.78
0.83
0.81
Peak Current4,6,8
Ipk(sine)
Amps Peak
8.6
13.7
20.8
9.1
13.4
20.4
Peak Current6,7
Ipk(trap)
Amps DC
7.4
11.9
18.0
7.9
11.6
17.7
Rated Speed2
wr
rpm
5000
5000
5000
5000
5000
5000
Current @ Rated Speed
Ir(sine)
Amps Peak
2.8
4.5
6.9
3.0
4.4
6.7
Current @ Rated Speed
Ir(trap)
Amps
2.5
3.9
5.9
2.6
3.8
5.8
Torque @ Rated Speed
Tr
lb-in
1.3
1.4
1.3
2.2
2.4
2.4
oz-in
21
22
21
36
38
38
Nm
0.14
0.15
0.15
0.25
0.27
0.26
Shaft Power @ Rated Speed
Po
watts
76
80
78
131
140
140
Voltage Constant3,4
Kb
Volts/rad/s
0.061
0.040
0.026
0.100
0.072
0.046
Voltage Constant3,4
Ke
Volts/Krpm
6.38
4.22
2.69
10.42
7.55
4.85
Torque Constant9
Kt(sine)
oz-in/Amp Peak
7.47
4.94
3.15
12.20
8.84
5.68
Nm/Amp Peak
0.052
0.035
0.022
0.085
0.062
0.040
Torque Constant3,4
Kt(trap)
oz-in/Amp DC
8.62
5.71
3.64
14.09
10.21
6.56
Nm/Amp DC
0.060
0.040
0.025
0.099
0.071
0.046
Resistance3
R
Ohms
4.31
1.71
0.74
4.38
2.03
0.87
Inductance5
L
mH
12.10
5.30
2.16
16.14
8.46
3.50
Maximum Bus Voltage
Vm
Volts DC
170
170
170
170
170
170
Rth w-a
°C/watt
2.70
2.70
2.70
2.37
2.37
2.37
Km
oz-in/√watt
4.15
4.36
4.23
6.73
7.17
7.03
Nm/√watt
0.029
0.031
0.030
0.047
0.050
0.049
Thermal Res Wind-Amb
Motor Constant
Viscous Damping
B
Static Friction
Tf
oz-in/Krpm
0.050
0.050
0.050
0.060
0.060
0.060
Nm/Krpm
3.5E-04
3.5E-04
3.5E-04
4.2E-04
4.2E-04
4.2E-04
oz-in
0.25
0.25
0.25
0.40
0.40
0.40
Nm
1.8E-03
1.8E-03
1.8E-03
2.8E-03
2.8E-03
2.8E-03
Motor Thermal Time Constant
tth
minutes
8.3
8.3
8.3
8.3
8.3
8.3
Electrical Time Constant
telec
millisecs
2.81
3.10
2.92
3.68
4.17
4.02
Mechanical Time Constant
tmch
millisecs
1.4
1.3
1.4
0.9
0.8
0.8
Intermittent Torque Duration10
T2x
seconds
27
27
27
39
39
39
Peak Torque Duration11
T3x
seconds
11
11
11
16
16
16
J
lb-in-sec2
1.1E-05
1.1E-05
1.1E-05
1.8E-05
1.8E-05
1.8E-05
kg-m2
1.2E-06
1.2E-06
1.2E-06
2.0E-06
2.0E-06
2.0E-06
8
8
8
8
8
8
lbs
0.6
0.6
0.6
0.8
0.8
0.8
kg
0.3
0.3
0.3
0.3
0.3
0.3
H
H
H
H
H
H
Rotor Inertia
Number of Poles
Np
Motor Weight
#
Winding Class
1
BE161D
@ 25°C ambient, 125°C winding temperature, motor connected to a
10"x10"x1/4" aluminum mounting plate.
@40°C ambient derate phase currents and torques by 6%.
Maximum speed is 5000 RPM. For higher speed operation please call the
factory.
Measured Line to Line, +/- 10%.
Value is measured peak of sine wave.
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
Initial winding temperature must be 60°C or less before peak current is
applied.
7
DC current through a pair of motor phases of a trapazoidally (six state)
commutated motor.
Peak of the sinusoidal current in any phase for a sinusoidally commutated
2
motor.
9
Total motor torque per peak of the sinusoidal amps measured in any phase,
3
+/-10%.
4
10
Maximum time duration with 2 times rated current applied with initial
5
winding temp at 60°C.
6
11
Maximum time duration with 3 times rated current applied with initial
winding temp at 60°C.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
8
34
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
BE Series
SERVO MOTORS
Size 16, Encoder Feedback, Specifications
Symbol
Stall Torque Continous
1
Tcs
Units
BE163C
BE163D
BE163F
BE164C
BE164D
BE164F
lb-in
2.9
3.0
3.0
3.6
3.8
oz-in
47
48
48
58
61
3.8
61
Nm
0.33
0.34
0.33
0.40
0.43
0.42
6.0
Stall Current Continuous1,4,8
Ics(sine)
Amps Peak
2.9
4.0
6.3
3.0
3.8
Stall Current Continuous1,7
Ics(trap)
Amps DC
2.5
3.5
5.4
2.6
3.3
5.2
Tpk
lb-in
8.8
9.1
8.9
10.8
11.4
11.4
Peak Torque6
oz-in
142
145
143
173
183
182
Nm
0.99
1.01
1.00
1.21
1.28
1.27
18.0
Peak Current4,6,8
Ipk(sine)
Amps Peak
8.6
12.1
18.8
9.1
11.4
Peak Current6,7
Ipk(trap)
Amps DC
7.5
10.5
16.3
7.9
9.9
15.6
Rated Speed2
wr
rpm
5000
5000
5000
5000
5000
5000
Current @ Rated Speed
Ir(sine)
Amps Peak
2.8
3.9
6.1
2.9
3.7
5.8
Current @ Rated Speed
Ir(trap)
Amps
2.4
3.4
5.3
2.5
3.2
5.0
Torque @ Rated Speed
Tr
lb-in
2.8
2.9
2.8
3.4
3.6
3.6
oz-in
45
46
45
54
57
57
Nm
0.31
0.32
0.32
0.38
0.40
0.40
Shaft Power @ Rated Speed
Po
watts
165
169
166
200
212
211
Voltage Constant3,4
Kb
Volts/rad/s
0.134
0.098
0.062
0.154
0.130
0.082
Voltage Constant3,4
Ke
Volts/Krpm
14.01
10.24
6.47
16.17
13.66
8.63
Torque Constant9
Kt(sine)
oz-in/Amp Peak
16.41
11.99
7.58
18.93
15.99
10.10
Nm/Amp Peak
0.115
0.084
0.053
0.133
0.112
0.071
Torque Constant3,4
Kt(trap)
oz-in/Amp DC
18.95
13.85
8.75
21.86
18.46
11.67
Nm/Amp DC
0.133
0.097
0.061
0.153
0.129
0.082
Resistance3
R
Ohms
4.77
2.42
1.00
4.65
2.98
1.20
Inductance5
L
mH
19.45
10.39
4.15
19.43
13.86
5.53
Maximum Bus Voltage
Vm
Volts DC
170
170
170
170
170
170
Rth w-a
°C/watt
2.43
2.43
2.43
2.21
2.21
2.21
Km
oz-in/√watt
8.67
8.90
8.75
10.14
10.70
10.65
Nm/√watt
0.061
0.062
0.061
0.071
0.075
0.075
oz-in/Krpm
0.070
0.070
0.070
0.080
0.080
0.080
Nm/Krpm
4.9E-04
4.9E-04
4.9E-04
5.6E-04
5.6E-04
5.6E-04
oz-in
0.60
0.60
0.60
0.80
0.80
0.80
Nm
4.2E-03
4.2E-03
4.2E-03
5.6E-03
5.6E-03
5.6E-03
Thermal Res Wind-Amb
Motor Constant
Viscous Damping
B
Static Friction
Tf
Motor Thermal Time Constant
tth
minutes
10.0
10.0
10.0
11.6
11.6
11.6
Electrical Time Constant
telec
millisecs
4.08
4.29
4.15
4.18
4.65
4.61
Mechanical Time Constant
tmch
millisecs
0.7
0.7
0.7
0.7
0.6
0.6
Intermittent Torque Duration10
T2x
seconds
52
52
52
58
58
58
Peak Torque Duration11
T3x
seconds
20
20
20
23
23
23
J
lb-in-sec2
2.4E-05
2.4E-05
2.4E-05
3.1E-05
3.1E-05
3.1E-05
kg-m2
2.7E-06
2.7E-06
2.7E-06
3.5E-06
3.5E-06
3.5E-06
8
8
8
8
8
8
lbs
1.1
1.1
1.1
1.3
1.3
1.3
kg
0.5
0.5
0.5
0.6
0.6
0.6
H
H
H
H
H
H
Rotor Inertia
Number of Poles
Np
Motor Weight
#
Winding Class
1
2
3
4
5
6
7
@ 25°C ambient, 125°C winding temperature, motor connected to a
10"x10"x1/4" aluminum mounting plate.
@40°C ambient derate phase currents and torques by 6%.
Maximum speed is 5000 RPM. For higher speed operation please call the
factory.
Measured Line to Line, +/- 10%.
Value is measured peak of sine wave.
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
Initial winding temperature must be 60°C or less before peak current is
applied.
8
9
10
11
DC current through a pair of motor phases of a trapazoidally (six state)
commutated motor.
Peak of the sinusoidal current in any phase for a sinusoidally commutated
motor.
Total motor torque per peak of the sinusoidal amps measured in any phase,
+/-10%.
Maximum time duration with 2 times rated current applied with initial
winding temp at 60°C.
Maximum time duration with 3 times rated current applied with initial
winding temp at 60°C.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
35
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Parameter
Catalog 8000-4/USA
BE Series
SERVO MOTORS
Size 16, Encoder Feedback, Performance Curves
BE161CJ
BE161DJ
.49
60
.42
60
.42
50
.35
50
.35
40
.28
40
.28
30
.21
30
.21
20
.14
20
.14
10
.07
10
1000
2000
3000
Speed (RPM)
4000
.07
0
0
5000
0
1000
BE162CJ
2000
3000
Speed (RPM)
4000
0
5000
0
1000
2000
3000
4000
.56
.49
.42
.35
.28
.21
.14
.07
0
5000
Speed (RPM)
BE162DJ
I cs (sine) = 3.0 amps, I pk (sine) = 9.0 amps
BE162FJ
I cs (sine) = 4.5 amps, I pk (sine) = 13.5 amps
I cs (sine) = 6.8 amps, I pk (sine) = 20.4 amps
140
.98
100
.70
120
.84
120
.84
80
.56
100
.70
100
.70
80
.56
80
.56
60
.43
60
.43
40
.28
40
.28
20
.14
20
.14
60
.42
40
.28
20
.14
0
2000
3000
4000
0
1000
Speed (RPM)
BE163CJ
.43
30
.21
0
4000
Torque (oz-in)
.63
60
0
5000
0
1000
BE164CJ
0
1000
50
.350
0
4000
Speed (RPM)
0
5000
Torque (oz-in)
.700
1.40
150
1.05
100
.700
50
.350
0
1000
2000
3000
Speed (RPM)
4000
BE164FJ
200
0
3000
4000
0
5000
200
1.40
150
1.05
100
.700
50
.350
0
0
1000
2000
3000
4000
0
5000
Speed (RPM)
CONTINUOUS
PEAK
(170VDC)
36
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Torque (Nm)
100
2000
1.12
.98
.84
.70
.56
.43
.28
.14
0
5000
I cs (sine) = 6.0 amps, I pk (sine) = 18.0 amps
Torque (Nm)
1.05
Torque (Nm)
150
0
5000
Speed (RPM)
BE164DJ
1.40
3000
4000
160
140
120
100
80
60
40
20
0
I cs (sine) = 3.8 amps, I pk (sine) = 11.4 amps
200
2000
3000
4000
I cs (sine) = 6.3 amps, I pk (sine) = 18.9 amps
1.12
.98
.84
.70
.56
.43
.28
.14
0
5000
Speed (RPM)
I cs (sine) = 3.0 amps, I pk (sine) = 9.0 amps
1000
2000
3000
BE163FJ
160
140
120
100
80
60
40
20
0
Speed (RPM)
2000
Torque (Nm)
90
0
1000
Speed (RPM)
Torque (Nm)
.84
Torque (Nm)
1.05
3000
0
BE163DJ
120
2000
4000
I cs (sine) = 4.0 amps, I pk (sine) = 12.0 amps
150
1000
3000
Speed (RPM)
I cs (sine) = 2.9 amps, I pk (sine) = 8.7 amps
0
2000
0
0
5000
Torque (oz-in)
1000
0
Torque (oz-in)
0
0
5000
Torque (oz-in)
.98
Torque (oz-in)
140
Torque (Nm)
.84
Torque (Nm)
120
Torque (Nm)
Torque (oz-in)
Torque (oz-in)
70
Torque (oz-in)
.49
80
70
60
50
40
30
20
10
0
Torque (Nm)
70
Torque (Nm)
.56
0
Torque (oz-in)
I cs (sine) = 7.0 amps, I pk (sine) = 21.0 amps
80
0
Torque (oz-in)
BE161FJ
I cs (sine) = 4.6 amps, I pk (sine) = 13.8 amps
.56
Torque (Nm)
Torque (oz-in)
I cs (sine) = 2.9 amps, I pk (sine) = 8.7 amps
80
Catalog 8000-4/USA
BE Series
SERVO MOTORS
Parameter
Symbol
1
Stall Torque Continous
Tcs
BE232F
BE233D
BE233F
13.3
lb-in
3.4
3.3
6.0
5.9
9.9
9.7
13.0
oz-in
54
53
96
94
159
155
207
213
Nm
0.38
0.37
0.67
0.66
1.11
1.08
1.45
1.49
4.9
3.1
6.1
2.8
5.3
2.8
5.4
2.5
Amps DC
2.7
5.3
2.4
4.6
2.4
4.7
2.2
4.2
Tpk
lb-in
10.1
10.0
18.0
17.7
29.7
29.0
38.9
40.0
oz-in
161
160
289
283
476
464
622
640
Nm
1.13
1.12
2.02
1.98
3.33
3.25
4.35
4.48
14.6
Peak Current4,6,8
Ipk(sine)
Amps Peak
9.4
18.2
8.2
15.9
8.4
16.3
7.4
Peak Current6,7
Ipk(trap)
Amps DC
8.1
15.8
7.1
13.8
7.3
14.1
6.5
12.7
Rated Speed2
ωr
rpm
5000
5000
5000
5000
5000
5000
3750
5000
4.0
Current @ Rated Speed
Ir(sine)
Amps Peak
2.9
5.6
2.5
4.7
2.4
4.7
2.2
Current @ Rated Speed
Ir(trap)
Amps
2.5
4.8
2.1
4.1
2.1
4.1
1.9
3.5
Torque @ Rated Speed
Tr
lb-in
2.9
2.9
5.2
5.1
8.2
8.0
11.3
10.7
oz-in
47
47
83
81
131
128
180
171
Nm
0.33
0.33
0.58
0.57
0.92
0.90
1.26
1.20
Shaft Power @ Rated Speed
Po
watts
174
174
307
300
484
473
499
632
Voltage Constant3,4
Kb
Volts/rad/s
0.140
0.072
0.286
0.145
0.461
0.232
0.681
0.357
Ke
Volts/Krpm
14.66
7.53
29.90
15.18
48.28
24.29
71.30
37.41
Kt(sine)
oz-in/Amp Peak
17.17
8.82
35.01
17.78
56.53
28.45
83.50
43.80
Nm/Amp Peak
0.120
0.062
0.245
0.124
0.396
0.199
0.584
0.307
oz-in/Amp DC
19.82
10.18
40.43
20.53
65.28
32.85
96.42
50.58
Nm/Amp DC
0.139
0.071
0.283
0.144
0.457
0.230
0.675
0.354
Kt(trap)
Resistance3
R
Ohms
4.57
1.22
6.97
1.86
7.72
2.05
10.98
2.85
Inductance5
L
mH
15.43
4.10
32.30
8.65
42.66
11.12
61.39
16.28
Maximum Bus Voltage
Motor Constant
Viscous Damping
Vm
Volts DC
340
340
340
340
340
340
340
340
Rth w-a
°C/watt
2.14
2.14
1.82
1.82
1.58
1.58
1.41
1.41
Km
oz-in/√watt
9.27
9.22
15.31
15.05
23.49
22.94
29.10
29.96
Nm/√watt
0.065
0.065
0.107
0.105
0.164
0.161
0.204
0.210
B
Static Friction
Tf
oz-in/Krpm
0.3
0.3
0.4
0.4
0.5
0.5
0.7
0.7
Nm/Krpm
1.8E-03
1.8E-03
2.5E-03
2.5E-03
3.5E-03
3.5E-03
4.9E-03
4.9E-03
oz-in
0.8
0.8
1.3
1.3
2.0
2.0
2.5
2.5
Nm
5.3E-03
5.3E-03
8.8E-03
8.8E-03
1.4E-02
1.4E-02
1.8E-02
1.8E-02
Motor Thermal Time Constant
τth
minutes
11.6
11.6
13.3
13.3
15.0
15.0
20.0
20.0
Electrical Time Constant
τelec
millisecs
3.38
3.36
4.63
4.65
5.53
5.42
5.59
5.71
Mechanical Time Constant
τmch
millisecs
1.2
1.2
0.8
0.8
0.6
0.6
0.6
0.5
Intermittent Torque Duration10
T2x
seconds
37
37
47
47
58
58
62
62
Peak Torque Duration11
T3x
seconds
15
15
18
18
22
22
23
23
J
lb-in-sec2
4.6E-05
4.6E-05
8.0E-05
8.0E-05
1.5E-04
1.5E-04
2.1E-04
2.1E-04
kg-m2
5.2E-06
5.2E-06
9.0E-06
9.0E-06
1.7E-05
1.7E-05
2.4E-05
2.4E-05
8
8
8
8
8
8
8
8
lbs
1.5
1.5
2.0
2.0
3.1
3.1
4.2
4.2
kg
0.7
0.7
0.9
0.9
1.4
1.4
1.9
1.9
H
H
H
H
H
H
H
H
Rotor Inertia
Number of Poles
Motor Weight
Np
#
Winding Class
6
BE232D
Amps Peak
Thermal Res Wind-Amb
5
BE231F
Ics(trap)
Torque Constant3,4
4
BE231D
Ics(sine)
Voltage Constant3,4
3
BE230F
Stall Current Continuous1,7
Torque Constant9
2
BE230D
Stall Current Continuous1,4,8
Peak Torque6
1
Units
7
@ 25°C ambient, 125°C winding temperature, motor connected to a
10"x10"x1/4" aluminum mounting plate.
@40°C ambient derate phase currents and torques by 12%.
Operation with 340 VDC bus. Maximum speed is 5000 RPM. For higher
speed operation please call the factory.
Measured Line to Line, +/- 10%.
Value is measured peak of sine wave.
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
Initial winding temperature must be 60°C or less before peak current is
applied.
8
9
10
11
DC current through a pair of motor phases of a trapazoidally (six state)
commutated motor.
Peak of the sinusiodal current in any phase for a sinusoidally commutated
motor.
Total motor torque per peak of the sinusoidal amps measured in any phase,
+/-10%.
Maximum time duration with 2 times rated current applied with initial
winding temp at 60°C.
Maximum time duration with 3 times rated current applied with initial
winding temp at 60°C.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
37
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Size 23, Encoder Feedback, Specifications
Catalog 8000-4/USA
BE Series
SERVO MOTORS
BE230DJ
BE230FJ
Ics (sine)=3.1 amps, Ipk(sine)=9.4 amps
Ics (sine)=6.1 amps, Ipk(sine)=18.2 amps
150
1.1
100
0.7
50
0.4
0
0
1000
2000
3000
4000
Torque (oz-in)
1.4
200
1.4
150
1.1
100
0.7
50
0.4
0
0
5000
0
1000
0
5000
BE231DJ
BE231FJ
Ics (sine)=5.3 amps, Ipk(sine)=15.9 amps
2.1
300
2.1
250
1.8
250
1.8
200
1.4
200
1.4
150
1.1
150
1.1
100
0.7
100
0.7
50
0.4
50
0.4
1000
2000
3000
4000
Torque (oz-in)
0
0
5000
0
1000
Speed (RPM)
2000
3000
4000
0
5000
Speed (RPM)
BE232DJ
BE232FJ
Ics (sine)=2.8 amps, Ipk(sine)=8.4 amps
Ics (sine)=5.4 amps, Ipk(sine)=16.3 amps
500
3.5
400
2.8
400
2.8
300
2.1
300
2.1
200
1.4
200
1.4
100
0.7
100
0.7
0
1000
2000
3000
4000
Torque (oz-in)
0
0
5000
0
1000
Speed (RPM)
2000
3000
4000
0
5000
Speed (RPM)
BE233DJ
BE233FJ
Ics (sine)=2.5 amps, Ipk(sine)=7.5 amps
Ics (sine)=4.9 amps, Ipk(sine)=14.6 amps
800
5.6
4.9
700
4.9
600
4.2
600
4.2
500
3.5
500
3.5
400
2.8
400
2.8
300
2.1
300
2.1
200
1.4
200
1.4
100
0.7
100
0.7
0
1000
2000
3000
4000
Torque (oz-in)
0
0
5000
0
Speed (RPM)
2000
3000
4000
0
5000
Speed (RPM)
CONTINUOUS
PEAK
CONTINUOUS
170 VDC
PEAK
340 VDC
38
Automation
1000
Torque (Nm)
5.6
700
Torque (Nm)
800
0
Torque (Nm)
3.5
Torque (Nm)
500
0
Torque (Nm)
300
0
Torque (oz-in)
4000
Ics (sine)=2.8 amps, Ipk(sine)=8.2 amps
0
Torque (oz-in)
3000
Speed (RPM)
Torque (Nm)
Torque (oz-in)
Speed (RPM)
2000
Torque (Nm)
200
Torque (Nm)
Torque (oz-in)
Size 23, Encoder Feedback, Performance Curves
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
BE Series
SERVO MOTORS
Parameter
Stall Torque Continous1
Stall Current Continuous1,4,8
Peak Torque6
Peak Current4,6,8
Symbol
Units
BE232F
BE233D
BE233F
Tcs
lb-in
3.6
3.6
6.5
BE231F
6.4
BE232D
10.7
10.5
14.0
14.4
oz-in
58
58
104
102
171
167
225
231
Nm
0.41
0.40
0.73
0.71
1.20
1.17
1.57
1.61
Ics(sine)
Amps Peak
3.4
6.6
3.0
5.7
3.0
5.9
2.7
5.3
Tpk
lb-in
10.9
10.8
19.5
19.1
32.1
31.4
42.1
43.2
oz-in
174
173
312
306
513
502
674
692
Nm
1.22
1.21
2.18
2.14
3.59
3.51
4.72
4.84
Amps Peak
10.1
19.7
8.9
17.2
9.1
17.6
8.1
15.8
rpm
5000
5000
5000
5000
5000
5000
3625
5000
Current @ Rated Speed
Ir(sine)
Amps Peak
3.2
6.1
2.7
5.3
2.7
5.2
2.5
4.6
Torque @ Rated Speed
Tr
lb-in
3.3
3.3
5.8
5.6
9.3
9.0
12.6
12.1
oz-in
52
52
92
90
148
144
201
194
Nm
0.36
0.36
0.64
0.63
1.04
1.01
1.41
1.36
Shaft Power @ Rated Speed
Po
watts
192
192
340
333
547
533
539
717
Voltage Constant3,4
Kb
Volts/rad/s
0.140
0.072
0.286
0.145
0.461
0.232
0.681
0.357
Ke
Volts/Krpm
14.66
7.53
29.90
15.18
48.28
24.29
71.30
37.41
Kt(sine)
oz-in/Amp Peak
17.17
8.82
35.01
17.78
56.53
28.45
83.50
43.80
Nm/Amp Peak
0.120
0.062
0.245
0.124
0.396
0.199
0.584
0.307
Torque Constant9
Resistance3
R
Ohms
4.57
1.22
6.97
1.86
7.72
2.05
10.98
2.85
Inductance5
L
mH
15.43
4.10
32.30
8.65
42.66
11.12
61.39
16.28
Maximum Bus Voltage
Thermal Res Wind-Amb
Motor Constant
Viscous Damping
Vm
Volts DC
340
340
340
340
340
340
340
340
Rth w-a
°C/watt
2.14
2.14
1.82
1.82
1.58
1.58
1.41
1.41
Km
oz-in/√watt
9.27
9.22
15.31
15.05
23.49
22.94
29.10
29.96
Nm/√watt
0.065
0.065
0.107
0.105
0.164
0.161
0.204
0.210
B
Static Friction
Tf
oz-in/Krpm
0.3
0.3
0.4
0.4
0.5
0.5
0.7
0.7
Nm/Krpm
1.8E-03
1.8E-03
2.5E-03
2.5E-03
3.5E-03
3.5E-03
4.9E-03
4.9E-03
oz-in
0.8
0.8
1.3
1.3
2.0
2.0
2.5
2.5
Nm
5.3E-03
5.3E-03
8.8E-03
8.8E-03
1.4E-02
1.4E-02
1.8E-02
1.8E-02
Motor Thermal Time Constant
τth
minutes
11.6
11.6
13.3
13.3
15.0
15.0
20.0
20.0
Electrical Time Constant
τelec
millisecs
3.38
3.36
4.63
4.65
5.53
5.42
5.59
5.71
Mechanical Time Const.
τmch
millisecs
1.2
1.2
0.8
0.8
0.6
0.6
0.6
0.5
Intermittent Torque Duration10
T2x
seconds
37
37
47
47
58
58
62
62
Peak Torque Duration11
T3x
seconds
15
15
18
18
22
22
23
23
J
lb-in-sec2
4.6E-05
4.6E-05
8.0E-05
8.0E-05
1.5E-04
1.5E-04
2.1E-04
2.1E-04
kg-m2
5.2E-06
5.2E-06
9.0E-06
9.0E-06
1.7E-05
1.7E-05
2.4E-05
2.4E-05
8
8
8
8
8
8
8
8
lbs
1.5
1.5
2.0
2.0
3.1
3.1
4.2
4.2
kg
0.7
0.7
0.9
0.9
1.4
1.4
1.9
1.9
H
H
H
H
H
H
H
H
Rotor Inertia
Number of Poles
Motor Weight
Np
#
Winding Class
3
4
5
6
BE231D
ωr
Voltage Constant3,4
2
BE230F
Ipk(sine)
Rated Speed2
1
BE230D
@ 25°C ambient, 150°C winding temperature, motor connected to a
10"x10"x1/4" aluminum mounting plate.
@40°C ambient derate phase currents and torques by 12%.
Operation with 340 VDC bus. Maximum speed is 5000 RPM. For higher
speed operation please call the factory.
Measured Line to Line, +/- 10%.
Value is measured peak of sine wave.
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
Initial winding temperature must be 60°C or less before Peak Current is
Applied.
7
8
9
10
Peak of the sinusiodal current in any phase for a sinusiodally comutated
motor.
Total motor torque per peak of the sinusiodal amps measured in any phase,
+/-10%.
Maximum Time duration with 2 times rated current applied with initial
winding temp at 60°C.
Maximum Time duration with 3 times rated current applied with initial
winding temp at 60°C.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
39
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Size 23, Resolver Feedback, Specifications
Catalog 8000-4/USA
BE Series
SERVO MOTORS
BE230DR
BE230FR
Ics (sine)=3.4 amps, Ipk(sine)=10.1 amps
Ics (sine)=6.6 amps, Ipk(sine)=19.7 amps
150
1.1
100
0.7
50
0.4
0
0
1000
2000
3000
4000
Torque (oz-in)
1.4
200
1.4
150
1.1
100
0.7
50
0.4
0
5000
0
0
1000
4000
0
5000
BE231DR
BE231FR
Ics (sine)=5.7 amps, Ipk(sine)=17.2 amps
2.5
350
2.5
300
2.1
300
2.1
250
1.8
250
1.8
200
1.4
200
1.4
150
1.1
150
1.1
100
0.7
100
0.7
50
0.4
50
0.4
1000
2000
3000
4000
Torque (oz-in)
0
0
5000
0
1000
Speed (RPM)
2000
3000
4000
0
5000
Speed (RPM)
BE232DR
BE232FR
Ics (sine)=3.0 amps, Ipk(sine)=9.1 amps
Ics (sine)=5.9 amps, Ipk(sine)=17.6 amps
600
4.2
500
3.5
500
3.5
400
2.8
400
2.8
300
2.1
300
2.1
200
1.4
200
1.4
100
0.7
100
0.7
0
1000
2000
3000
4000
Torque (oz-in)
0
0
5000
0
1000
Speed (RPM)
2000
3000
4000
0
5000
Speed (RPM)
BE233DR
BE233FR
Ics (sine)=2.7 amps, Ipk(sine)=8.1 amps
Ics (sine)=5.3 amps, Ipk(sine)=15.8 amps
800
5.6
4.9
700
4.9
600
4.2
600
4.2
500
3.5
500
3.5
400
2.8
400
2.8
300
2.1
300
2.1
200
1.4
200
1.4
100
0.7
100
0.7
0
1000
2000
3000
4000
Torque (oz-in)
0
0
5000
0
Speed (RPM)
2000
3000
4000
0
5000
Speed (RPM)
CONTINUOUS
PEAK
CONTINUOUS
170 VDC
PEAK
340 VDC
40
Automation
1000
Torque (Nm)
5.6
700
Torque (Nm)
800
0
Torque (Nm)
4.2
Torque (Nm)
600
0
Torque (Nm)
350
0
Torque (oz-in)
3000
Ics (sine)=3.0 amps, Ipk(sine)=8.9 amps
0
Torque (oz-in)
2000
Speed (RPM)
Torque (Nm)
Torque (oz-in)
Speed (RPM)
Torque (Nm)
200
Torque (Nm)
Torque (oz-in)
Size 23, Resolver Feedback, Performance Curves
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
BE Series
SERVO MOTORS
Size 34, Encoder Feedback, Specifications
Symbol
Stall Torque Continous1
Tcs
BE342H
BE342K
BE343J
BE343L
BE344J
BE344L
lb-in
15.0
14.9
25.3
25.7
35.6
35.4
43.3
oz-in
241
239
406
411
570
566
693
42.9
686
Nm
1.68
1.67
2.84
2.88
3.99
3.96
4.85
4.80
14.3
Ics(sine)
Amps Peak
5.1
10.4
6.9
13.5
9.9
15.8
9.1
Ics(trap)
Amps DC
4.5
9.0
5.9
11.7
8.6
13.7
7.8
12.4
Tpk
lb-in
45.1
44.8
76.0
77.1
106.9
106.1
129.9
128.6
oz-in
722
717
1217
1233
1710
1697
2078
2058
Nm
5.05
5.02
8.52
8.63
11.97
11.88
14.55
14.40
43.0
Peak Current4,6,8
Ipk(sine)
Amps Peak
15.4
31.3
20.6
40.4
29.8
47.4
27.2
Peak Current6,7
Ipk(trap)
Amps DC
13.4
27.1
17.8
35.0
25.8
41.0
23.5
37.3
Rated Speed2
ωr
rpm
4625
5000
4500
5000
4375
5000
3500
5000
9.9
Current @ Rated Speed
Ir(sine)
Amps Peak
4.2
8.3
5.5
10.3
7.8
11.5
7.6
Current @ Rated Speed
Ir(trap)
Amps
3.7
7.2
4.8
8.9
6.8
9.9
6.6
8.5
Torque @ Rated Speed
Tr
lb-in
11.9
11.4
20.3
19.1
27.7
24.8
35.6
28.5
oz-in
191
182
325
305
443
397
569
456
Nm
1.34
1.27
2.28
2.14
3.10
2.78
3.98
3.19
Shaft Power @ Rated Speed
Po
watts
653
673
1082
1128
1434
1468
1473
1686
Voltage Constant3,4
Kb
Volts/rad/s
0.382
0.187
0.483
0.249
0.468
0.292
0.624
0.390
Ke
Volts/Krpm
40.00
19.58
50.58
26.08
49.01
30.58
65.35
40.84
Kt(sine)
oz-in/Amp Peak
46.84
22.93
59.23
30.53
57.39
35.81
76.52
47.83
Nm/Amp Peak
0.328
0.161
0.415
0.214
0.402
0.251
0.536
0.335
oz-in/Amp DC
54.09
26.48
68.39
35.26
66.27
41.35
88.36
55.22
Nm/Amp DC
0.379
0.185
0.479
0.247
0.464
0.289
0.619
0.387
Voltage Constant3,4
Torque Constant3,4
Kt(trap)
Resistance3
R
Ohms
2.59
0.63
1.70
0.44
0.96
0.38
1.23
0.49
Inductance5
L
mH
35.40
7.07
21.50
5.84
15.09
6.86
20.17
7.32
Maximum Bus Voltage
Vm
Volts DC
340
340
340
340
340
340
340
340
Rth w-a
°C/watt
1.40
1.40
1.20
1.20
1.01
1.01
0.95
0.95
Km
oz-in/√watt
33.61
33.36
52.45
53.15
67.64
67.07
79.67
78.89
Nm/√watt
0.235
0.234
0.367
0.372
0.473
0.470
0.558
0.552
oz-in/Krpm
1.1
1.1
1.3
1.3
1.7
1.7
2.0
2.0
Nm/Krpm
7.6E-03
7.6E-03
9.3E-03
9.3E-03
1.2E-02
1.2E-02
1.4E-02
1.4E-02
Thermal Res Wind-Amb
Motor Constant
Viscous Damping
B
Static Friction
Tf
oz-in
1.7
1.7
2.7
2.7
4.2
4.2
5.0
5.0
Nm
1.2E-02
1.2E-02
1.9E-02
1.9E-02
2.9E-02
2.9E-02
3.5E-02
3.5E-02
Motor Thermal Time Constant
τth
minutes
21.6
21.6
25.0
25.0
28.3
28.3
33.3
33.3
Electrical Time Constant
τelec
millisecs
13.67
11.22
12.65
13.27
15.72
18.05
16.40
14.94
Mechanical Time Constant
τmch
millisecs
0.5
0.5
0.4
0.4
0.3
0.3
0.3
0.3
Intermittent Torque Duration10
T2x
seconds
65
65
78
78
116
116
127
127
Peak Torque Duration11
T3x
seconds
24
24
27
27
37
37
38
38
J
lb-in-sec2
2.7E-04
2.7E-04
4.4E-04
4.4E-04
6.1E-04
6.1E-04
7.2E-04
7.2E-04
kg-m2
3.1E-05
3.1E-05
5.0E-05
5.0E-05
6.9E-05
6.9E-05
8.1E-05
8.1E-05
8
8
8
8
8
8
8
8
lbs
4.8
4.8
7.1
7.1
9.4
9.4
11.7
11.7
kg
2.2
2.2
3.2
3.2
4.3
4.3
5.3
5.3
H
H
H
H
H
H
H
H
Rotor Inertia
Number of Poles
Motor Weight
Np
#
Winding Class
3
4
5
6
BE341J
Stall Current Continuous1,4,8
Torque Constant9
2
BE341F
Stall Current Continuous1,7
Peak Torque6
1
Units
@ 25°C ambient, 125°C winding temperature, motor connected to a
10"x10"x1/4" aluminum mounting plate.
@40°C ambient derate phase currents and torques by 12%.
Operation with 340 VDC bus. Maximum speed is 5000 RPM. For higher
speed operation please call the factory.
Measured Line to Line, +/- 10%.
Value is measured peak of sine wave.
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
Initial winding temperature must be 60°C or less before peak current is
applied.
7
8
9
10
11
DC current through a pair of motor phases of a trapazoidally (six state)
commutated motor.
Peak of the sinusoidal current in any phase for a sinusoidally commutated
motor.
Total motor torque per peak of the sinusoidal amps measured in any phase,
+/-10%.
Maximum time duration with 2 times rated current applied with initial
winding temp at 60°C.
Maximum time duration with 3 times rated current applied with initial
winding temp at 60°C.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
41
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Parameter
Catalog 8000-4/USA
BE Series
SERVO MOTORS
BE341FJ
BE341JJ
Ics (sine)=5.1 amps, Ipk(sine)=15.4 amps
Ics (sine)=10.4 amps, Ipk(sine)=31.3 amps
5.6
50
5.6
40
4.5
40
4.5
30
3.4
30
3.4
20
2.2
20
2.2
10
1.1
10
1.1
0
0
1000
2000
3000
4000
Torque (lb-in)
0
0
5000
0
1000
4000
0
5000
BE342HJ
BE342KJ
Ics (sine)=13.5 amps, Ipk(sine)=40.4 amps
9.0
80
9.0
7.8
70
7.8
60
6.7
60
6.7
50
5.6
50
5.6
40
4.5
40
4.5
30
3.4
30
3.4
20
2.2
20
2.2
10
1.1
10
1.1
1000
2000
3000
4000
Torque (lb-in)
0
0
5000
0
1000
Speed (RPM)
2000
3000
4000
0
5000
Speed (RPM)
BE343JJ
BE343LJ
Ics (sine)=9.9 amps, Ipk(sine)=29.8 amps
Ics (sine)=15.8 amps, Ipk(sine)=47.4 amps
120
13.4
100
11.2
100
11.2
80
9.0
80
9.0
60
6.7
60
6.7
40
4.5
40
4.5
20
2.2
20
2.2
0
1000
2000
3000
4000
Torque (lb-in)
0
0
5000
0
1000
Speed (RPM)
2000
3000
4000
0
5000
Speed (RPM)
BE344JJ
BE344L
Ics (sine)=9.1 amps, Ipk(sine)=27.2 amps
Ics (sine)=14.3 amps, Ipk(sine)=43.0 amps
150
16.8
120
13.4
120
13.4
90
10.1
90
10.1
60
6.7
60
6.7
30
3.4
30
3.4
0
1000
2000
3000
4000
Torque (lb-in)
0
0
5000
0
Speed (RPM)
2000
3000
4000
0
5000
Speed (RPM)
CONTINUOUS
PEAK
CONTINUOUS
170 VDC
PEAK
340 VDC
42
Automation
1000
Torque (Nm)
16.8
Torque (Nm)
150
0
Torque (Nm)
13.4
Torque (Nm)
120
0
Torque (Nm)
80
70
0
Torque (lb-in)
3000
Ics (sine)=6.9 amps, Ipk(sine)=20.6 amps
0
Torque (lb-in)
2000
Speed (RPM)
Torque (Nm)
Torque (lb-in)
Speed (RPM)
Torque (Nm)
50
Torque (Nm)
Torque (lb-in)
Size 34, Encoder Feedback, Performance Curves
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
BE Series
SERVO MOTORS
Size 34, Resolver Feedback, Specifications
Symbol
Stall Current Continuous1,4,8
Peak Torque6
Peak Current4,6,8
Tcs
BE342H
16.1
27.4
BE342K
27.8
BE343J
38.5
BE343L
38.2
BE344J
46.8
BE344L
oz-in
260
258
438
444
616
611
748
741
Nm
1.82
1.81
3.07
3.11
4.31
4.28
5.24
5.19
46.3
Ics(sine)
Amps Peak
5.6
11.3
7.4
14.6
10.7
17.1
9.8
15.5
Tpk
lb-in
48.8
48.4
82.2
83.3
115.6
114.6
140.3
139.0
oz-in
781
775
1315
1333
1849
1833
2245
2223
Nm
5.46
5.42
9.21
9.33
12.94
12.83
15.72
15.56
Amps Peak
16.7
33.8
22.2
43.6
32.2
51.2
29.3
46.5
rpm
4625
5000
4500
5000
4375
5000
3500
5000
Current @ Rated Speed
Ir(sine)
Amps Peak
4.8
9.5
6.3
11.9
9.0
13.4
8.5
11.8
Torque @ Rated Speed
Tr
lb-in
13.8
10.0
23.8
22.1
32.7
29.3
35.6
27.3
oz-in
220
160
381
354
523
469
570
436
Nm
1.54
1.12
2.67
2.48
3.66
3.28
3.99
3.05
Shaft Power @ Rated Speed
Po
watts
753
592
1268
1309
1692
1734
1476
1612
Voltage Constant3,4
Kb
Volts/rad/s
0.382
0.187
0.483
0.249
0.468
0.292
0.624
0.390
Ke
Volts/Krpm
40.00
19.58
50.58
26.08
49.01
30.58
65.35
40.84
Kt(sine)
oz-in/Amp Peak
46.84
22.93
59.23
30.53
57.39
35.81
76.52
47.83
Nm/Amp Peak
0.328
0.161
0.415
0.214
0.402
0.251
0.536
0.335
Voltage Constant3,4
Resistance3
R
Ohms
2.59
0.63
1.70
0.44
0.96
0.38
1.23
0.49
Inductance5
L
mH
35.40
7.07
21.50
5.84
15.09
6.86
20.17
7.30
Maximum Bus Voltage
Vm
Volts DC
340
340
340
340
340
340
340
340
Rth w-a
°C/watt
1.40
1.40
1.20
1.20
1.01
1.01
0.95
0.95
Km
oz-in/√watt
33.61
33.36
52.45
53.15
67.64
67.07
79.67
78.89
Nm/√watt
0.235
0.234
0.367
0.372
0.473
0.470
0.558
0.552
oz-in/Krpm
1.1
1.1
1.3
1.3
1.7
1.7
2.0
2.0
Nm/Krpm
7.6E-03
7.6E-03
9.3E-03
9.3E-03
1.2E-02
1.2E-02
1.4E-02
1.4E-02
Thermal Res Wind-Amb
Motor Constant
Viscous Damping
B
Static Friction
Tf
oz-in
1.7
1.7
2.7
2.7
4.2
4.2
5.0
5.0
Nm
1.2E-02
1.2E-02
1.9E-02
1.9E-02
2.9E-02
2.9E-02
3.5E-02
3.5E-02
Motor Thermal Time Constant
τth
minutes
21.6
21.6
25.0
25.0
28.3
28.3
33.3
33.3
Electrical Time Constant
τelec
millisecs
13.67
11.22
12.65
13.27
15.72
18.05
16.40
14.94
Mechanical Time Constant
τmch
millisecs
0.6
0.6
0.4
0.4
0.3
0.3
0.3
0.3
Intermittent Torque Duration10
T2x
seconds
65
65
78
78
116
116
127
127
Peak Torque Duration11
T3x
seconds
24
24
27
27
37
37
38
38
J
lb-in-sec2
2.9E-04
2.9E-04
4.6E-04
4.6E-04
6.3E-04
6.3E-04
8.0E-04
8.0E-04
kg-m2
3.3E-05
3.3E-05
5.2E-05
5.2E-05
7.1E-05
7.1E-05
9.0E-05
9.0E-05
8
8
8
8
8
8
8
8
lbs
4.8
4.8
7.1
7.1
9.4
9.4
11.7
11.7
kg
2.2
2.2
3.2
3.2
4.3
4.3
5.3
5.3
H
H
H
H
H
H
H
H
Rotor Inertia
Number of Poles
Motor Weight
Np
#
Winding Class
3
4
5
6
BE341J
16.3
ωr
Torque Constant9
2
BE341F
lb-in
Ipk(sine)
Rated Speed2
1
Units
7
@ 25°C ambient, 150°C winding temperature, motor connected to a
10"x10"x1/4" aluminum mounting plate.
@40C ambient derate phase currents and torques by 12%.
Operation with 340 VDC bus. Maximum speed is 5000 RPM. For higher
speed operation please call the factory.
Measured Line to Line, +/- 10%.
Value is measured peak of sine wave.
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
Initial winding temperature must be 60°C or less before peak current is
applied.
8
9
10
Peak of the sinusoidal current in any phase for a sinusoidally commutated
motor.
Total motor torque per peak of the sinusoidal amps measured in any phase,
+/-10%.
Maximum time duration with 2 times rated current applied with initial
winding temp at 60°C.
Maximum time duration with 3 times rated current applied with initial
winding temp at 60°C.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
43
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Parameter
Stall Torque Continous1
Catalog 8000-4/USA
BE Series
SERVO MOTORS
BE341FR
BE341JR
Ics (sine)=5.6 amps, Ipk(sine)=16.7 amps
Ics (sine)=11.3 amps, Ipk(sine)=33.8 amps
5.6
50
5.6
40
4.5
40
4.5
30
3.4
30
3.4
20
2.2
20
2.2
10
1.1
10
1.1
0
0
1000
2000
3000
4000
Torque (lb-in)
0
0
5000
0
1000
0
5000
BE342HR
BE342KR
Ics (sine)=14.6 amps, Ipk(sine)=43.6 amps
11.2
100
11.2
80
9.0
80
9.0
60
6.7
60
6.7
40
4.5
40
4.5
20
2.2
20
2.2
1000
2000
3000
4000
Torque (lb-in)
0
0
5000
0
1000
Speed (RPM)
2000
3000
4000
0
5000
Speed (RPM)
BE343JR
BE343LR
Ics (sine)=10.7 amps, Ipk(sine)=32.2 amps
Ics (sine)=17.1 amps, Ipk(sine)=51.2 amps
120
13.4
100
11.2
100
11.2
80
9.0
80
9.0
60
6.7
60
6.7
40
4.5
40
4.5
20
2.2
20
2.2
0
1000
2000
3000
4000
Torque (lb-in)
0
0
5000
0
1000
Speed (RPM)
2000
3000
4000
0
5000
Speed (RPM)
BE344JR
BE344LR
Ics (sine)=9.8 amps, Ipk(sine)=29.3 amps
Ics (sine)=15.5 amps, Ipk(sine)=46.5 amps
150
16.8
120
13.4
120
13.4
90
10.1
90
10.1
60
6.7
60
6.7
30
3.4
30
3.4
0
1000
2000
3000
4000
Torque (lb-in)
0
0
5000
0
Speed (RPM)
2000
3000
4000
0
5000
Speed (RPM)
CONTINUOUS
PEAK
CONTINUOUS
170 VDC
PEAK
340 VDC
44
Automation
1000
Torque (Nm)
16.8
Torque (Nm)
150
0
Torque (Nm)
13.4
Torque (Nm)
120
0
Torque (Nm)
100
0
Torque (lb-in)
4000
Ics (sine)=7.4 amps, Ipk(sine)=22.2 amps
0
Torque (lb-in)
3000
Speed (RPM)
Torque (Nm)
Torque (lb-in)
Speed (RPM)
2000
Torque (Nm)
50
Torque (Nm)
Torque (lb-in)
Size 34, Resolver Feedback, Performance Curves
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
BE Series
SERVO MOTORS
BE Series Dimensional Drawings
Size 16 Dimensional Drawing
Motor Length
Dimensions in inches (mm)
Model
Standard
FO Option
Brake
BE161
BE162
BE163
BE164
3.29
3.79
4.29
4.79
2.02
2.52
3.02
3.52
2.70
3.20
3.70
4.20
(83.6)
(96.3)
(109.0)
(121.70)
(51.20)
(63.90)
(76.6)
(89.3)
(68.6)
(81.3)
(94.0)
(106.7)
Motor Sizes
BE161
BE162
BE163
BE164
Size 23 Dimensional Drawing
1.37
1.87
2.37
2.87
(34.8)
(47.5)
(60.2)
(72.9)
Motor Length
Dimensions in inches (mm)
Model
BE230
BE231
BE232
BE233
Standard
3.15
3.65
4.65
5.65
(80)
(93)
(118)
(143)
FO Option
Brake
2.50 (93)
3.00 (77)
4.00 (102)
5.00 (128)
4.51 (115)
5.01 (127)
6.01 (153)
7.01 (178)
2.25 SQ.
(57.3)
+.0000
.3748 -.0003
9.52 +0.000
-0.007
(
(4x) .218 (5.54) THRU
EQ. SP. ON A
2.625 (66.68) B.C.
+.000
1.500 -.002
+0.00
38.1 -0.05
(
MOTOR LENGTH
1.25
(31.7)
.063
(1.6)
)
3.04
(77.2)
)
MOTOR LENGTH
SHAFT OPTIONS
.680
(17.27)
.322
(8.17)
.340
(8.64)
.750
(19.05)
FLAT
+.002
.094 -.000
( 2.39 +0.04
-0.00 )
KEYWAY
"FO" CONNECTION OPTION
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
45
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
L
Model
Catalog 8000-4/USA
BE Series
SERVO MOTORS
BE Series Dimensional Drawings
Size 34 Dimensional Drawing
Motor Length
Dimensions in inches (mm)
Model
Standard
FO Option Brake
BE341
BE342
BE343
BE344
4.42
5.42
6.42
7.42
3.65
4.65
5.65
6.65
(4x) .218 (5.54) THRU
EQ. SP. ON A
3.875 (98.43) B.C.
+.000
2.875 -.002
(73.03 +0.00
-0.05)
.5000 +.0000
-.0005
3.89
(98.8)
(12.7 +0.000
-0.012 )
MOTOR LENGTH
1.000
(25.4)
.430
(10.92)
1.000
(25.4)
FLAT
5.65 (144)
6.65 (169)
7.65 (194)
8.65 (220)
.093
(2.36)
SHAFT OPTIONS
.473
(12.01)
(93)
(118)
(144)
(169)
MOTOR LENGTH
1.19
(30.2)
3.35 SQ.
(85.1)
(112)
(138)
(163)
(188)
+.002
.125 -.000
(3.18 +0.05
-0.00 )
KEYWAY
"FO" CONNECTION OPTION
46
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
BE Series
SERVO MOTORS
BE Series, Feedback Specifications
Resolver Schematic Diagram
Resolver Specifications
R2
R1
WHITE
RED
BROWN
BLACK
S1
STATOR
SECONDARY
BLUE
GREEN
ROTOR
PRIMARY
S3
Phasing Equation:
For CW rotation of rotor
facing mounting flange end.
ES1-S3 = KER1-R2 COSØ
ES2-S4 = KER1-R2 SINØ
S4
S2
Encoder Specifications
Parameter
Value
Input voltage @ 7 kHz
Input current, max
Input power, nominal
Impedance ZSO (@ 90°)
Impedance ZRO
Impedance ZRS
Transformation ratio
Output voltage
DC rotor resistance
DC stator resistance
Sensitivity
Max error from EZ
Phase shift, open circuit
Null voltage, total
Impedance ZSS
Inertia
4.25 volts
55 mA
0.12 watts
58+j145 ohms
53+j72 ohms
42+j55 ohms
0.470 ±5%
2.0 ±5% volts
23 ±10% ohms
19 ±10% ohms
35 mV/degree
±10 minutes
5° leading, ±3"
20 mV rms
50+j128 ohms
Incl. with motor spec.
Mechanical
Accuracy
±2 min of arc
Input power
Operating frequency
Output device
Sink/Source, nominal
Suggested user interface
5 VDC ±5%, 135 mA
250 kHz max
26LS31
20 mA
26LS32
B
Electrical
Commutation Chart
Clockwise rotation as viewed from front shaft.
Phase
B-A
Hall-Effect Specifications
Phase
A-C
Phase
C-B
Electrical
Input power
Output device
open collector
Maximum pull up
Sink
5 VDC ±5%, 80 mA
LM339
12 VDC
16 mA
Hall #1
Electrically Released Brakes
Hall #2
Brakes
Size 23
Static rated torque
10 in-lb
Coil voltage
24 VDC
Coil current
0.38 amps
Size 34
24 VDC
0.7 amps
Weight
0.7 lbs
1.2 lbs
Inertia
1.87 E-05 lb-in-sec2
1.14E-04 lb-in-sec2
10/20 msec
20/40 msec
Engage/Disengage
Hall #3
40 in-lb
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
47
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
BE Series
SERVO MOTORS
Wiring and Cable
Specifications
Flying Leads, Cabled and
“MS” Connection Options
Encoder/Hall Feedback Connection
The “FO” connection option for the BE Series motors features
18” leads extending from the motor body. This option features
a plastic encoder cover and no connector housing. Wire color
codes are the same as listed below for “MS” wired BE Series
motors. The “FO” option is only available on motors with
encoder feedback.
The “FL” connection option for the BE Series motors
features 18” leads extending from the motor body. This option
features an extruded aluminum housing. Wire color codes are
the same as listed below for “MS” wired BE Series motors. The
“FL” option is only available on motors with encoder feedback.
The “10” connection option for the BE Series motors
consists of 10 feet of hard-wired cable extending from the
motor body. These cables terminate in flying leads. Wire color
codes are the same as listed below for the “MS” connection
option. The “10” option is only available on motors with
encoder feedback.
The “MS” connection option for the BE Series motors
provides quick disconnect, bayonet style connectors attached
to the motor body. Mating cables are specified and ordered
separately. With the “MS” connection option, the motor phase
wires are in one connector, and the hall, encoder, temperature
switch, and brake wires are in the other connector. This option
works well when using an amplifier with a built-in controller, or
when all cables enter into a cabinet or enclosure and then are
wired into a terminal strip. When specifying the “R” (resolver)
feedback option, the motor phase wires reside in one connector, the resolver signal, temperature switch, and brake wires in
the other.
Designation
1
Pin Number
MS14-18
Wire Color
Encoder +5
H
Red
Encoder Ground
G
Black
CH A +
A
White
CH A -
B
Yellow
CH B +
C
Green
CH B -
D
Blue
Index +
E
Orange
Index -
F
Brown
Hall Ground
K
White/Green
Hall +5
M
White/Blue
Hall 1
T
White/Brown
Hall 2
U
White/Orange
Hall 3
P
White/Violet
Brake1
R
Red/Blue
Brake1
S
Red/Blue
Temp
L
Orange/Yellow
Temp
N
Orange/Yellow
Shield
N.C.
Clear
Brake will operate regardless of polarity of connection
Resolver Feedback Connection
Designation
Pin Number
MS14-18
Wire Color
Motor Connection
Designation
Pin Number
MS14-121
Wire Color
“MS”/”RS” Cables
Wire Color
“GS/GB” Cables
S1, COS +
E
Black
S2, SIN +
L
Green
S3, COS -
J
Red
S4, SIN -
G
Blue
Brown
Phase A
J
Red/Yellow
Black 1
R1, EXC +
C
Phase B
K
White/Yelow
Black 2
R2, EXC -
U
White
Phase C
L
Black/Yellow
Black 3
Temp
R
Orange/Yellow
M
Green/Yellow
Green/Yellow
N.C.
Clear
N.C.
Temp
N
Orange/Yellow
Brake2
S
Red/Blue
Brake2
T
Red/Blue
Shield
N.C.
Clear
Ground
Shield
or Yellow
or Yellow
48
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
BE Series
SERVO MOTORS
Wiring and Cable Specifications (continued)
“TQ” Connection Option
The “TQ” Connection option for the BE series motors
provides quick disconnect, bayonet style connectors attached
to the motor body. Mating cables are specified and ordered
separately. The “TQ” connection option joins the motor phase
wires, temperature switch, and hall effect signals in one
connector. The second connector has only encoder signals.
This connection option applies well in applications where the
hall and motor phase wires connect directly to an amplifier,
while the encoder signals connect directly to a controller.
Motor/Hall Connection
Phase A
Pin Number
MS14-12
J
Wire Color
Designation
Red/Yellow
Phase B
K
White/Yellow
Phase C
L
Black/Yellow
Ground
M
Green/Yellow
Temp
G
Orange/Yellow
or Yellow
Temp
H
Orange/Yellow
or Yellow
Shield
N.C.
Clear
Hall Ground
F
White/Green
Hall +5
B
White/Blue
Hall 1
C
White/Brown
Hall 2
D
White/Orange
Hall 3
E
White/Violet
1
Pin Number
MS14-18
Wire Color
Encoder +5
H
Red
Encoder Ground
G
Black
CH A +
A
White
CH A -
B
Yellow
CH B +
C
Green
CH B -
D
Blue
Index +
E
Orange
Index -
F
Brown
Brake1
R
Red/Blue
Brake1
S
Red/Blue
Brake will operate regardless of polarity of connection
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
49
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Designation
Encoder Feedback Connection
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
Innovative Bridged Stator
Design
The size 34 NeoMetric Series and J Series servo motors are
available with integrated planetary gearheads in ratios up to
100:1. Our unique package integrates the gearhead pinion into
the motor shaft, reducing the overall package length by up to 2
inches.
The NeoMetric and J Series brushless servo motors feature a
bridged stator design. This state-of-the-art motor design
establishes industry-leading torque to inertia ratios in a very
compact package size.
The bridged stator construction also reduces audible noise
generated by the motor. Conventional motor designs allow
magnetic forces to act upon the stator teeth, creating movement in them much like a cantilever beam. The “bridges”
between the teeth in the NeoMetric design effectively stiffen the
teeth, reducing movement.
This same design principle also allows advanced manufacturing techniques. The two-piece stator lamination of the bridged
stator design allows the slot opening, traditionally on the inside
diameter, to be transferred to the outside diameter, simplifying
winding insertion.
The NeoMetric Series brushless servo motors provide
extremely high torque to inertia ratios. For applications involving
a high inertial load, a larger rotor inertia may be desirable. The J
Series motors were designed specifically for these types of
applications. The J Series motors provide the same performance as the NeoMetric Series, but feature a higher rotor
inertia.
Features
•
•
•
•
•
•
•
•
•
•
•
•
•
•
70mm, 92mm, and size 34
6 to 61 lb-in continuous torque
Brushless construction
High torque density packaging
Outstanding torque-to-inertia ratios
Bridged stator design - quiet operation
High performance neodymium magnets
Thermoswitch protection
TENV housing, IP65 option
Resolver, encoder, Hall feedback options
10-day deliveries
Two year warranty
CAD (.dxf) drawings available
CE Compliant
Part Numbering System
N
0923
Series
Frame,
Magnet Length
N:
NeoMetric Series
J:
Medium Inertia
Series4
1
2
3
0701
0702
0703
0704
0341
0342
0343
0344
0921
0922
0923
0924
H
R-
N
MS
B
Winding
Feedback
Shafting
Connections
Options
Identifying character
D, E, F, etc.
D - 500 ppr encoder2
E - 1000 ppr encoder
H - Hall-effect only
R - Resolver
N - Normal
F - Flat
K - Keyway
92 mm motors only
70mm and 34 frame only
34 & 92 frame motors only. Specify “K” shaft option with gearheads
4
5
50
Automation
FL - Flying leads2
10 - 10’ cable2
PT - Pipe Thread Taps1
TQ - Trap drive
MS - Military style
N - None
B - Brake
V - Shaft seal5
GXX - Gearhead3
Four stack motor lengths not available with J Series
With MS or TQ connectors, IP65.
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
Parameter
Symbol
Stall Torque Continous1
Units
N0701D
N0341D
N0701F
N0341F
N0702E
N0342E
N0702F
N0342F
N0703F
N0343F
N0703G
N0343G
N0704F
N0344F
N0704G
N0344G
Tcs
lb-in
oz-in
Nm
5.7
91
0.63
5.6
90
0.63
10.4
167
1.17
10.4
166
1.16
15.8
252
1.77
15.8
252
1.77
19.5
311
2.18
19.5
312
2.19
Stall Current Continuous1,4,8
Stall Current Continuous1,7
Peak Torque6
Ics(sine)
Ics(trap)
Tpk
Peak Current4,6,8
Peak Current6,7
Rated Speed2
Current @ Rated Speed
Current @ Rated Speed
Torque @ Rated Speed
Ipk(sine)
Ipk(trap)
ωr
Ir(sine)
Ir(trap)
Tr
Shaft Power @ Rated Speed
Voltage Constant3,4
Voltage Constant3,4
Torque Constant9
Po
Kb
Ke
Kt(sine)
Torque Constant3,4
Kt(trap)
Resistance3
Inductance5
Maximum Bus Voltage
Thermal Res Wind-Amb
Motor Constant
R
L
Vm
Rth w-a
Km
Amps Peak
Amps DC
lb-in
oz-in
Nm
Amps Peak
Amps DC
rpm
Amps
Amps
lb-in
oz-in
Nm
watts
Volts/rad/s
Volts/KRPM
oz-in/Amp Peak
Nm/Amp Peak
oz-in/Amp DC
Nm/Amp DC
Ohms
mH
Volts DC
°C/watt
oz-in/√watt
Nm/√watt
oz-in/Krpm
Nm/krpm
oz-in
Nm
minutes
millisecs
millisecs
millisecs
seconds
seconds
lb-in-sec2
kg-m2
lb-in-sec2
kg-m2
3.3
2.9
17.0
272
1.90
10.0
8.7
7500
3.0
2.6
4.7
75
0.53
416
0.221
23.14
27.10
0.190
31.29
0.219
5.52
12.98
340
1.44
13.32
0.093
0.2
1.4 E-3
0.8
5.6 E-3
16.6
2.35
1.6
14.7
22
9
1.1 E-4
1.2 E-5
1.1 E-3
1.3 E-4
4
3.5
1.6
4.4
2.0
H
5.2
4.5
16.8
269
1.88
15.6
13.5
7500
4.7
4.1
4.6
74
0.52
411
0.140
14.66
17.17
0.120
19.82
0.139
2.27
5.23
340
1.44
13.16
0.092
0.2
1.4 E-3
0.8
5.6 E-3
16.6
2.30
1.7
14.7
22
9
1.1 E-4
1.2 E-5
1.1 E-3
1.3 E-4
4
3.5
1.6
4.4
2.0
H
3.8
3.3
31.2
500
3.50
11.5
10.0
7500
3.2
2.8
7.1
114
0.80
632
0.353
36.97
43.29
0.303
49.98
0.350
5.22
15.80
340
1.15
21.88
0.153
0.4
2.8 E-3
1.6
1.2 E-2
21.7
3.03
0.6
5.7
32
11
1.7 E-4
2.0 E-5
1.2 E-3
1.4 E-4
4
4.5
2.1
5.4
2.5
H
5.4
4.6
31.1
498
3.49
16.1
13.9
7500
4.5
3.9
7.9
126
0.88
699
0.253
26.49
31.03
0.217
35.82
0.251
2.70
8.16
340
1.15
21.80
0.153
0.4
2.8 E-3
1.6
1.2 E-2
21.7
3.02
0.6
5.7
32
11
1.7 E-4
2.0 E-5
1.2 E-3
1.4 E-4
4
4.5
2.1
5.4
2.5
H
5.2
4.5
47.3
757
5.30
15.7
13.6
6800
4.4
3.8
10.8
173
1.21
870
0.392
41.05
48.07
0.336
55.51
0.389
3.36
12.13
340
0.96
30.28
0.212
0.6
4.2 E-3
2.4
1.7 E-2
22.5
3.61
0.6
3.2
39
13
2.4 E-4
2.7 E-5
1.3 E-3
1.5 E-4
4
6.0
2.7
6.9
3.1
H
7.3
6.3
47.3
757
5.30
21.9
19.0
7500
5.8
5.0
11.4
182
1.27
1010
0.282
29.53
34.58
0.242
39.93
0.280
1.74
6.30
340
0.96
30.27
0.212
0.6
4.2 E-3
2.4
1.7 E-2
22.5
3.62
0.6
3.2
39
13
2.4 E-4
2.7 E-5
1.3 E-3
1.5 E-4
4
6.0
2.7
6.9
3.1
H
5.4
4.7
58.4
934
6.54
16.3
14.1
5500
4.6
4.0
14.1
226
1.58
919
0.468
49.01
57.39
0.402
66.27
0.464
3.47
14.50
340
0.87
35.57
0.249
0.8
5.6 E-3
3.2
2.2 E-2
23.3
4.18
0.6
N/A
38
12
3.1 E-4
3.5 E-5
N/A
N/A
4
7.3
3.3
N/A
N/A
H
7.5
6.5
58.6
937
6.56
22.6
19.6
7500
5.6
4.9
12.6
201
1.41
1115
0.338
35.40
41.45
0.290
47.86
0.335
1.80
7.55
340
0.87
35.67
0.250
0.8
5.6 E-3
3.2
2.2 E-2
23.3
4.19
0.6
N/A
38
12
3.1 E-4
3.5 E-5
N/A
N/A
4
7.3
3.3
N/A
N/A
H
Viscous Damping
B
Static Friction
Tf
Motor Thermal Time Constant
Electrical Time Constant
NeoMetric Mech. Time Const.
J Series Mech. Time Const.
Intermittent Torque Duration10
Peak Torque Duration11
NeoMetric Rotor Inertia
J Series Rotor Inertia
Number of Poles
NeoMetric Weight
J Series Weight
τth
τelec
τmch
τmch
T2x
T3x
J
J
Np
#
#
Winding Class
lbs
kg
lbs
kg
7
* NeoMetric and J Series Specifications are identical unless otherwise noted.
DC current through a pair of motor phases of a trapazoidally (six state)
1
@ 25°C ambient, 125°C winding temperature, motor connected to a
commutated motor.
8
10"x10"x1/4" aluminum mounting plate.
Peak of the sinusoidal current in any phase for a sinusoidally commutated
@40°C ambient derate phase currents and torques by 12%.
motor.
2
9
Maximum speed is 7500 RPM.
Total motor torque per peak of the sinusoidal amps measured in any phase,
For higher speed operation please call the factory.
+/-10%.
3
10
Measured Line to Line, +/- 10%.
Maximum time duration with 2 times rated current applied with initial
4
Value is measured peak of sine wave.
winding temp at 60°C.
5
11
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
Maximum time duration with 3 times rated current applied with initial
6
Initial winding temperature must be 60°C or less before peak current is
winding temp at 60°C.
Applied.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
51
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
70 mm or Size 34, Encoder Feedback, Specifications*
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
70 mm or Size 34, Encoder Feedback, Performance
Curves (Neometric & J Series data are identical unless otherwise noted)
N0701FR
N0701DR
Ics (sine)=5.8 amps, Ipk(sine)=17.5 amps
2.24
2.02
1.79
1.57
12
10
8
6
1.35
1.12
0.90
0.67
4
0.45
12
10
8
6
1.35
1.12
0.90
0.67
4
0.45
2
0.22
2
0
0
0
0
1000
2000
3000 4000
5000
6000
7000
Torque (lb-in)
2.24
2.02
1.79
1.57
0.22
0
1000
2000
N0702ER
35
3.92
3.92
30
3.36
30
3.36
25
2.80
25
2.80
20
2.24
20
2.24
15
1.68
10
1.12
5
0.56
1.68
15
1.12
10
5
0.56
0
0
1000 2000
3000 4000
5000
6000 7000
Torque (lb-in)
4.48
35
0
0
1000
2000 3000 4000
5000
6000 7000
0
Speed (RPM)
N0703FR
N0703GR
Ics (sine)=5.9 amps, Ipk(sine)=17.6 amps
Ics (sine)=8.2 amps, Ipk(sine)=24.5 amps
6.73
50
5.61
50
5.61
40
4.48
40
4.48
30
3.36
30
3.36
20
2.24
20
2.24
10
1.12
10
1.12
0
0
0
1000 2000
3000 4000
5000
6000
7000
Torque (Nm)
0
Torque (lb-in)
60
0
0
1000
2000 3000 4000 5000 6000
7000
Speed (RPM)
Speed (RPM)
N0704FR
N0704GR
Ics (sine)=6.1 amps, Ipk(sine)=18.2 amps
Ics (sine)=8.4 amps, Ipk(sine)=25.3 amps
70
7.85
60
6.73
60
6.73
50
5.61
50
5.61
40
4.48
40
4.48
30
3.36
30
3.36
20
2.24
20
2.24
10
1.12
10
1.12
0
0
1000
2000 3000
4000
5000
6000
Torque (Nm)
0
Torque (lb-in)
7.85
7000
0
0
Speed (RPM)
1000 2000
3000 4000 5000 6000
7000
Speed (RPM)
CONTINUOUS
PEAK
CONTINUOUS
170 VDC
PEAK
340 VDC
52
Automation
Torque (Nm)
70
0
Torque (Nm)
6.73
60
Torque (Nm)
40
Torque (Nm)
Torque (lb-in)
0
Ics (sine)=6.0 amps, Ipk(sine)=17.9 amps
Speed (RPM)
Torque (lb-in)
6000 7000
N0702FR
Ics (sine)=4.3 amps, Ipk(sine)=12.9 amps
Torque (lb-in)
3000 4000 5000
Speed (RPM)
Speed (RPM)
0
Torque (Nm)
20
18
16
14
20
18
16
14
Torque (Nm)
Torque (lb-in)
Ics (sine)=3.7 amps, Ipk(sine)=11.2 amps
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
Parameter
Symbol
Stall Torque Continous1
Tcs
Stall Current Continuous1,4,7
Peak Torque6
Ics(sine)
Tpk
Peak Current4,6,7
Rated Speed2
Current @ Rated Speed
Torque @ Rated Speed
Ipk(sine)
ωr
Ir(sine)
Tr
Shaft Power @ Rated Speed
Voltage Constant3,4
Voltage Constant3,4
Torque Constant8
Po
Kb
Ke
Kt(sine)
Resistance3
Inductance5
Maximum Bus Voltage
Thermal Res Wind-Amb
Motor Constant
R
L
Vm
Rth w-a
Km
Viscous Damping
B
Static Friction
Tf
Motor Thermal Time Constant
Electrical Time Constant
NeoMetric Mech. Time Constant
J Series Mech. Time Constant
Intermittent Torque Duration9
Peak Torque Duration10
NeoMetric Rotor Inertia
J Series Rotor Inertia
Number of Poles
NeoMetric Weight
J Series Weight
τth
τelec
τmch
τmch
T2x
T3x
J
J
Np
#
#
Winding Class
Units
lb-in
oz-in
Nm
Amps Peak
lb-in
oz-in
Nm
Amps Peak
rpm
Amps
lb-in
oz-in
Nm
watts
Volts/rad/s
Volts/KRPM
oz-in/Amp Peak
Nm/Amp Peak
Ohms
mH
Volts DC
°C/watt
oz-in/√watt
Nm/√watt
oz-in/Krpm
Nm/krpm
oz-in
Nm
minutes
millisecs
millisecs
millisecs
seconds
seconds
lb-in-sec2
kg-m2
lb-in-sec2
kg-m2
lbs
kg
lbs
kg
N0701D
N0341D
N0701F
N0341F
N0702E
N0342E
N0702F
N0342F
N0703F
N0343F
N0703G
N0343G
N0704F
N0344F
N0704G
N0344G
6.3
101
0.71
3.7
19.0
304
2.13
11.2
7500
3.5
5.4
86
0.60
477
0.221
23.14
27.10
0.190
5.52
12.98
340
1.44
13.32
0.093
0.2
1.4 E-3
0.8
5.6 E-3
16.6
2.35
1.6
14.7
22
9
1.3 E-4
1.5 E-5
1.1 E-3
1.3 E-4
4
3.5
1.6
4.4
2.0
H
6.3
100
0.70
5.8
18.8
300
2.10
17.5
7500
5.4
5.3
85
0.60
472
0.140
14.66
17.17
0.120
2.27
5.23
340
1.44
13.16
0.092
0.2
1.4 E-3
0.8
5.6 E-3
16.6
2.30
1.7
14.7
22
9
1.3 E-4
1.5 E-5
1.1 E-3
1.3 E-4
4
3.5
1.6
4.4
2.0
H
11.6
186
1.30
4.3
34.9
559
3.91
12.9
7100
3.8
8.6
138
0.97
725
0.353
36.97
43.29
0.303
5.22
15.80
340
1.15
21.88
0.153
0.4
2.8 E-3
1.6
1.2 E-2
21.7
3.03
0.9
5.7
32
11
2.0 E-4
2.2 E-5
1.2 E-3
1.4 E-4
4
4.5
2.1
5.4
2.5
H
11.6
186
1.30
6.0
34.8
557
3.90
17.9
7500
5.2
9.3
149
1.04
827
0.253
26.49
31.03
0.217
2.70
8.16
340
1.15
21.80
0.153
0.4
2.8 E-3
1.6
1.2 E-2
21.7
3.02
0.9
5.7
32
11
2.0 E-4
2.2 E-5
1.2 E-3
1.4 E-4
4
4.5
2.1
5.4
2.5
H
17.6
282
1.97
5.9
52.9
846
5.92
17.6
6600
5.1
12.8
205
1.44
1001
0.392
41.05
48.07
0.336
3.36
12.13
340
0.96
30.28
0.212
0.6
4.2 E-3
2.4
1.7 E-2
22.5
3.61
0.6
3.2
39
13
2.6 E-4
3.0 E-5
1.3 E-3
1.5 E-4
4
6.0
2.7
6.9
3.1
H
17.6
282
1.97
8.2
52.9
846
5.92
24.5
7500
6.9
13.6
217
1.52
1204
0.282
29.53
34.58
0.242
1.74
6.30
340
0.96
30.27
0.212
0.6
4.2 E-3
2.4
1.7 E-2
22.5
3.62
0.6
3.2
39
13
2.6 E-4
3.0 E-5
1.3 E-3
1.5 E-4
4
6.0
2.7
6.9
3.1
H
21.8
348
2.44
6.1
65.3
1045
7.32
18.2
5500
5.4
16.1
257
1.80
1045
0.468
49.01
57.39
0.402
3.47
14.50
340
0.87
35.57
0.249
0.8
5.6 E-3
3.2
2.2 E-2
23.3
4.18
0.6
N/A
38
12
3.3 E-4
3.7 E-5
N/A
N/A
4
7.3
3.3
N/A
N/A
H
21.8
349
2.44
8.4
65.4
1047
7.33
25.3
7500
6.8
15.0
240
1.68
1331
0.338
35.40
41.45
0.290
1.80
7.55
340
0.87
35.67
0.250
0.8
5.6 E-3
3.2
2.2 E-2
23.3
4.19
0.6
N/A
38
12
3.3 E-4
3.7 E-5
N/A
N/A
4
7.3
3.3
N/A
N/A
H
* NeoMetric and J Series Specifications are identical unless otherwise noted.
1
2
3
4
5
6
7
@ 25°C ambient, 150°C winding temperature, motor connected to a
10"x10"x1/4" aluminum mounting plate."
@40°C ambient derate phase currents and torques by 12%.
Maximum speed is 7500 RPM. For higher speed operation please call the
factory.
Measured Line to Line, +/- 10%.
Value is measured peak of sine wave.
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
Initial winding temperature must be 60°C or less before peak current is
Applied.
8
9
10
Peak of the sinusoidal current in any phase for a sinusoidally commutated
motor.
Total motor torque per peak of the sinusoidal amps measured in any phase,
+/-10%.
Maximum time duration with 2 times rated current applied with initial
winding temp at 60°C.
Maximum time duration with 3 times rated current applied with initial
winding temp at 60°C.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
53
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
70 mm or Size 34, Resolver Feedback, Specifications*
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
N0701DE
N0701FE
Ics (sine)=3.3 amps, Ipk(sine)=10.0 amps
Ics (sine)=5.2 amps, Ipk(sine)=15.6 amps
2.02
18
2.02
16
1.80
16
1.80
14
1.57
14
1.57
12
1.34
12
1.34
10
1.12
10
1.12
8
0.90
8
0.90
6
0.67
6
0.67
4
0.45
4
0.45
2
0.22
2
0.22
0
0
0
0
1000
2000
3000
4000
5000
6000
Torque (lb-in)
7000
0
0
1000
2000
Speed (RPM)
N0702EE
7000
N0702FE
35
35
3.92
30
3.36
30
3.36
25
2.80
25
2.80
20
2.24
20
2.24
15
1.68
15
1.68
10
1.12
10
1.12
5
0.56
5
0.56
0
0
0
1000
2000
3000
4000
5000
6000
0
Torque (lb-in)
0
7000
1000
2000
3000 4000
5000
6000
7000
Speed (RPM)
N0703FE
N0703GE
Ics (sine)=5.2 amps, Ipk(sine)=15.7 amps
Ics (sine)=7.3 amps, Ipk(sine)=21.9 amps
50
5.60
5.04
4.48
45
40
5.04
4.48
35
3.92
30
3.36
25
2.80
20
15
2.24
1.68
3.92
3.36
2.80
2.24
25
20
15
10
1.68
1.12
5
0
1000 2000
3000 4000
5000
Torque (Nm)
40
35
30
Torque (lb-in)
5.60
45
10
1.12
0.56
5
0.56
0
0
6000 7000
0
0
1000 2000
Speed (RPM)
3000 4000
5000
6000
7000
Speed (RPM)
N0704GE
N0704FE
Ics (sine)=7.5 amps, Ipk(sine)=22.6 amps
Ics (sine)=5.4 amps, Ipk(sine)=16.3 amps
60
6.72
50
5.60
50
5.60
40
4.48
40
4.48
30
3.36
30
3.36
20
2.24
20
2.24
10
1.12
Torque (Nm)
Torque (lb-in)
6.72
1.12
10
0
0
1000
2000 3000
4000
5000 6000
0
0
0
7000
1000 2000
3000 4000
5000
6000
7000
Speed (RPM)
Speed (RPM)
CONTINUOUS
PEAK
CONTINUOUS
170 VDC
PEAK
340 VDC
54
Automation
Torque (Nm)
60
0
Torque (Nm)
50
0
Torque (Nm)
Torque (lb-in)
6000
Ics (sine)=5.4 amps, Ipk(sine)=16.1 amps
Torque (Nm)
Torque (lb-in)
4000 5000
3.92
Speed (RPM)
Torque (lb-in)
3000
Speed (RPM)
Ics (sine)=3.8 amps, Ipk(sine)=11.5 amps
0
Torque (Nm)
18
Torque (Nm)
Torque (lb-in)
70mm or Size 34, Resolver Feedback, Performance
Curves (Neometric & J Series data are identical unless otherwise noted)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
92 mm, Encoder Feedback, Specifications*
Symbol
Stall Torque Continous1
Tcs
Stall Current Continuous1,4,8
Stall Current Continuous1,7
Peak Torque6
Ics(sine)
Ics(trap)
Tpk
Peak Current4,6,8
Peak Current6,7
Rated Speed2
Current @ Rated Speed
Current @ Rated Speed
Torque @ Rated Speed
Ipk(sine)
Ipk(trap)
ωr
Ir(sine)
Ir(trap)
Tr
Shaft Power @ Rated Speed
Voltage Constant3,4
Voltage Constant3,4
Torque Constant9
Po
Kb
Ke
Kt(sine)
Torque Constant3,4
Kt(trap)
Resistance3
Inductance5
Maximum Bus Voltage
Thermal Res Wind-Amb
Motor Constant
R
L
Vm
Rth w-a
Km
Viscous Damping
B
Static Friction
Tf
Motor Thermal Time Constant
Electrical Time Constant
NeoMetric Mech. Time Constant
J Series Mech. Time Constant
Intermittent Torque Duration10
Peak Torque Duration11
NeoMetric Rotor Inertia
J Series Rotor Inertia
Number of Poles
NeoMetric Weight
J Series Weight
τth
τelec
τmch
τmch
T2x
T3x
J
J
Np
#
#
Winding Class
Units
N0921F
N0921G
N0922G
N0922J
N0923H
N0923K
lb-in
oz-in
Nm
Amps Peak
Amps DC
lb-in
oz-in
Nm
Amps Peak
Amps DC
rpm
Amps
Amps
lb-in
oz-in
Nm
watts
Volts/rad/s
Volts/KRPM
oz-in/Amp Peak
Nm/Amp Peak
oz-in/Amp DC
Nm/Amp DC
Ohms
mH
Volts DC
°C/watt
oz-in/√watt
Nm/√watt
oz-in/Krpm
Nm/krpm
oz-in
Nm
minutes
millisecs
millisecs
millisecs
seconds
seconds
lb-in-sec2
kg-m2
lb-in-sec2
kg-m2
15.5
249
1.74
4.7
4.1
46.6
746
5.22
14.2
12.3
6000
4.1
3.5
11.8
188
1.32
834
0.427
44.72
52.36
0.367
60.46
0.423
3.72
17.11
340
1.06
31.35
0.219
0.5
3.5 E-3
2.5
1.8 E-2
21.6
4.60
0.8
10.0
48
17
3.6 E-4
4.1 E-5
4.2 E-3
4.8 E-4
4
8.1
3.7
9.9
4.5
H
15.6
249
1.74
6.6
5.7
46.7
747
5.23
19.7
17.1
7500
5.2
4.5
11.3
181
1.27
1004
0.309
32.36
37.89
0.265
43.75
0.306
1.94
8.99
340
1.06
31.41
0.220
0.5
3.5 E-3
2.5
1.8 E-2
21.6
4.63
0.8
10.0
48
17
3.6 E-4
4.1 E-5
4.2 E-3
4.8 E-4
4
8.1
3.7
9.9
4.5
H
27.6
442
3.09
6.5
5.6
82.9
1327
9.29
19.5
26.9
4650
5.6
4.8
20.4
326
2.28
1121
0.556
58.22
68.18
0.477
78.73
0.551
2.32
14.72
340
0.91
51.69
0.362
0.8
5.6 E-3
4.8
3.4 E-2
30
6.34
0.5
3.9
39
13
6.2 E-4
7.0 E-5
4.5 E-3
5.1 E-4
4
11.7
5.3
13.5
6.1
H
28.3
453
3.17
10.1
8.7
83.5
1336
9.35
30.3
26.2
7300
7.0
6.0
16.3
260
1.82
1404
0.360
37.70
44.15
0.309
50.98
0.357
0.96
6.18
340
0.91
52.03
0.364
0.8
5.6 E-3
4.8
3.4 E-2
30
6.44
0.5
3.9
39
13
6.2 E-4
7.0 E-5
4.5 E-3
5.1 E-4
4
11.7
5.3
13.5
6.1
H
41.3
660
4.62
10.0
8.6
123.7
1979
13.85
29.9
25.9
4700
8.6
7.4
30.4
487
3.41
1689
0.540
56.55
66.22
0.464
76.46
0.535
1.28
14.95
340
0.7
67.59
0.473
1.1
7.7 E-3
5.4
3.8 E-2
35
11.68
0.4
2.4
61
16
8.8 E-4
1.0 E-4
4.8 E-3
5.4 E-4
4
15.1
6.9
16.9
7.7
H
40.6
650
4.55
17.4
15.1
121.9
1951
13.66
52.2
45.2
7500
11.9
10.3
28.8
461
3.23
2557
0.305
31.94
37.40
0.262
43.19
0.302
0.42
4.78
340
0.7
66.64
0.466
1.1
7.7 E-3
5.4
3.8 E-2
35
11.38
0.5
2.4
61
16
8.8 E-4
1.0 E-4
4.8 E-3
5.4 E-4
4
15.1
6.9
16.9
7.7
H
lbs
kg
lbs
kg
* NeoMetric and J Series Specifications are identical unless otherwise noted.
1
@ 25°C ambient, 125°C winding temperature, motor connected to a
10"x10"x1/4" aluminum mounting plate.
@40°C ambient derate phase currents and torques by 12%.
2
Maximum speed is 7500 RPM.
For higher speed operation please call the factory.
3
Measured Line to Line, +/- 10%.
4
Value is measured peak of sine wave.
5
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
6
Initial winding temperature must be 60°C or less before peak current is
Applied.
7
8
9
10
11
N0924J
54.6
873
6.11
10.8
9.4
163.8
2620
18.34
32.5
28.2
3750
9.7
8.4
41.0
656
4.59
1820
0.657
68.80
80.57
0.564
93.03
0.651
1.22
20.60
340
0.62
84.23
0.590
1.4
9.8 E-3
6.6
4.6 E-2
37
16.89
0.4
N/A
61
15
1.1 E-3
1.3 E-4
N/A
N/A
4
18.0
8.2
N/A
N/A
H
N0924K
54.8
876
6.14
15.2
13.2
164.3
2629
18.41
45.6
39.5
5250
12.4
10.7
39.1
626
4.38
2431
0.470
49.22
57.64
0.403
66.55
0.466
0.62
10.51
340
0.62
84.52
0.592
1.4
9.8 E-3
6.6
4.6 E-2
37
16.95
0.4
N/A
61
15
1.1 E-3
1.3 E-4
N/A
N/A
4
18.0
8.2
N/A
N/A
H
DC current through a pair of motor phases of a trapazoidally (six state)
commutated motor.
Peak of the sinusoidal current in any phase for a sinusoidally commutated
motor.
Total motor torque per peak of the sinusoidal amps measured in any phase,
+/-10%.
Maximum time duration with 2 times rated current applied with initial
winding temp at 60°C.
Maximum time duration with 3 times rated current applied with initial
winding temp at 60°C.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
55
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Parameter
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
92 mm, Encoder Feedback, Performance Curves
N0921FR
N0921GR
Ics (sine)=5.3 amps, Ipk(sine)=15.9 amps
Ics (sine)=7.4 amps, Ipk(sine)=22.1 amps
60
6.72
50
5.60
50
5.60
40
4.48
40
4.48
30
3.36
30
3.36
20
2.24
20
2.24
10
1.12
10
1.12
0
Torque (lb-in)
6.72
0
0
0
1000
2000 3000
4000 5000
6000
7000
0
1000 2000
Speed (RPM)
N0922GR
30
20
3.36
2.24
Torque (lb-in)
10
Torque (lb-in)
4.48
5000
60
50
5.60
4.48
40
30
3.36
2.24
1.12
20
0
0
6000 7000
8.96
7.84
6.72
10
1.12
4000
90
80
70
0
0
1000
2000
5000 6000
7000
Ics (sine)=19.4 amps, Ipk(sine)=58.3 amps
140
15.68
13.44
120
13.44
100
11.20
100
11.20
80
8.96
80
8.96
60
6.72
60
6.72
40
4.48
40
4.48
20
2.24
20
2.24
Torque (lb-in)
15.68
120
0
0
1000
2000
3000
4000 5000
6000
0
7000
0
1000
2000
3000 4000 5000
6000
7000
0
Speed (RPM)
Speed (RPM)
N0924KR
N0924JR
Ics (sine)=17.0 amps, Ipk(sine)=51.0 amps
Ics (sine)=12.1 amps, Ipk(sine)=36.4 amps
22.40
200
180
20.16
180
20.16
160
17.92
160
17.92
140
15.68
13.44
140
120
15.68
13.44
100
80
11.20
8.96
60
40
6.72
4.48
20
0
2.24
0
80
60
40
6.72
4.48
20
2.24
0
1000
2000
3000
4000
5000
6000
Torque (lb-in)
11.20
8.96
100
0
22.40
0
2000 3000
4000 5000
6000
7000
Speed (RPM)
Speed (RPM)
CONTINUOUS
PEAK
CONTINUOUS
170 VDC
PEAK
340 VDC
56
Automation
1000
Torque (Nm)
120
Torque (Nm)
200
0
Torque (Nm)
140
Torque (Nm)
Torque (lb-in)
4000
N0923KR
N0923HR
Ics (sine)=11.1 amps, Ipk(sine)=33.4 amps
Torque (lb-in)
3000
Speed (RPM)
Speed (RPM)
0
Torque (Nm)
40
11.20
10.08
100
Torque (Nm)
70
60
50
11.20
10.08
8.96
7.84
6.72
5.60
3000
0
N0922JR
90
80
1000 2000
7000
Ics (sine)=11.3 amps, Ipk(sine)=33.8 amps
100
0
4000 5000 6000
Speed (RPM)
Ics (sine)=7.3 amps, Ipk(sine)=21.8 amps
0
3000
Torque (Nm)
60
Torque (Nm)
Torque (lb-in)
(Neometric & J Series data are identical unless otherwise noted)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
Parameter
Symbol
Stall Torque Continous1
Tcs
Stall Current Continuous1,4,7
Peak Torque6
Ics(sine)
Tpk
Peak Current4,6,7
Rated Speed2
Current @ Rated Speed
Torque @ Rated Speed
Ipk(sine)
ωr
Ir(sine)
Tr
Shaft Power @ Rated Speed
Voltage Constant3,4
Voltage Constant3,4
Torque Constant8
Po
Kb
Ke
Kt(sine)
Resistance3
Inductance5
Maximum Bus Voltage
Thermal Res Wind-Amb
Motor Constant
R
L
Vm
Rth w-a
Km
Viscous Damping
B
Static Friction
Tf
Motor Thermal Time Constant
Electrical Time Constant
NeoMetric Mech. Time Const.
J Series Mech. Time Constant
Intermittent Torque Duration9
Peak Torque Duration10
NeoMetric Rotor Inertia
J Series Rotor Inertia
Number of Poles
NeoMetric Weight
J Series Weight
τth
τelec
τmch
τmch
T2x
T3x
J
J
Np
#
#
Winding Class
Units
lb-in
oz-in
Nm
Amps Peak
lb-in
oz-in
Nm
Amps Peak
rpm
Amps
lb-in
oz-in
Nm
watts
Volts/rad/s
Volts/KRPM
oz-in/Amp Peak
Nm/Amp Peak
Ohms
mH
Volts DC
°C/watt
oz-in/√watt
Nm/√watt
oz-in/Krpm
Nm/krpm
oz-in
Nm
minutes
millisecs
millisecs
millisecs
seconds
seconds
lb-in-sec2
kg-m2
lb-in-sec2
kg-m^2
lbs
kg
lbs
kg
N0921F
N0921G
N0922G
N0922J
N0923H
N0923K
N0924J
N0924K
17.4
278
1.95
5.3
52.1
834
5.84
15.9
6000
4.7
12.7
203
1.42
901
0.427
44.72
52.36
0.367
3.72
17.11
340
1.06
31.35
0.219
0.5
3.5 E-3
2.5
1.8 E-2
21.6
4.60
1.2
10.0
48
17
5.3 E-4
6.0 E-5
4.4 E-3
4.9 E-4
4
8.1
3.7
9.9
4.5
H
17.4
279
1.95
7.4
52.3
836
5.85
22.1
7500
6.2
12.9
207
1.45
1148
0.309
32.36
37.89
0.265
1.94
8.99
340
1.06
31.41
0.220
0.5
3.5 E-3
2.5
1.8 E-2
21.6
4.63
1.2
10.0
48
17
5.3 E-4
6.0 E-5
4.4 E-3
4.9 E-4
4
8.1
3.7
9.9
4.5
H
30.9
495
3.47
7.3
92.8
1484
10.39
21.8
4700
6.5
25.9
414
2.90
1378
0.556
58.22
68.18
0.477
2.32
14.72
340
0.91
51.69
0.362
0.8
5.6 E-3
4.8
3.4 E-2
30
6.34
0.7
3.9
39
13
7.9 E-4
9.0 E-5
4.7 E-3
5.3 E-4
4
11.7
5.3
13.5
6.1
H
31.1
498
3.49
11.3
93.4
1494
10.46
33.8
7100
8.7
23.3
372
2.60
1954
0.360
37.70
44.15
0.309
0.96
6.18
340
0.91
52.03
0.364
0.8
5.6 E-3
4.8
3.4 E-2
30
6.44
0.7
3.9
39
13
7.9 E-4
09.0 E-5
4.7 E-3
5.3 E-4
4
11.7
5.3
13.5
6.1
H
46.1
737
5.16
11.1
138.3
2212
15.48
33.4
4500
10.0
34.1
545
3.82
1814
0.540
56.55
66.22
0.464
1.28
14.95
340
0.7
67.59
0.473
1.1
7.7 E-3
5.4
3.8 E-2
35
11.68
0.5
2.4
61
16
1.1 E-3
1.2 E-4
5.0 E-3
5.7 E-4
4
15.1
6.9
16.9
7.7
H
45.4
727
5.09
19.4
136.3
2181
15.27
58.3
7500
14.7
30.1
481
3.37
2668
0.305
31.94
37.40
0.262
0.42
4.78
340
0.7
66.64
0.466
1.1
7.7 E-3
5.4
3.8 E-2
35
11.38
0.5
2.4
61
16
1.1 E-3
1.2 E-4
5.0 E-3
5.7 E-4
4
15.1
6.9
16.9
7.7
H
61.1
977
6.84
12.1
183.1
2929
20.50
36.4
3600
11.2
46.3
740
5.18
1970
0.657
68.80
80.57
0.564
1.22
20.60
340
0.62
84.23
0.590
1.4
9.8 E-3
6.6
4.6 E-2
36.6
16.89
0.4
N/A
61
15
1.3 E-3
1.5 E-4
N/A
N/A
4
18.0
8.2
N/A
N/A
H
61.3
980
6.86
17.0
183.8
2940
20.58
51.0
5200
14.6
42.7
683
4.78
2627
0.470
49.22
57.64
0.403
0.62
10.51
340
0.62
84.52
0.592
1.4
9.8 E-3
6.6
4.6 E-2
36.6
16.95
0.4
N/A
61
15
1.3 E-3
1.5 E-4
N/A
N/A
4
18.0
8.2
N/A
N/A
H
* NeoMetric and J Series Specifications are identical unless otherwise noted.
1
2
3
4
5
6
7
@ 25°C ambient, 150°C winding temperature, motor connected to a
10"x10"x1/4" aluminum mounting plate.
@40C ambient derate phase currents and torques by 12%.
Maximum speed is 7500 RPM. For higher speed operation please call the
factory.
Measured Line to Line, +/- 10%.
Value is measured peak of sine wave.
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
Initial winding temperature must be 60°C or less before peak current is
applied.
8
9
10
Peak of the sinusoidal current in any phase for a sinusoidally commutated
motor.
Total motor torque per peak of the sinusoidal amps measured in any phase,
+/-10%.
Maximum time duration with 2 times rated current applied with initial
winding temp at 60°C.
Maximum time duration with 3 times rated current applied with initial
winding temp at 60°C.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
57
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
92 mm, Resolver Feedback, Specifications*
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
92 mm, Resolver Feedback, Performance Curves
N0921FR
N0921GR
Ics (sine)=5.3 amps, Ipk(sine)=15.9 amps
Ics (sine)=7.4 amps, Ipk(sine)=22.1 amps
60
6.72
50
5.60
50
5.60
40
4.48
40
4.48
30
3.36
30
3.36
20
2.24
10
0
Torque (lb-in)
6.72
1.12
20
2.24
10
1.12
0
0
0
1000
2000 3000
4000 5000
6000
7000
0
1000 2000
Speed (RPM)
N0922GR
30
20
3.36
2.24
Torque (lb-in)
10
Torque (lb-in)
4.48
5000
60
50
5.60
4.48
40
30
3.36
2.24
1.12
20
0
0
6000 7000
8.96
7.84
6.72
10
1.12
4000
90
80
70
0
0
1000
2000
5000 6000
7000
Ics (sine)=19.4 amps, Ipk(sine)=58.3 amps
140
15.68
13.44
120
13.44
100
11.20
100
11.20
80
8.96
80
8.96
60
6.72
60
6.72
40
4.48
40
4.48
20
2.24
20
2.24
Torque (lb-in)
15.68
120
0
0
1000
2000
3000
4000 5000
6000
0
7000
0
1000
2000
3000 4000 5000
6000
7000
0
Speed (RPM)
Speed (RPM)
N0924KR
N0924JR
Ics (sine)=17.0 amps, Ipk(sine)=51.0 amps
Ics (sine)=12.1 amps, Ipk(sine)=36.4 amps
22.40
200
180
20.16
180
20.16
160
17.92
160
17.92
140
15.68
13.44
140
120
15.68
13.44
100
80
11.20
8.96
60
40
6.72
4.48
20
0
2.24
0
80
60
40
6.72
4.48
20
2.24
0
1000
2000
3000
4000
5000
6000
Torque (lb-in)
11.20
8.96
100
0
22.40
0
2000 3000
4000 5000
6000
7000
Speed (RPM)
Speed (RPM)
CONTINUOUS
PEAK
CONTINUOUS
170 VDC
PEAK
340 VDC
58
Automation
1000
Torque (Nm)
120
Torque (Nm)
200
0
Torque (Nm)
140
Torque (Nm)
Torque (lb-in)
4000
N0923KR
N0923HR
Ics (sine)=11.1 amps, Ipk(sine)=33.4 amps
Torque (lb-in)
3000
Speed (RPM)
Speed (RPM)
0
Torque (Nm)
40
11.20
10.08
100
Torque (Nm)
70
60
50
11.20
10.08
8.96
7.84
6.72
5.60
3000
0
N0922JR
90
80
1000 2000
7000
Ics (sine)=11.3 amps, Ipk(sine)=33.8 amps
100
0
4000 5000 6000
Speed (RPM)
Ics (sine)=7.3 amps, Ipk(sine)=21.8 amps
0
3000
Torque (Nm)
60
Torque (Nm)
Torque (lb-in)
(Neometric & J Series data are identical unless otherwise noted)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
NeoMetric & J Series Dimensional Drawings
70 mm Dimensional Drawing
Dimensions in mm (inches)
4 x 5.8 (0.228) Thru Holes
Eq Spaced on a
75.00 (2.953)
Bolt Circle for 5mm or #10 Bolt
23.1 (0.910)
2.36 (0.093)
Motor Sizes
0.012
60 +
- 0.007
0.0005
2.3622 +
- 0.0003
[
82.8
(3.3)
]
Motor
Length
Model
0.007
11.001 +
- 0.002
0.0003
+
0.4331 0.0001
70.0
(2.75) Sq.
[
13.46
(0.530)
]
N0701
N0702
N0703
N0704
N0701
N0702
N0703
N0704
Motor Length
Shaft Options
5
(0.20)
11 (0.43)
12.7
(0.50)
4.01
(0.158)
10.4 (0.41)
- F (Flat)
- N (None)
12.49
(0.5)
- K (Sq. Key)
J0701
J0702
J0703
w/
w/
w/
w/
Brake
Brake J0701 w/ Brake
Brake J0702 w/ Brake
Brake J0703 w/ Brake
125.5 (4.94)
150.9 (5.94)
176.3 (6.94)
201.7 (7.94)
177.8 (7.00)
203.2 (8.00)
228.6 (9.00)
254.0 (10.00)
Size 34, Dimensional Drawing
Dimensions in inches (mm)
4 x 0.223 (5.66) Thru Holes
Eq Spaced on a 3.875 (98.43)
Bolt Circle for 5mm or #10 Bolt
1.190 (30.23)
0.093 (2.36)
3.26
(82.8)
2.875 +
- 0.002
(73.03 +
- 0.05)
[
N0341
N0342
N0343
N0344
N0341
N0342
N0343
N0344
0.250
(6.35)
]
Motor Length
Shaft Options
0.500
(12.7)
0.228
(5.8)
0.500 (12.7)
0.473 (12.01)
- N (None)
Motor
Length
Model
0.0000
0.5000 +
- 0.0005
0.000
12.7 +
- 0.012
3.25
(82.6) Sq.
B
Motor Sizes
0.125
(3.175)
0.56
(14.22)
4.94 (125.5)
5.94 (150.9)
6.94 (176.3)
7.94 (201.7)
7.00 (177.8)
8.00 (203.2)
9.00 (228.6)
10.00 (254.0)
J0341
J0342
J0343
w/
w/
w/
w/
Brake
Brake J0341 w/ Brake
Brake J0342 w/ Brake
Brake J0343 w/ Brake
- K (Sq. Key)
- F (Flat)
92 mm Dimensional Drawing
Dimensions in mm (inches)
4 x 7.14 (0.281) Thru Holes
Eq Spaced on a 100 (3.937)
Bolt Circle for 6mm or 1/4" Bolt
30.0 (1.18)
2.36 (0.093)
[
0.012
80 +
- 0.007
0.0005
3.1496 +
- 0.0003
[
104.9
(4.1)
]
0.007
14 +
- 0.002
+
0.5512 - 0.0003
0.0001
92.0
(3.62) Sq.
Motor Sizes
]
N0921
N0922
N0923
N0924
N0921
N0922
N0923
N0924
13.5
(0.53)
Motor Length
Shaft Options
16
(0.63)
6.4
(0.25)
14 (0.5512)
5
(0.197)
16
(0.63)
13.23 (0.521)
- N (None)
Motor
Length
Model
- F (Flat)
J0921
J0922
J0923
w/
w/
w/
w/
Brake
Brake J0921 w/ Brake
Brake J0922 w/ Brake
Brake J0923 w/ Brake
168.4 (6.63)
206.5 (8.13)
244.6 (9.63)
282.7 (11.13)
228.6 (9.00)
266.7 (10.50)
304.8 (12.00)
342.9 (13.50)
- K (Sq. Key)
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
59
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
NeoMetric and J Series, Feedback Specifications
Resolver Schematic Diagram
Resolver Specifications
R2
WHITE
RED
S3
Parameter
R1
BROWN
BLACK
Input voltage @ 7 kHz
Input current, max
Input power, nominal
Impedance ZSO (@ 90°)
Impedance ZRO
Impedance ZRS
Transformation ratio
Output voltage
DC rotor resistance
DC stator resistance
Sensitivity
Max error from EZ
Phase shift, open circuit
Null voltage, total
Impedance ZSS
Inertia
S1
STATOR
SECONDARY
BLUE
GREEN
ROTOR
PRIMARY
Phasing Equation:
For CW rotation of rotor
facing mounting flange end.
ES1-S3 = KER1-R2 COSØ
ES2-S4 = KER1-R2 SINØ
S4
Value
S2
Encoder Specifications
4.25 volts
Designation
55 mA
0.12 watts
58+j145 ohms
53+j72 ohms
42+j55 ohms
0.470 ±5%
2.0 ±5% volts
23 ±10% ohms
19 ±10% ohms
35 mV/degree
±10 minutes
5° leading, ±3" of arc
20 mV rms
50+j128 ohms
Incl. with motor spec.
Mechanical
Accuracy
±2 min of arc
Input power
Operating frequency
Output device
Sink/Source, nominal
Suggested user interface
5 VDC ±5%, 135 mA
100 kHz max
26LS31
20 mA
26LS32
Electrical
Commutation Chart
Clockwise rotation as viewed from front shaft.
Hall-Effect Specifications
Pin Number
MS14-121
Designation
Wire Color
“MS”/”RS” Cables
Phase
WireB-A
Color
“GS/GB” Cables
Phase
A-C
Phase
C-B
Designation
Electrical
Input power
Output device
open collector
Maximum pull up
Sink
5 VDC ±5%, 80 mA
LM339
12 VDC
16 mA
Hall #1
Electrically Released Brakes
Hall #2
Brakes
70 mm or
34 Frame
92 mm
Static rated torque
24 in-lb
72 in-lb
Coil voltage
24 VDC
24 VDC
Coil current
0.8 amps
0.52 amps
Weight
1.0 lbs
2.51 lbs
Inertia
0.000038 lb-in-sec2
0.00015 lb-in-sec2
Engage/Disengage
100/200 ms
100/250 ms
Hall #3
60
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
Wiring and Cable
Specifications
Flying Leads, Cabled and
“MS” Connection Options
Encoder/Hall Feedback Connection
Designation
Pin Number
MS14-18
Wire Color
Encoder +5
H
Red
Encoder Ground
G
Black
CH A +
A
White
CH A -
B
Yellow
CH B +
C
Green
CH B -
D
Blue
Index +
E
Orange
Index -
F
Brown
Hall Ground
K
White/Green
Hall +5
M
White/Blue
Hall 1
T
White/Brown
Hall 2
U
White/Orange
Hall 3
P
White/Violet
Brake2
R
Red/Blue
Brake2
S
Red/Blue
Temp
L
Orange/Yellow
Temp
N
Orange/Yellow
Shield
N.C.
Clear
Motor Connection
Resolver Feedback Connection
Designation
Wire Color
Pin Number
MS14-12
Wire Color
MS/RS Cables
Wire Color
GS/GB Cables
Designation
J
Phase B
K
White/Yelow
Black 2
S1, COS +
E
Black
Phase C
L
Black/Yellow
Black 3
S2, SIN +
L
Green
M
Green/Yellow
Green/Yellow
S3, COS -
J
Red
N.C.
Clear
N.C.
S4, SIN -
G
Blue
R1, EXC +
C
Brown
R2, EXC -
U
White
Temp
R
Orange/Yellow
Temp
Pin Number
MS14-18
N
Orange/Yellow
Brake2
S
Red/Blue
Brake2
T
Red/Blue
Shield
N.C.
Clear
Shield
1
2
Wire Color
Phase A
Ground
Red/Yellow
Pin Number
MS14-12
Black 1
70 mm/size 34 motor connector is MS14-12. 92 mm motor connector is
MS18-5.
Brake will operate regardless of polarity of connection.
or Yellow
or Yellow
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
61
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
The “FL” (Flying Lead) Connection option for the NeoMetric
and J Series motors features 18” leads extending from the
motor body. Wire color codes are the same as listed below for
“MS” wired NeoMetric and J Series motors. The “FL” option is
only available on 70 mm/size 34 motors with encoder feedback.
The “10” connection option for the NeoMetric and J Series
motors consists of 10 feet of hard-wired cable extending from
the motor body. These cables terminate in flying leads. Wire
color codes are the same as listed below for the “MS” connection option. The “10” option is only available on 70 mm/size 34
motors with encoder feedback.
The “MS” connection option for the NeoMetric and J Series
motors provides quick disconnect, bayonet style connectors
attached to the motor body. Mating cables are specified and
ordered separately . With the “MS” connection option, the
motor phase wires are in one connector, and the hall, encoder
and temperature switch wires are in the other connector. This
option works well when using an amplifier with a built-in
controller, or when all cables enter into a cabinet or enclosure
and then are wired into a terminal strip. When specifying the
“R” (resolver) feedback option, the motor phase wires reside in
one connector, the resolver signal and temperature switch
wires in the other.
Catalog 8000-4/USA
NeoMetric & J Series
SERVO MOTORS
Wiring and Cable Specifications (continued)
“TQ” Connection Option (70mm/Size 34 Only)
The “TQ” Connection option for the NeoMetric or J series
motors provides quick disconnect, bayonet style connectors
attached to the motor body. Mating cables are specified and
ordered separately. The “TQ” connection option joins the motor
phase wires, temperature switch, and hall effect signals in one
connector. The second connector has only encoder signals.
This connection option applies well in applications where the
hall and motor phase wires connect directly to an amplifier,
while the encoder signals connect directly to a controller.
Motor/Hall Connection
Designation
Phase A
Pin Number
MS14-12
J
Encoder Feedback Connection
Wire Color
Designation
Red/Yellow
Phase B
K
White/Yellow
Phase C
L
Black/Yellow
Ground
M
Green/Yellow
Temp
G
Orange/Yellow
or Yellow
Temp
H
Orange/Yellow
Shield
N.C.
Clear
F
White/Green
or Yellow
Hall Ground
Hall +5
B
White/Blue
Hall 1
C
White/Brown
Hall 2
D
White/Orange
Hall 3
E
White/Violet
1
Pin Number
MS14-18
Wire Color
Encoder +5
H
Red
Encoder Ground
G
Black
CH A +
A
White
CH A -
B
Yellow
CH B +
C
Green
CH B -
D
Blue
Index +
E
Orange
Index -
F
Brown
Brake1
R
Red/Blue
Brake1
S
Red/Blue
Brake will operate regardless of polarity of connection
“PT” Connection Option
The “PT” connection option features two 1/2 - 14 NPT
threaded holes in the connector housing, and internal screw
terminal connections for motor and feedback leads. This
connection option is recommended when running cable
conduit between the motor and an enclosure containing the
amplifier and controller. The “PT” connection option is only
available on 92mm motors.
62
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
M Series
SERVO MOTORS
Low Cost,
High Performance
Features
•
•
•
•
•
•
•
•
•
•
Size 105, 145 and 205mm diameters
53 to 625 lb-in continuous torque
Brushless construction
Thermal protection
IP65 option
Resolver and encoder feedback options
Two-year warranty
CAD (.dxf) drawings available
CE compliant
Electrically released brakes available
B
The M Series is Compumotor’s newest series of motors.
Completing Compumotor’s line of servos, the M Series moves
innovative design into larger-frame motors, yet they remain
affordably priced. An eight-pole design allows for highly
dynamic motion while minimizing power loss within the motor
itself.
Part Numbering System
M
1053
M Series
Frame,
Magnet Length
1053 1453 1455
1054 1454 2052
2053 2054
1
2
3
K
J-
K
MS
N
Winding
Feedback
Shaft
Connection
Options
J, K, L, M, N,
P, R, S
J - 2000 ppr encoder
R - Resolver1
N - Normal
K - Keyway3
MS - Military style
PT - Pipe thread2
N - None
V - IP65
B - Brake
Standard resolver not compatible w/ APEX drives. Please contact Compumotor’s
Custom Servo Motor group for motors compatible with the APEX series of drives
Pipe thread only available in M2053 and M2054 resolver motors
Standard
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
63
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
M Series
SERVO MOTORS
105mm, 145mm & 205mm Encoder Feedback Specifications
Parameter
Symbol
Units
M1053K
Stall Torque Cont [1]
Tcs
oz-in
1171.2
1438.8
3867.9
5290.6
6454.1
9938.4
13871.77
Stall Torque Cont [1]
Tcs
lb-in
73.2
90.0
241.7
330.6
403.4
621.2
867.0
1115.1
Stall Torque Cont [1]
Tcs
Nm
8.3
10.2
27.3
37.4
45.6
70.2
97.96
126.00
Stall Current Cont [1,4,8]
Ics(sine)
Amps peak
20.32
23.70
40.70
55.67
63.64
60.94
85.05
109.40
Stall Current Cont [1]
Ics(RMS)
Amps RMS
14.37
16.76
28.78
39.36
45.00
43.09
60.14
77.36
Tpk
oz-in
3513.6
4316.4
11603.7
15871.7
19362.3
29815.3
41615.32
53526.90
Peak Torque
Tpk
lb-in
219.6
269.8
725.2
992.0
1210.1
1863.5
2601.0
3345.4
Peak Torque [6]
Tpk
Nm
24.9
30.6
82.3
112.5
137.3
211.4
293.8
377.9
Peak Current [4,6,8]
Ipk(sine)
Amps Peak
61.0
71.1
122.1
167.0
190.9
182.8
255.16
328.20
Peak Current [6]
Ipk(RMS)
Amps RMS
43.1
50.3
86.3
118.1
135.0
129.3
180.43
232.07
Rated Speed [2]
Wr
rpm
5000
5000
3000
3000
3000
1700
3000
3000
Current @ Rated Speed
Ir(sine)
Amps Peak
17.82
18.34
39.11
52.70
59.10
58.77
76.72
97.07
Current @ Rated Speed
Ir(RMS)
Amps RMS
12.60
12.97
27.65
37.27
41.79
41.56
54.25
68.64
Torque @ Rated Speed
Tr
oz-in
1011
1091.7
3700
4980
5960
9526
12425.39
15717.20
Torque @ Rated Speed
Tr
Nm
7.14
7.71
26.13
35.17
42.09
67.27
87.75
111.00
34875.44
Peak Torque [6]
M1054K
M1453L
M1454N
M1455P
M2052P M2053R
M2054S
17842.30
Shaft Power @
Rated Speed
Po
watts
3739
4037
8210
11050
13225
11978
27571.14
Voltage Constant [3,4]
Kb
volts/rad/s
0.4700
0.4950
0.7750
0.7750
0.8270
1.3300
1.33
1.33
Voltage Constant [3,4]
Ke
volts/Krpm
49.22
51.84
81.16
81.16
86.60
139.28
139.28
139.28
Torque Constant [3,9]
Kt(sine)
oz-in/
Amps Peak
57.64
60.70
95.04
95.04
101.41
163.10
163.10
163.10
Torque Constant [3,4]
Kt(trap)
oz-in/
Amps DC
66.55
70.09
109.74
109.74
117.10
188.33
188.33
188.33
Torque Constant [3]
Kt(RMS)
oz-in/
Amps RMS
81.51
85.84
134.40
134.40
143.42
230.65
230.65
230.65
Resistance [3]
R
Ohms
0.48
0.36
0.22
0.12
0.097
0.170
0.10
0.10
Inductance [5]
L
mH
2.03
1.67
1.94
1.05
0.79
1.90
1.59
1.27
Vm
Volts DC
560
560
560
560
560
560
560
560
Rth w-a
C/watt
0.50
0.49
0.28
0.26
0.252
0.157
0.137
0.118
Km
oz-in/
sqrt(watt)
96.06
116.82
236.12
312.90
375.80
456.76
595.55
711.81
Viscous Damping
B
oz-in/Krpm
2.4
4.5
3.0
6.3
7.3
17.0
21.0
28
Static Friction
Tf
oz-in
4.0
6.0
7.0
10.0
12.0
21.0
23.5
30
Elect Time Constant
Tau_elec
millsecs
4.23
4.64
8.98
8.54
8.17
11.24
15.90
18.14
Mech Time Constant
Tau_mch
millisecs
1.0
0.9
0.6
0.4
0.4
0.8
0.6
0.4
J
lb-in-sec^2
4.2E-03
5.5E-03
1.4E-02
1.9E-02
2.4E-02
7.1E-02
9.7E-02
9.70E-02
Max Bus Voltage
Thermal Resistance
Wind-Amb
Motor Constant
Rotor Inertia
Rotor Inertia
J
kgm^2
4.8E-04
6.2E-04
1.6E-03
2.2E-03
2.7E-03
8.0E-03
1.1E-02
1.10E-02
Rated Winding Temp
WTr
C
125
125
125
125
125
125
125
125
Rated Ambient Temp
Tamb
C
20
20
20
20
20
20
20
20
Rated Case Temp
Tcase
C
106
106
106
89
100
98
98
98
Number of Poles
Np
8
8
8
8
8
8
8
8
lbs
19
22.9
30.80
39.60
48.00
97.00
130
162
H
H
H
H
H
H
H
H
Weight
#
Winding Class
1
2
3
4
5
6
7 Direct current through a pair of motor phases of a trapezoidally
(six state) commutated motor.
8 Peak of sinusoidal current in any phase for a sinusoidally
commutated motor.
9 Total motor torque per peak of the sinusoidal amps measured in
any phase, +/- 10%.
10 Maximum time duration with 2 times (or 3 times) rated current
applied with initial winding temperature at 60˚ C.
@ 40˚ C ambient, derate phase currents and torques by 7%.
For higher-speed operation, please call the factory.
Measured line to line, +/- 10%.
Value is measured peak of sine wave.
+/- 30%, line to line, inductance bridge measurement @ 1Khz.
Initial winding temperature mut be 60˚ C or less before peak
current is applied.
64
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
M Series
SERVO MOTORS
M Series Performance Curves
M1054K
150
16.8
100
11.2
50
5.60
0
2000 3000 4000
Speed (RPM)
5000
200
22.4
150
16.8
100
11.2
50
5.60
0
0
6000
0
M1454N
89.6
600
67.2
400
44.8
200
Torque (Lb-in)
Torque (Lb-in)
800
22.4
M2052P
1000
112.
800
89.6
600
67.2
400
44.8
I cs (sine) = 60.9 amps, I pk (sine) = 182.7 amps
22.4
0
0
Speed (RPM)
2000
224.
1600
179.
1200
134.
800
89.6
400
44.8
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
0
Speed (RPM)
500
1000
1500
2000
2500
0
3000
Speed (RPM)
M2054S
2500
280.
2000
224.
1500
168.
1000
112.
500
56.0
0
2500
0
3000
I cs (sine) = 109.4 amps, I pk (sine) = 328.2 amps
4000
448.
3500
395.
3000
336.
2500
280.
2000
224.
1500
168.
1000
112.
500
56.0
0
0
0
500
1000 1500 2000 2500 3000
Speed (RPM)
CONTINUOUS
Torque (Nm)
I cs (sine) = 85.0 amps, I pk (sine) = 255.0 amps
336.
Torque (Nm)
3000
Torque (Lb-in)
M2053R
Torque (Lb-in)
Speed (RPM)
134.
200
0
500 1000 1500 2000 2500 3000 3500 4000 4500
1000 1500 2000
Speed (RPM)
0
PEAK
(560VDC)
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
65
Automation
Torque (Nm)
112.
500
0
6000
Torque (Nm)
1000
0
5000
I cs (sine) = 63.6 amps, I pk (sine) = 190.8 amps
1200
Torque (Nm)
134.
0
2000 3000 4000
Speed (RPM)
M1455P
I cs (sine) = 55.7 amps, I pk (sine) = 167.1 amps
1200
0
1000
89.6
79.4
67.2
56.0
44.8
33.6
22.4
11.2
0
500 1000 1500 2000 2500 3000 3500 4000 4500
B
1000
28.0
Torque (Lb-in)
0
250
I cs (sine) = 40.7 amps, I pk (sine) = 122.1 amps
800
700
600
500
400
300
200
100
0
Torque (Nm)
22.4
I cs (sine) = 23.7 amps, I pk (sine) = 71.1 amps
33.6
Torque (Nm)
200
Torque (Lb-in)
28.0
Torque (Nm)
Torque (Lb-in)
250
M1453L
300
Torque (Lb-in)
M1053K
I cs (sine) = 20.3 amps, I pk (sine) = 60.9 amps
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
M Series
SERVO MOTORS
M Series Dimensional Drawings
Dimensions in inches (mm)
105 mm Dimensional Drawing
Power Connector
MS3102A16S-1P
Feedback Connector
MS3112E14-15P
145 mm Dimensional Drawing
Feedback Connector
MS3112E14-15P
Power Connector
M145: M3102A20-15P
Motor Sizes
205 mm Dimensional Drawing
Terminal Box Only on
Models 2053 and 2054
DBack Connector: MS3112E14-15P
Power Connector: MS3102A24-10P
on Model M2052 only
66
Automation
Model
Motor
Length
M1053
M1054
10.75 (273.0)
12.48 (317.0)
M1453
M1454
M1455
11.50 (292.0)
13.94 (354.0)
16.38 (416.0)
M2052-MS
M2053-PT
M2054-PT
13.46 (342.0)
16.18 (411.0)
18.90 (480.1)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
M Series
SERVO MOTORS
Wiring and Cable
Specifications
“MS” Connection Options
Encoder Connection
The M Series Motors are available standard with “MS”
connectors. These bayonet-style connectors provide quickdisconnect. Mating cables are specified and ordered
separately. With the “MS” connection option, the motor
phase and brake wires are in one connector, and the hall,
encoder, and temperature switch wires are in the other
connector. This option works well when using an amplifier
with a built-in controller, or when all cables enter into a
cabinet or enclosure and then are wired into a terminal strip.
Designation
Pin Number
Wire Color
CH A +
C
White
CH A -
D
Yellow
CH B +
A
Green
CH B -
B
Blue
“PT” Connection Options
CH Z +
E
Orange
CH Z -
F
Brown
The M2053 and M2054 motors with resolver feedback are
available with the PT connector option due to the high current
requirements of these motors. A terminal block is available
inside the motor housing to make the required connections.
Hall 1
H
White/Brown
Hall 2
J
White/Orange
Hall 3
G
White/Violet
+5V
K
Red
0V
L
Black
Temp
M
Yellow/Orange
Shield
N
Shield
Temp
R
Yellow/Orange
Designation
Pin Number
Wire Color
Phase A
A
Black #1
Phase B
B
Black #2
Phase C
C
Black #3
Ground
D/E
Green/Yellow
Shield
Shell
Clear
Brake
F
Red/Blue
Brake
G
Red/Blue
B
Motor Connection
Resolver Connection
Designation
Pin Number
Wire Color
SIN +
A
SIN -
B
Green
Blue
COS +
D
Black
COS -
E
Red
EXC +
G
Brown
EXC -
H
White
Temp
K
Yellow/Orange
Temp
L
Yellow/Orange
Drain
M
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
67
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
M Series
SERVO MOTORS
M Series, Feedback Specifications
Commutation Chart
Encoder Specifications
Clockwise rotation as viewed from front shaft.
Phase
B-A
Mechanical
Accuracy
±2 min of arc
Input power
Operating frequency
Output device
Sink/Source, nominal
5 VDC ±5%, 135 mA
300 kHz max
26LS31
20 mA
Phase
A-C
Phase
C-B
Electrical
Hall #1
Hall-Effect Specifications
Hall #2
Electrical
Input power
Output device
open collector
Maximum pull up
Sink
5 VDC ±5%, 80 mA
LM2901
Hall #3
12 VDC
16 mA
Brakes
Resolver Specifications
Type
Parameter
Units
105mm
145mm
205mm
24
1.1
22
10
89.2
0.0625
0.553125
24
1.8
13.2
30
267.6
0.195
1.72575
24
1.65
14.5
100
892
1
8.85
Value
Input voltage @ 7 kHz
Input current, max
Input power, nominal
Impedance ZSO (@ 90°)
Impedance ZRO
Impedance ZRS
Transformation ratio
Output voltage
DC rotor resistance
DC stator resistance
Sensitivity
Max error from EZ
Phase shift, open circuit
Null voltage, total
Impedance ZSS
Inertia
Supply voltage
vdc
Current @ 20C
amps
Resistance @ 20C
ohms
Max static torque
Nm
Max static torque
in-lb
Moment of inertia
kgm^2 10E-3
Moment of inertia lb-in-sec^2 10E-3
4.25 volts
55 mA
0.12 watts
58+j145 ohms
53+j72 ohms
42+j55 ohms
0.470 ±5%
2.0 ±5% volts
23 ±10% ohms
19 ±10% ohms
35 mV/degree
±10 minutes
5° leading, ±3" of arc
20 mV rms
50+j128 ohms
Incl. with motor spec.
68
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SL Series
SERVO MOTORS
Slotless Linear Servo Motor
Compumotor’s SL Series brushless linear servo motors
feature the same slotless winding design made popular by
our SM and SE Series rotary servo motors. Along with
reduced manufacturing costs, the slotless design creates
several performance advantages when compared to
traditional ironcore and ironless linear servo motors:
•
•
•
•
•
•
•
Single-row magnet bar
Lower cost and weight (compared to ironless design)
Better heat dissipation (compared to ironless design)
More force per package size (compared to ironless design)
Lighter weight forcer (compared to ironcore design)
Lower attractive forces (compared to ironcore design)
Less cogging force (compared to ironcore design)
B
Forcer Part Numbering System
SL
063
08
A
H-
10
SL Series
Forcer Width
# of Poles
Winding
Commutation
Connection
04
06
08
10
12
A1
N - None
H - Hall effect
043
063
102
140
FL - Flying Leads
102 - 10’ Hi-Flex Cable
252 - 25’ Hi-Flex Cable
N
Options
N - None
W - Water
Cooling3
Magnet Bar Part Numbering System
LB
063 Forcer Width
SL Series
Magnet Bar
1
2
3
043
063
102
140
210
Linea
sizing r Motor
softwa
re
CD
availab
le
compu
motor.at
com!
Bar Length
042: 42mm
084: 84mm
210: 210mm
336: 336mm
462: 462mm
588: 588mm
Special windings can be designed to meet customer specifications. Please consult factory.
For motors without hall effect commutation, motor phase and temperature switch wires are located in a single cable. For
motors with hall effect commutation, motor phase wires are in one cable, hall effect and temperature switch wires are in a
second cable.
Not available on SL043.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
69
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SL Series
SERVO MOTORS
The Linear Motor Concept
•
•
•
•
•
•
The idea is simple enough. Take a conventional rotary
servo motor and unwrap it. What was the stator is now a
forcer and the rotor becomes a magnet bar. With this
design, the motor is connected directly to the load. Direct
linear motion is achieved without any rotary to linear
transmission devices. The direct coupling of the forcer to
the load provides these performance benefits:
High Speeds
Zero Backlash
Fast Response
High Precision
High Stiffness
Low Maintenance
Summary Chart: Below is a summary of linear motor attributes and
how each technology compares to the others.
ATTRIBUTE
IronCore
AirCore
Slotless
Cost
Low
High
Lowest
Attractive Force
Highest
None
Moderate
Cogging
Highest
None
Moderate
Force / Size
Best
Moderate
Good
Thermal Characteristics
Best
Lowest
Good
Forcer Weight
Heaviest
Lightest
Moderate
Forcer Strength
Best
Worst
Good
SL043, Uncooled, Specifications (Preliminary)
Parameter
Symbol
Peak Force1, 3
Tpk
Continuous Stall Force1, 2
1
2
3
Fcs
Units
SL04304A
SL04306A
SL04308A
SL04310A
SL04312A
N
60
81
102
129
168
lbf
13.5
18
23
29
37.5
N
20
27
34
43
56
lbf
4.5
6
7.5
9.7
12.5
SL043 specifications are preliminary.
Measured Line to Line, +/- 10%.
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
70
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SL Series
SERVO MOTORS
SL063, General Specifications
Parameter
Symbol
Parameter
Symbol
Voltage Constant1,2
Kb
Force Constant8
Kf(sine)
Units
Units
SL06304A
SL06306A
SL06304A
SL06306A
SL06308A
SL06308A
SL06310A
SL06310A
SL06312A
SL06312A
Volts/m/s
12.8
19.2
25.6
32.0
Volts/in/s
0.33
0.49
0.65
0.81
0.98
N/Amp Peak
11.09
16.63
22.17
27.71
33.26
7.48
38.4
lbf/Amp Peak
2.49
3.74
4.99
6.23
Resistance1
R
Ohms
5.2
7.7
10.3
12.9
15.4
Inductance3
L
mH
1.96
2.94
3.92
4.90
5.88
Maxumum Bus Voltage
Vm
Volts DC
340
340
340
340
340
Motor Constant
Km
N/√watt
5.63
6.90
7.97
8.91
9.79
Motor Thermal Time Constant
τth
minutes
37
37
37
37
37
Electrical Time Constant
τelec
millisecs
0.38
0.38
0.38
0.38
0.38
Mechanical Time Constant
τmch
millisecs
0.013
0.012
0.011
0.010
0.010
Intermittent Force Duration4
F2x
seconds
13
13
16
15
17
Peak Force Duration5
F3x
seconds
5
5
6
6
6
Magnetic Attraction6
Fa
N
223
334
445
556
668
lbf
50
75
100
125
150
Electrical Pitch7
Pe
mm
42
42
42
42
42
Forcer Mass
Mf
kg
0.41
0.55
0.69
0.80
0.95
lb
0.09
1.2
1.5
1.8
2.1
Tmax
°C
125
125
125
125
125
H
H
H
H
H
Rated Winding Temperature
B
Winding Class
SL063, Uncooled, Specifications
Parameter
Symbol
Peak Force3
Tpk
3
4
SL06306A
SL06308A
SL06310A
SL06312A
N
122
183
240
283
27
41
54
64
77
Fcs
N
41
61
80
94
114
lbf
9
14
18
21
26
Peak Current2,3,4
Ipk(sine)
Amps Peak
11.0
11.0
10.8
10.2
10.3
Stall Current Continuous1,2,4
Ics(sine)
Amps Peak
3.7
3.7
3.6
3.4
3.4
Rth
°C/watt
1.38
0.92
0.71
0.64
0.53
Thermal Resistance1
2
SL06304A
lbf
Continuous Stall Force1
1
Units
Measured Line to Line, +/- 10%.
Value is measured peak of sine wave.
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
Maximum Time duration with 2 times rated current applied with initial
winding temp at 60°C.
5
6
7
8
342
Maximum time duration with 3 times rated current applied with initial
winding temp at 60°C.
Measured with a 0.76mm gap
Distance from the leading edge of a north pole to the leading edge of the
next north pole
Total motor torque per peak of the sinusiodal amps measured in any phase,
+/-10%.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
71
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SL Series
SERVO MOTORS
SL063, Air Cooled, Specifications
Parameter
Symbol
Units
SL06304A
SL06310A
SL06312A
Peak Force3
Tpk
N
122
183
240
283
342
lbf
27
41
54
64
77
Fcs
N
46
64
86
105
125
lbf
10.3
14.4
19.3
23.6
28.1
Peak Current2,3,4
Ipk(sine)
Amps Peak
11.0
11.0
10.8
10.2
10.3
Stall Current Continuous1,2,4
Ics(sine)
Amps Peak
4.1
3.8
3.9
3.8
3.8
Rth
°C/watt
1.08
0.84
0.61
0.52
0.44
Continuous Stall Force 1
Thermal Resistance1
SL06306A
SL06308A
SL063, Water Cooled, Specifications
Parameter
Symbol
3
Units
SL06304A
SL06306A
SL06308A
SL06310A
SL06312A
342
N
122
183
240
283
lbf
27
41
54
64
77
Fcs
N
53
79
119
148
182
lbf
10
11.9
17.8
26.7
40.9
Peak Current2,3,4
Ipk(sine)
Amps Peak
11.0
11.0
10.8
10.2
10.3
Stall Current Continuous1,2,4
Ics(sine)
Amps Peak
4.8
5.2
5.4
5.3
5.5
Rth
°C/watt
0.81
0.47
0.32
0.26
0.21
Peak Force
Tpk
Continuous Stall Force1
Thermal Resistance1
72
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SL Series
SERVO MOTORS
SL102, General Specifications
Parameter
Symbol
Voltage Constant1,2
Kb
Force Constant8
Kf(sine)
Units
SL10204A
SL10206A
SL10208A
SL10210A
SL10212A
Volts/m/s
13.2
19.8
Volts/in/s
0.34
0.50
26.4
33
39.6
0.67
0.84
N/Amp Peak
11.42
1.01
17.13
22.84
28.54
34.26
7.70
lbf/Amp Peak
2.57
3.85
5.13
6.41
Resistance1
R
Ohms
2.5
3.75
5
6.25
7.5
Inductance3
L
mH
0.77
1.16
1.54
1.93
2.31
Maxumum Bus Voltage
Vm
Volts DC
340
340
340
340
340
Motor Constant
Km
N/√watt
8.34
10.21
11.79
13.18
14.45
Motor Thermal Time Constant
τth
minutes
28.3
31.7
35
36.7
36.7
Electrical Time Constant
τelec
millisecs
0.31
0.31
0.31
0.31
0.31
Mechanical Time Constant
τmch
millisecs
0.012
0.011
0.01
0.01
0.009
Intermittent Force Duration4
F2x
seconds
26
36
40
45
50
Peak Force Duration5
F3x
seconds
10
12
13
14
15
Magnetic Attraction6
Fa
N
444.9
667.2
889.6
1112
1334.4
lbf
99.98
149.93
199.91
249.89
299.87
Electrical Pitch7
Pe
mm
42
42
42
42
42
Forcer Mass
Mf
kg
0.86
1.16
1.43
1.66
1.95
lb
1.89
2.56
3.15
3.66
4.30
Tmax
°C
125
125
125
125
125
H
H
H
H
H
SL10204A
SL10206A
SL10208A
SL10210A
SL10212A
N
234.9
318.4
412.5
520.8
625.1
lbf
52.79
71.55
92.70
117.03
140.47
239.4
Rated Winding Temperature
B
Winding Class
SL102, Uncooled, Specifications
Parameter
Symbol
Peak Force3
Tpk
Continuous Dynamic Force1, 9
N
90.8
121.3
155.3
197.7
lbf
20.41
27.27
34.91
44.45
53.82
Fcs
N
78.3
106.1
137.5
173.6
208.4
lbf
17.60
23.84
30.90
39.01
46.83
Ipk(sine)
Amps Peak
20.6
18.6
18.1
18.2
18.2
Dynamic Current Continuous1,2,4,9 Ics(sine)
Amps Peak
7.94
7.07
6.79
6.92
6.98
Stall Current Continuous1,2,4
Ics(sine)
Amps Peak
6.85
6.2
6.02
6.08
6.08
Rth
°C/watt
0.815
0.665
0.53
0.414
0.345
Continuous Stall Force1
Peak Current2,3,4
Thermal Resistance1
1
2
3
4
5
Fcs
Units
6
Measured Line to Line, +/- 10%.
Value is measured peak of sine wave.
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
Maximum Time duration with 2 times rated current applied with initial
winding temp at 60°C.
Maximum time duration with 3 times rated current applied with initial
winding temp at 60°C.
7
8
9
Measured with a 0.76mm gap
Distance from the leading edge of a north pole to the leading edge of the
next north pole
Total motor torque per peak of the sinusiodal amps measured in any phase,
+/-10%
Dynamic force and current measured at a carriage velocity of .5m/s.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
73
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SL Series
SERVO MOTORS
SL102, Air Cooled, Specifications
Parameter
Symbol
Peak Force
Tpk
Continuous Stall Force
Fcs
Units
SL10204A
SL10206A
SL10208A
SL10210A
SL10212A
N
233.4
325.5
399.7
476.3
534.2
lbf
52.45
73.12
89.82
107.03
120.04
N
116.7
162.7
199.8
238.2
267.1
lbf
26.22
36.56
44.90
53.53
60.02
15.6
Peak Current
Ipk(sine)
Amps Peak
20.4
19
17.5
16.7
Stall Current Continuous
Ics(sine)
Amps Peak
10.21
9.5
8.75
8.34
7.8
Rth
°C/watt
0.367
0.283
0.25
0.22
0.21
Thermal Resistance
SL102, Water Cooled, Specifications
Parameter
Symbol
Peak Force3
Tpk
Continuous Stall Force1
Fcs
Units
SL10204A
SL10206A
SL10208A
SL10210A
SL10212A
N
288.6
412.6
523
644.9
748.3
lbf
64.85
92.72
117.53
144.92
168.16
N
144.3
206.3
261.5
322.5
374.2
lbf
32.43
46.36
58.76
72.47
84.09
Peak Current2,3,4
Ipk(sine)
Amps Peak
25.3
24.1
22.9
22.6
21.8
Stall Current Continuous1,2,4
Ics(sine)
Amps Peak
12.63
12.04
11.45
11.3
10.92
Rth
°C/watt
0.24
0.176
0.15
0.12
0.107
Thermal Resistance1
74
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SL Series
SERVO MOTORS
SL140, General Specifications
Parameter
Symbol
Voltage Constant1,2
Force Constant8
Kb
Kf(sine)
Units
SL14004A
SL14006A
SL14008A
SL14010A
SL14012A
Volts/m/s
22
33
44
55
66
Volts/in/s
0.56
0.84
1.12
1.40
1.68
N/Amp Peak
19.05
28.58
38.1
47.6
57.16
lbf/Amp Peak
4.28
6.42
8.56
10.70
12.84
Resistance1
R
Ohms
4.42
5.13
6.84
8.54
10.25
Inductance3
L
mH
1.25
1.87
2.5
3.12
3.74
Maxumum Bus Voltage
Vm
Volts DC
340
340
340
340
340
Motor Constant
Km
N/√watt
10.46
14.57
16.8
18.82
20.61
Motor Thermal Time Constant
τth
minutes
18.3
21.7
25
25
25
Electrical Time Constant
τelec
millisecs
0.28
0.36
0.37
0.37
0.36
Mechanical Time Constant
τmch
millisecs
0.011
0.008
0.007
0.006
0.006
Intermittent Force Duration4
F2x
seconds
181
181
196
187
160
Peak Force Duration5
F3x
seconds
73
64
77
73
63
Magnetic Attraction6
Fa
N
667.2
1001
1334
1668
2002
lbf
149.93
224.94
299.78
374.83
449.89
Electrical Pitch7
Pe
mm
42
42
42
42
42
Forcer Mass
Mf
kg
1.2
1.6
2
2.3
2.7
lb
2.64
3.52
4.41
5.07
5.95
Tmax
°C
125
125
125
125
125
H
H
H
H
H
SL14004A
SL14006A
Rated Winding Temperature
B
Winding Class
SL140, Uncooled, Specifications
Parameter
Symbol
Peak Force3
Tpk
Continuous Dynamic Force1, 9
Continuous Stall Force1
Peak Current2,3,4
2
3
4
5
Fcs
SL14008A
SL14010A
SL14012A
N
276
402
491
606
739
lbf
62.02
90.34
110.34
136.18
166.07
N
127.3
193.3
238.9
291.1
361.1
lbf
28.62
43.46
53.71
65.45
81.18
N
92
134
164
202
246
lbf
20.67
30.11
36.85
45.39
55.28
Ipk(sine)
Amps Peak
14.5
14.1
12.9
12.7
12.9
Dynamic Current Continuous1,2,4,9 Ics(sine)
Amps Peak
6.68
6.76
6.27
6.11
6.32
Stall Current Continuous1,2,4
Ics(sine)
Amps Peak
4.83
4.69
4.29
4.24
4.31
Rth
°C/watt
0.923
0.847
0.76
0.623
0.503
Thermal Resistance1
1
Fcs
Units
6
Measured Line to Line, +/- 10%.
Value is measured peak of sine wave.
+/-30%, Line-to-Line, inductance bridge measurement @1Khz.
Maximum Time duration with 2 times rated current applied with initial
winding temp at 60°C.
Maximum time duration with 3 times rated current applied with initial
winding temp at 60°C.
7
8
9
Measured with a 0.76mm gap
Distance from the leading edge of a north pole to the leading edge of the
next north pole
Total motor torque per peak of the sinusiodal amps measured in any phase,
+/-10%
Dynamic force and current measured at a carriage velocity of .5m/s.
Note: These specifications are based on theoretical motor performance and are not specific to any amplifier.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
75
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SL Series
SERVO MOTORS
SL140, Air Cooled, Specifications
Parameter
Symbol
Peak Force3
Tpk
Continuous Stall Force1
Fcs
Units
SL14004A
SL14006A
SL14008A
SL14010A
SL14012A
N
307
471
601
722
806
lbf
68.99
105.84
135.06
162.25
181.12
N
153
236
301
361
403
lbf
34.38
53.03
67.64
81.12
90.56
14.1
Peak Current2,3,4
Ipk(sine)
Amps Peak
16.1
16.5
15.8
15.2
Stall Current Continuous1,2,4
Ics(sine)
Amps Peak
8
8.25
7.89
7.58
7.05
Rth
°C/watt
0.333
0.274
0.23
0.2
0.188
SL14010A
SL14012A
Thermal Resistance1
SL140, Water Cooled, Specifications
Parameter
Symbol
Peak Force3
Tpk
Continuous Stall Force1
Fcs
Units
SL14004A
SL14006A
SL14008A
N
397
582
713
852
951
lbf
89.21
130.79
160.22
191.46
213.71
N
198
291
356
426
475
lbf
44.49
65.39
80.00
95.73
106.74
16.6
Peak Current2,3,4
Ipk(sine)
Amps Peak
20.8
20.4
18.7
17.9
Stall Current Continuous1,2,4
Ics(sine)
Amps Peak
10.4
10.2
9.35
8.95
8.32
Rth
°C/watt
0.2
0.18
0.16
0.14
0.135
Thermal Resistance1
76
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SL Series
SERVO MOTORS
SL063 Dimensional Drawings
Dimensions in mm (inches)
26,8
[ 1.055 ]
N
14,73
[ .580 ]
7,11
[ .280 ]
0,51 - 0,76
[ .020 - .030 ]
MAGNET TO FORCER
AIR GAP
LENGTH
27,2
[ 1.07 ]
3,81
[ .150 ]
14,48
[ .570 ]
40,74
[ 1.604 ]
SYM
56,2
[ 2.21 ]
SYM.
63
[ 2.48 ]
1
3
42 TYP
[ 1.654 ]
18,5
[ .728 ]
3,4
[ .134 ]
C
A
B
1,1 - 1,5
2
[.04 - .06 ]
MAGNET TO HALL
SENSOR AIR GAP
(HALL VERSION ONLY)
M4 x 0.7
0,12 [.005 ]
0,12 [.0005 ] / 25,4 [ 1.000] x 25,4 [1.000 ]
10 AND 25 FOOT CABLE
9,7
[.38 ]
(N) HOLES
O 0,25 [.010 ] A B C
FLYING LEADS
Motor Length
NOTES:
Model
3,2
[ .13 ]
10
[ .4 ]
3 DIMENSION USED TO ESTABLISH
POSITIONAL TOLERANCE ON M4
MOUNTING HOLES.
HALL COMMUTATION
(2x) 1/8" ID HOSE
BARB FITTING
(CABLE VERSION SHOWN
WITH AIR/WATER COOLING)
ø 6,35±0,12
[ .250±.005]
ø 3,58±0,12
[ .141±.005]
(N) HOLES
B
TYP
42
[ 1.654 ]
20,75
[ .817 ]
63,5±0,12
[ 2.500±.005]
SL06304
SL06306
SL06308
SL06310
SL06312
(CABLE VERSION SHOWN)
2 FORCER MOUNTING SURFACE MUST
MEET THIS FLATNESS SPEC.
45
[ 1.772 ]
Length
Holes
NO HALL COMMUTATION
HEAT SINK PLUGS
13.5 (5.33)
177.5 (6.99)
219.5 (8.64)
261.5 (10.30)
303.5 (11.95)
6
8
10
12
14
3,18±0,12
[ .125±.005]
THRU
O 0,25 [.010 ] A B C
S
N
9,25
[ .364 ]
LENGTH
C
2,59+0,05
-0,00
[ .102 +.002
-.000 ]
5,08±0,05
[ .200±.002 ]
6,35±0,12
[ .250±.005]
11,43±0,25
[ .450±.010 ]
0,07 [.003 ]
0,02 [.001 ] / 25,4 [ 1.000] x 25,4 [1.000 ]
6,35±0,12
[ .250±.005 ]
A
2,59+0,05
-0,00
[ .102 +.002
-.000 ]
Magnet Length
Model
Length
LB063042
LB063084
LB063210
LB063336
LB063462
LB063588
42 (1.654)
84 (3.307)
210 (8.268)
336 (13.228)
462 (18.189)
588 (23.150)
Holes
2
4
10
16
22
28
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
77
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
1 FLEX CABLE IS DESIGNED FOR
10 MILLION CYCLES AT A BEND
RADIUS > 80 MM. DO NOT FLEX
CABLES WITHIN 30 MM OF CABLE EXIT.
Catalog 8000-4/USA
SL Series
SERVO MOTORS
SL102 Dimensional Drawings
Dimensions in mm (inches)
Motor Length
Model
Length
SL10204
SL10206
SL10208
SL10210
SL10212
133.7
175.5
217.7
259.7
301.7
(5.26)
(6.92)
(8.57)
(10.22)
(11.88)
Holes
9
12
15
18
21
Magnet Length
78
Automation
Model
Length
LB102042
LB102084
LB102210
LB102336
LB102462
LB102588
42 (1.654)
84 (3.307)
210 (8.268)
336 (13.228)
462 (18.189)
588 (23.150)
Holes
2
4
10
16
22
28
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SL Series
SERVO MOTORS
SL140 Dimensional Drawings
Dimensions in mm (inches)
Model
SL14004
SL14006
SL14008
SL14010
SL14012
Length
133.7 (5.26)
175.7 (6.92)
217.7 (8.57)
259.7 (10.22)
301.7 (11.88)
Holes: A
B
2
3
4
5
6
9
12
15
18
21
Magnet Length
Holes
Model
Length
LB140042
LB140084
LB140210
LB140336
LB140462
LB140588
42 (1.654)
84 (3.307)
210 (8.268)
336 (13.228)
462 (18.189)
588 (23.150)
2
4
10
16
22
28
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
79
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Motor Length
Catalog 8000-4/USA
Planetary Gearheads
SERVO MOTORS
Integrated
Design for
Shortest
Possible Package
Compumotor can provide an integrated planetary gearhead
with the SM, SE, BE, NeoMetric Series or J Series brushless
servo motors. By incorporating the pinion of the reducer into
the motor’s shaft design, Compumotor has achieved the
shortest package length in the industry. This design eliminates
the need for an adapter plate and coupling, resulting in a space
savings of over two inches in total package length.
The integrated planetary gearheads are available in size 16,
23, 34 and 92mm. To simplify the application process, Compumotor provides a true system of specification for each motor
gearhead combination.
Compumotor can also provide custom gearhead solutions.
Custom ratios, mounting flanges, and shafts can easily be
incorporated into our standard package.
Features
•
•
•
•
Size 16, 23, 34 and 92mm
Integrated design – Compact and short
Shaft seal included with every gearhead
Ratios:
GXX
G03
G05
G05
G07
G08
G10
G15
G22
G25
G30
G40
G50
G55
G100
Part Numbering System
SM
233
Series
Frame,
Magnet Length
SM
SE
BE
J
N
1
2
3
4
5
6
16X
23X
034X
092X
A
E-
SM/SE (16, 23)
3:1
5:1
5.5:1
7:1
8:1
10:1
15:1
22:1
25:1
30:1
40:1
50:1
55:1
100:1
BE (23, 34)
Neo/J (34) Neo/J (92)
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
K
MS
G10
Winding
Feedback
Shaft
Connection
Options
Identifying character
A, B, D, E, F, etc.
D - 500 ppr encoder
E - 1000 ppr encoder
H - Hall-effect only
J - 2000 ppr encoder
R - Resolver
K - Keyway1
FL
MS
GS
TQ
PT
10
25
N - None
B - Brake2
G03 - 3:1 ratio3
G05 - 5:1 ratio3, 5
or 5.5:13, 4
G07 - 7:1 ratio3, 4
G08 - 8:1 ratio3
G10 - 10:1 ratio3
G15 - 15:1 ratio3, 5
G22 - 22:1 ratio3, 4
G25 - 25:1 ratio3, 5
G30 - 30:1 ratio3, 5
G40 - 40:1 ratio3, 5
G50 - 50:1 ratio3, 5
G55 - 55:1 ratio3, 4
G100 - 100:1 ratio3, 4
V - Shaft seal6
Refers to keyway on gearhead output shaft
Currently available as standard product only on BE and Neometric motors
Shaft seal is included with the gearhead
Not available on Neometric 92mm
Neometric 92mm only
With MS, TQ or GS connectors - IP65
80
Automation
RATIO
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Planetary Gearheads
SERVO MOTORS
Size 16 Gearhead Mechanical Specifications
Parameter
Symbol
Units
G03
G05
3:1
Maximum Input Torque
Tr
lb-in
oz-in
Nm
39.0
624
4.37
Friction Torque
Tf
oz-in
Nm
Viscous Damping
Td
oz-in/Krpm
Nm/Krpm
Torque Efficiency
E
Ratio
G07
G10
G22
G55
G100
5.5:1
7:1
10:1
22:1
55:1
100:1
21.4
343
2.40
16.4
263
1.84
9.9
158
1.11
8.5
136
0.95
3.1
49
0.34
1.2
19
0.13
6.6
0.046
3.5
0.025
2.6
0.018
2.9
0.020
4.6
0.032
3.1
0.022
2.5
0.018
2.4
0.0168
1.2
0.0084
0.6
0.0042
0.4
0.0028
0.3
0.0021
0.3
0.0021
0.3
0.0021
0.96
0.96
0.96
0.96
0.93
0.93
0.93
Torsional Stiffness
oz-in/arc-min
Nm/arc-min
40
0.28
40
0.28
40
0.28
40
0.28
125
0.88
125
0.88
125
0.88
Gearhead Weight
lbs
Kg
0.7
0.32
0.8
0.36
0.8
0.36
0.8
0.36
1.2
0.54
1.3
0.59
1.3
0.59
arc-min
7
6
6
6
10
10
10
Backlash
Note: These specifications are for gearheads which have been operated for less than one hour.
B
Gearhead Torque = (Motor Torque - Tf - (Td x Motor Shaft Speed)) x Gear Ratio x E
Size 16 Motor/Gearhead System Specifications
Motor
Frame
Planetary
Identifier
Ratio
Continuous
Stall Torque
Peak
Stall Torque
Gearhead
Inertia
lb - in
Nm
lb - in
Nm
lb-in-sec2
Kg-m2
Thermal
Resistance
(°C/Watt)
SM160
SE160
G05
G07
G10
G22
G55
G100
5.5:1
7:1
10:1
22:1
55:1
100:1
2.7
4.1
5.3
9.2
28.0
54.0
0.30
0.46
0.59
1.03
3.14
6.05
10.3
13.8
19.4
39.0
102.0
91.0
1.15
1.55
2.17
4.37
11.42
10.19
1.1 E-5
9.56 E-6
8.36 E-6
1.10 E-5
8.31 E-6
8.29 E-6
1.24 E-6
1.08 E-6
9.45 E-7
1.24 E-6
9.39 E-7
9.37 E-7
4.06
4.06
4.06
4.46
4.46
4.46
SM161
SE161
G03
G05
G07
G10
G22
G55
G100
3:1
5.5:1
7:1
10:1
22:1
55:1
100:1
3.1
6.5
9.0
12.5
24.0
65.0
91.0
0.35
0.73
1.01
1.40
2.69
7.28
10.19
11.2
21.5
27.8
40.0
84.0
143.0
91.0
1.25
2.41
3.11
4.48
9.41
16.02
10.19
3.25 E-5
1.10 E-5
9.56 E-6
8.36 E-6
1.10 E-5
8.31 E-6
8.29 E-6
3.67 E-6
1.24 E-6
1.08 E-6
9.45 E-7
1.24 E-6
9.39 E-7
9.37 E-7
3.41
3.41
3.41
3.41
3.63
3.63
3.63
SM162
SE162
G03
G05
G07
G10
G22
G55
3:1
5.5:1
7:1
10:1
22:1
55:1
6.9
13.6
17.3
24.8
49.0
126.0
0.77
1.52
1.94
2.78
5.49
14.11
21.5
40 .6
52.0
74.0
158.0
143.0
2.41
4.55
5.82
8.29
17.70
16.02
3.25 E-5
1.10 E-5
9.56 E-6
8.36 E-6
1.10 E-5
8.31 E-6
3.67 E-6
1.24 E-6
1.08 E-6
9.45 E-7
1.24 E-6
9.39 E-7
2.17
2.17
2.17
2.17
2.66
2.66
Torque limited by gearhead design. Motor must not exceed listed maximum input torque.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
81
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Planetary Gearheads
SERVO MOTORS
Size 23 Gearhead Mechanical Specifications
Parameter
Symbol
Units
Ratio
G03
G05
G07
G10
G22
G55
G100
3:1
5.5:1
7:1
10:1
22:1
55:1
100:1
Maximum Input Torque
Tr
lb-in
oz-in
Nm
77.4
1238
8.67
44.9
718
5.03
35.0
560
3.92
21.5
344
2.41
18.9
303
2.12
7.1
114
0.80
2.7
43
0.30
Friction Torque
Tf
oz-in
Nm
5.2
0.036
4.1
0.029
5.2
0.036
3.6
0.025
3.1
0.022
3.2
0.022
3.2
0.022
Viscous Damping
Td
oz-in/Krpm
Nm/Krpm
5
0.035
1.2
0.0084
1.1
0.0077
0.7
0.0049
2
0.014
1.2
0.0084
0.8
0.0056
Torque Efficiency
E
0.96
0.96
0.96
0.96
0.93
0.93
0.93
Torsional Stiffness
oz-in/arc-min
Nm/arc-min
67
0.47
67
0.47
67
0.47
67
0.47
250
1.75
250
1.75
250
1.75
Gearhead Weight
lbs
Kg
1.7
0.77
1.8
0.82
1.8
0.82
1.9
0.86
2.9
1.32
2.9
1.32
3.1
1.41
arc-min
6
6
6
6
10
10
10
Backlash
Note: These specifications are for gearheads which have been operated for less than one hour.
Gearhead Torque = (Motor Torque - Tf - (Td x Motor Shaft Speed)) x Gear Ratio x E
Size 23 Motor/Gearhead System Specifications
Motor
Frame
Planetary
Identifier
Ratio
Continuous
Stall Torque
Peak
Stall Torque
Gearhead
Inertia
Thermal
Resistance
lb - in
Nm
lb - in
Nm
lb-in-sec2
Kg-m2
(°C/Watt)
SM230
SE230
G03
G05
G07
G10
G22
G55
G100
3:1
5.5:1
7:1
10:1
22:1
55:1
100:1
4.1
7.8
9.7
15.0
31.0
77.0
140.0
0.46
0.87
1.09
1.68
3.47
8.62
15.68
13.7
25.3
31.8
46.5
100.0
250.0
244.0
1.53
2.83
3.56
5.2
11.20
28.00
27.33
1.22 E-4
2.65 E-5
1.93 E-5
11.35 E-5
2.70 E-5
1.34 E-5
1.33 E-5
1.38 E-5
2.99 E-6
2.18 E-6
1.53 E-6
3.05 E-6
1.51 E-6
1.50 E-6
2.35
2.35
2.35
2.35
2.61
2.61
2.61
SM231
SE231
G03
G05
G07
G10
G22
G55
G100
3:1
5.5:1
7:1
10:1
22:1
55:1
100:1
7.7
14.2
18.1
25.8
53.0
132.0
241.0
0.86
1.59
2.03
2.89
5.94
14.78
26.99
23.2
42.6
54.2
77.5
167.0
371.0
244.0
2.60
4.77
6.07
8.68
18.70
41.55
27.33
1.22 E-4
2.65 E-5
1.93 E-5
1.35 E-5
2.70 E-5
1.34 E-5
1.33 E-5
1.38 E-5
2.99 E-6
2.18 E-6
1.53 E-6
3.05 E-6
1.51 E-6
1.50 E-6
2.30
2.30
2.30
2.30
2.48
2.48
2.48
SM232
SE232
G03
G05
G07
G10
G22
G55
3:1
5.5:1
7:1
10:1
22:1
55:1
15.6
30.2
37.0
53.1
110.0
275.0
1.75
3.38
4.14
5.95
12.32
30.80
45.0
82.5
106.0
150.0
338.0
371.0
5.04
9.24
11.87
16.80
37.86
41.55
1.22 E-4
2.65 E-5
1.93 E-5
1.35 E-5
2.70 E-5
1.34 E-5
1.38 E-5
2.99 E-6
2.18 E-6
1.53 E-6
3.05 E-6
1.51 E-6
1.49
1.49
1.49
1.49
1.79
1.79
SM233
SE233
G03
G05
G07
G10
G22
G55
3:1
5.5:1
7:1
10:1
22:1
55:1
25.0
45.3
56.2
84.3
169.0
371.0
2.80
5.07
6.29
9.44
18.93
41.55
70.9
129.9
165.4
234.4
401.0
371.0
7.94
14.55
18.52
26.25
44.91
41.55
1.22 E-4
2.65 E-5
1.93 E-5
1.35 E-5
2.70 E-5
1.34 E-5
1.38 E-5
2.99 E-6
2.18 E-6
1.53 E-6
3.05 E-6
1.51 E-6
1.32
1.32
1.32
1.32
1.35
1.35
Torque limited by gearhead design. Motor must not exceed listed maximum input torque.
82
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Planetary Gearheads
SERVO MOTORS
Size 23 Motor/Gearhead System Specifications
Planetary
Identifier
Ratio
Continuous
Stall Torque
Peak
Stall Torque
Gearhead
Inertia
Thermal
Resistance
lb - in
Nm
lb - in
Nm
lb-in-sec2
Kg-m2
(°C/Watt)
BE230
G03
G05
G07
G10
G22
G55
G100
3:01
5.5:1
7:1
10:1
22:1
55:1
100:1
8.6
16.1
20.1
29.7
62.5
156.0
283.6
0.96
1.80
2.25
3.33
7.00
17.47
31.76
27.7
51.1
64.6
93.2
195.1
487.5
886.3
3.10
5.72
7.24
10.44
21.85
54.60
99.27
1.22 E-04
2.65 E-05
1.93 E-05
11.35 E-05
2.70 E-05
1.34 E-05
1.33 E-05
1.38 E-05
2.99 E-06
2.18 E-06
1.53 E-06
3.05 E-06
1.51 E-06
1.50 E-06
2.35
2.35
2.35
2.35
2.61
2.61
2.61
BE231
G03
G05
G07
G10
G22
G55
3:1
5.5:1
7:1
10:1
22:1
55:1
16.2
30.1
37.9
55.0
115.5
288.4
1.81
3.37
4.24
6.16
12.94
32.30
50.5
93.0
117.9
169.3
354.1
885.0
5.66
10.42
13.20
18.96
39.66
99.12
1.22 E-04
2.65 E-05
1.93 E-05
1.35 E-05
2.70 E-05
1.34 E-05
1.38 E-05
2.99 E-06
2.18 E-06
1.53 E-06
3.05 E-06
1.51 E-06
2.3
2.3
2.3
2.3
2.48
2.48
BE232
G03
G05
G07
G10
G22
3:1
5.5:1
7:1
10:1
22:1
27.3
50.4
63.7
92.0
192.6
3.06
5.64
7.13
10.30
21.57
83.8
153.9
195.4
280.1
585.5
9.39
17.24
21.88
31.37
65.58
1.22 E-04
2.65 E-05
1.93 E-05
1.35 E-05
2.70 E-05
1.38 E-05
2.99 E-06
2.18 E-06
1.53 E-06
3.05 E-06
1.49
1.49
1.49
1.49
1.79
BE233
G03
G05
G07
G10
G22
3:1
5.5:1
7:1
10:1
22:1
36.1
66.5
84.2
121.2
253.7
4.04
7.45
9.43
13.57
28.41
110.1
202.2
256.9
368.0
768.8
12.33
22.65
28.77
41.22
86.11
1.22 E-04
2.65 E-05
1.93 E-05
1.35 E-05
2.70 E-05
1.38 E-05
2.99 E-06
2.18 E-06
1.53 E-06
3.05 E-06
1.32
1.32
1.32
1.32
1.35
Torque limited by gearhead design. Motor must not exceed listed maximum input torque.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
83
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Motor
Frame
Catalog 8000-4/USA
Planetary Gearheads
SERVO MOTORS
Size 34 Gearhead Mechanical Specifications
Parameter
Symbol
Units
G03
G05
3:1
Maximum Input Torque
Tr
lb-in
oz-in
Nm
152.3
2437
17.06
Friction Torque
Tf
oz-in
Nm
Viscous Damping
Td
oz-in/Krpm
Nm/Krpm
Torque Efficiency
E
Ratio
G07
G10
G22
G55
G100
5.5:1
7:1
10:1
22:1
55:1
100:1
98.6
1578
11.05
79.1
1266
8.86
50.5
808
5.66
46.8
749
5.24
18.6
297
2.08
7.1
114
0.80
10
0.070
10
0.070
10
0.070
10
0.070
21
0.147
19
0.133
18
0.126
2.5
0.0175
2.0
0.014
1.5
0.0105
1.3
0.0091
1.5
0.0105
0.3
0.0021
0.1
0.0007
0.96
0.96
0.96
0.96
0.93
0.93
0.93
Torsional Stiffness
oz-in/arc-min
Nm/arc-min
100
0.70
100
0.70
100
0.70
100
0.70
250
2.00
250
2.00
250
2.00
Gearhead Weight
lbs
Kg
4.3
1.95
4.6
2.09
4.6
2.09
4.8
2.18
7.4
3.36
7.6
3.45
7.7
3.49
arc-min
6
6
6
6
10
10
10
Backlash
Note: These specifications are for gearheads which have been operated for less than one hour.
Gearhead Torque = (Motor Torque - Tf - (Td x Motor Shaft Speed)) x Gear Ratio x E
Size 34 Motor/Gearhead System Specifications
Motor
Frame
Planetary
Identifier
Ratio
Continuous
Stall Torque
Peak
Stall Torque
Gearhead
Inertia
Thermal
Resistance
lb - in
Nm
lb - in
Nm
lb-in-sec2
Kg-m2
(°C/Watt)
N0341
J0341
G03
G05
G07
G10
G22
G55
G100
3:1
5.5:1
7:1
10:1
22:1
55:1
100:1
14.7
26.2
33.8
46.9
89.0
228.0
421.0
1.65
2.93
3.79
5.25
9.97
25.54
47.15
45.6
83.7
106.2
150.0
317.0
800.0
542.0
5.11
9.37
11.89
16.80
35.50
89.60
60.70
6.77E-4
1.51E-4
1.11E-4
7.90E-5
1.55E-4
7.94E-5
7.87E-5
7.65E-5
1.71E-5
1.25E-5
8.93E-6
1.75E-5
8.97E-6
8.89E-6
1.49
1.49
1.49
1.49
1.68
1.68
1.68
N0342
J0342
G03
G05
G07
G10
G22
G55
G100
3:1
5.5:1
7:1
10:1
22:1
55:1
100:1
26.9
50.0
65.6
92.1
184.0
467.0
542.0
3.01
5.60
7.35
10.32
20.61
52.30
60.70
85.3
150.0
200.0
279.7
609.0
860.0
542.0
9.55
16.80
22.40
31.33
68.21
96.32
60.70
6.77E-4
1.51E-4
1.11E-4
7.90E5
1.55E-4
7.94E-5
7.87E-5
7.65E-5
1.71E-5
1.25E-5
8.93E-6
1.75E-5
8.97E-6
8.89E-6
1.23
1.23
1.23
1.23
1.39
1.39
1.39
N0343
J0343
G03
G05
G07
G10
G22
G55
3:1
5.5:1
7:1
10:1
22:1
55:1
43.7
78.1
101.6
145.6
295.0
744.0
4.89
8.75
11.38
16.31
33.04
83.33
128.7
234.9
300.0
431.2
902.0
860.0
14.41
26.31
33.60
48.29
101.02
96.32
6.77E-4
1.51E-4
1.11E-4
7.90E-5
1.55E-4
7.94E-5
7.65E-5
1.71E-5
1.25E5
8.93E-6
1.75E-5
8.97E-6
1.02
1.02
1.02
1.02
1.15
1.15
N0344
J0344
G03
G05
G07
G10
G22
G55
3:1
5.5:1
7:1
10:1
22:1
55:1
50.3
100.0
125.0
181.2
307.0
860.0
5.63
11.20
14.00
20.29
41.44
96.32
162.5
297.4
375.0
543.7
902.0
860.0
18.20
33.31
42.00
60.89
101.02
96.32
6.77E-4
1.51E-4
1.11E-4
7.90E-5
1.55E-4
7.94E-5
7.65E-5
1.71E-5
1.25E-5
8.93E-6
1.75E-5
8.97E-6
0.89
0.89
0.89
0.89
0.96
0.96
Torque limited by gearhead design. Motor must not exceed listed maximum input torque.
84
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Planetary Gearheads
SERVO MOTORS
Size 34 Motor/Gearhead System Specifications
Planetary
Identifier
Ratio
Continuous
Stall Torque
Peak
Stall Torque
Gearhead
Inertia
Thermal
Resistance
lb - in
Nm
lb - in
Nm
lb-in-sec2
Kg-m2
(°C/Watt)
BE341
G03
G05
G07
G10
G22
G55
3:01
5.5:1
7:1
10:1
22:1
55:1
41.7
76.2
97.3
139.0
276.6
697.7
4.67
8.57
10.90
15.57
30.98
78.14
129.1
236.7
301.3
430.4
884.9
2218.4
14.46
26.51
33.75
48.20
99.11
248.46
6.77E-04
1.51E-04
1.11E-04
7.90E-05
1.55E-04
7.94E-05
7.65E-05
1.71E-05
1.25E-05
8.93E-06
1.75E-05
8.97E-06
1.49
1.49
1.49
1.49
1.68
1.68
BE342
G03
G05
G07
G10
G22
G55
3:1
5.5:1
7:1
10:1
22:1
55:1
76.6
140.5
178.8
255.5
519.7
1305.5
8.58
15.74
20.03
28.62
58.21
146.22
233.5
428.1
544.8
778.3
1611.3
4034.4
26.15
47.95
61.02
87.17
180.47
451.85
6.77E-04
1.51E-04
1.11E-04
7.90E05
1.55E-04
7.94E-05
7.65E-05
1.71E-05
1.25E-05
8.93E-06
1.75E-05
8.97E-06
1.23
1.23
1.23
1.23
1.39
1.39
BE343
G03
G05
G07
G10
G22
3:1
5.5:1
7:1
10:1
22:1
105.2
192.8
245.4
350.5
718.2
11.78
21.59
27.48
39.26
80.44
319.0
584.9
744.4
1063.5
2206.6
35.73
65.51
83.37
119.11
247.14
6.77E-04
1.51E-04
1.11E-04
7.90E-05
1.55E-04
7.65E-05
1.71E-05
1.25E-05
8.93E-06
1.75E-05
1.02
1.02
1.02
1.02
1.15
BE344
G03
G05
G07
G10
G22
3:1
5.5:1
7:1
10:1
22:1
131.7
241.4
307.3
438.9
902.8
14.75
27.04
34.42
49.16
101.11
398.6
730.8
930.1
1328.7
2760.4
44.64
81.85
104.17
148.81
309.16
6.77E-04
1.51E-04
1.11E-04
7.90E-05
1.55E-04
7.65E-05
1.71E-05
1.25E-05
8.93E-06
1.75E-05
0.89
0.89
0.89
0.89
0.96
Torque limited by gearhead design. Motor must not exceed listed maximum input torque.
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
85
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Motor
Frame
Catalog 8000-4/USA
Planetary Gearheads
SERVO MOTORS
Size 92 Gearhead Mechanical Specifications
Parameter
Symbol Units
Ratio
G03
G05
G08
G10
G15
G25
G30
G40
G50
3:1
5:1
8:01
10:1
15:1
25:1
30:1
40:1
50:1
Max. Input Torque
Tr
lb-in
oz-in
Nm
301
4816
33.7
199
3184
22.3
81
1296
9.0
42
672
4.7
66
1056
7.4
40
640
4.5
30
480
3.36
25
400
2.8
20
320
2.2
Friction Torque
Tf
oz-in
Nm
23
.161
15.5
.109
12
.084
15
.105
24
.168
17
.119
23.5
.165
16
.112
19
.133
Viscous Damping
Td
2
1.6
1.8
0.7
3.2
1.7
2.4
1.8
0.7
Torque Efficiency
E
oz-in/Krpm
Nm/Krpm
0.94
0.94
0.94
0.94
0.94
0.94
0.94
0.94
0.94
Torsional Stiffness
oz-in/arc-min
Nm/arc-min
70.5
.49
70.5
.49
70.5
.49
70.5
.49
70.5
.49
70.5
.49
70.5
.49
70.5
.49
70.5
.49
Gearhead Weight
lbs
Kg
3.1
1.4
3.1
1.4
3.1
1.4
3.1
1.4
3.9
1.8
3.9
1.8
3.9
1.8
3.9
1.8
3.9
1.8
arc-min
10
10
10
10
12
12
12
12
12
Backlash
Note: These specifications are for gearheads which have been operated for less than one hour.
Gearhead Torque = (Motor Torque - Tf - (B x Motor Shaft Speed)) x Gear Ratio x E
Size 92 Motor/Gearhead System Specifications
Motor
Frame
Planetary
Identifier
Ratio
Continuous
Stall Torque
Peak
Stall Torque
Gearhead
Inertia
Thermal
Resistance
lb - in
Nm
lb - in
Nm
lb-in-sec2
Kg-m2
(°C/Watt)
N0921
G03
G05
G08
G10
G15
G25
G30
G40
G50
3:1
5:1
8:1
10:1
15:1
25:1
30:1
40:1
50:1
38.5
66.2
107.6
132.8
191.5
329.1
383.8
528.8
652.5
4.31
7.41
12.05
14.87
21.45
36.86
42.99
59.23
73.08
123.3
207.6
333.7
415.4
615.5
1035.7
1231.8
1659.5
2065.8
13.81
23.25
37.37
46.52
68.94
116.00
137.96
185.86
231.37
7.35E-04
4.78E-04
4.16E-04
3.98E-04
6.90E-04
4.43E-04
4.25E-04
4.16E-04
4.43E-04
8.30E-05
5.40E-05
4.70E-05
4.50E-05
7.80E-05
5.00E-05
4.80E-05
4.70E-05
5.00E-05
1.00
1.00
1.00
1.00
0.85
0.85
0.85
0.85
0.85
N0922
G03
G05
G08
G10
G15
G25
G30
3:1
5:1
8:1
10:1
15:1
25:1
30:1
71:3
121.0
195.1
242.2
355.6
602.6
712.1
7.99
13.55
21.85
27.13
39.83
67.49
79.76
221.7
371.7
596.3
743.7
1107.8
1856.4
2216.5
24.83
41.63
66.79
83.29
124.07
207.92
248.25
7.35E-04
4.78E-04
4.16E-04
3.98E-04
6.90E-04
4.43E-04
4.25E-04
8.30E-05
5.40E-05
4.70E-05
4.50E-05
7.80E-05
5.00E-05
4.80E-05
0.85
0.85
0.85
0.85
0.75
0.75
0.75
N0923
G03
G05
G08
G10
G15
3:1
5:1
8:1
10:1
15:1
108.5
183.0
294.3
366.2
541.6
12.15
20.50
32.96
41.01
60.66
333.3
557.7
893.9
1115.7
1665.9
37.33
62.46
100.12
124.96
186.58
7.35E-04
4.78E-04
4.16E-04
3.98E-04
6.90E-04
8.30E-05
5.40E-05
4.70E-05
4.50E-05
7.80E-05
0.68
0.68
0.68
0.68
0.59
N0924
G03
G05
G08
G15
3:1
5:1
8:1
15:1
143.8
241.8
388.4
718
16.11
27.08
43.50
80.42
439.2
734.1
1176.2
2195.2
49.19
82.22
131.73
245.86
7.35E-04
4.78E-04
4.16E-04
6.90E-04
8.30E-05
5.40E-05
4.70E-05
7.80E-05
0.53
0.53
0.53
0.52
Torque limited by gearhead design. Motor must not exceed listed maximum input torque.
86
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Planetary Gearheads
SERVO MOTORS
Planetary Gearheads Dimensional Drawings
Size 16, Dimensional Drawing
Dimensions in inches (mm)
1.00
[ 25.4 ]
(4X) Ø.125 [ 3,18 ]
THRU HOLES EQUALLY SPACED
ON A 1.838 [46.69] BOLT CIRCLE
1.00
[ 25.4 ]
1.79
[ 45.4 ]
.351
[ 8.92 ]
.313
[ 7.95 ]
WOODRUFF KEY #404
WOODRUFF KEY #302.5
Ø.865 ±.001
[ 21.97 ±0.02 ]
Ø .865 ± .001
[ 21.97 ±0.02 ]
Ø .3750
1.60 SQ.
[ 40.6 ]
[
9.525
2.66
[ 67.5 ]
+.0000
-.0004
+0,00
-0.01
Ø .5000
]
[
.062
[ 1.57 ]
+.0000
-.0004
+0.00
-0.01
]
12.7
.062
[ 1.57 ]
RATIOS:
3:1 THRU 10:1
RATIOS:
22:1 THRU 100:1
Size 23, Dimensional Drawing
Dimensions in inches (mm)
1.25
[ 31.8 ]
2.14
[ 54.3 ]
.463
[ 11.76 ]
.375
[ 9.53 ]
WOODRUFF KEY #605
WOODRUFF KEY #303
fl 1.499 –.001
[ 38.07 –0.02 ]
fl 1.499 –.001
[ 38.07 –0.02 ]
+.0000
-.0005
+0.000
9.525
-0.012
fl .3750
2.25 SQ.
[ 57.2 ]
[
3.24
[ 82.3 ]
B
1.25
[ 31.8 ]
.218 [ 5.54 ]
(4X)
THRU HOLES EQUALLY SPACED
ON A 2.625 [66.68]
BOLT CIRCLE
+.0000
-.0005
+0.000
15.875
-0.012
fl .6250
.062
[ 1.57 ]
]
[
.062
[ 1.57 ]
]
RATIOS:
22:1 THRU 100:1
RATIOS:
3:1 THRU 10:1
Size 34, Dimensional Drawing
Dimensions in inches (mm)
1.50
[ 38.1 ]
2.63
[ 66.7 ]
.500
(4X)
.218 [ 5.54 ]
[ 12.7 ]
THRU HOLES EQUALLY SPACED
ON A 3.875 [98.43] BOLT CIRCLE
WOODRUFF KEY #404
fl 2.874 –.001
[ 73–0.02 ]
+.0000
-.0005
+0.000
12.7
-0.012
fl .5000
[
4.00
[ 101.6 ]
WOODRUFF KEY #606
fl 2.874 –.001
[ 73–0.02 ]
3.25 SQ.
[ 82.6 ]
1.50
[ 38.1 ]
.532
[ 13.51 ]
]
.062
[ 1.57 ]
+.0000
-.0005
+0.000
19.05
-0.012
fl .7500
[
]
.062
[ 1.57 ]
RATIOS:
22:1 THRU 100:1
RATIOS:
3:1 THRU 10:1
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
87
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Planetary Gearheads
SERVO MOTORS
Planetary Gearheads Dimensional Drawings, continued
Size 92, Dimensional Drawing
Dimensions in inches (mm)
88
Automation
RATIOS
GH_OAL
3, 5, 8, 10:1
2.330
15, 25, 30, 40, 50:1
4.230
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Motor Cable Table
SERVO MOTORS
Motor Cable Table
Length
-XX
Amplifier*
SM16XXE-NGSN
SM16XXE-NMSN
Gemini -L3E
miscellaneous
23GS CABLE-XX
23MS CABLE-XX
71-018303-XX
71-014675-XX
m
m,t
71-018308-XX
71-015871-XX
e,h,t
e,h
2
2
SM23XXE-NGSN
SM23XXE-NGSB
SM23XXR-NGSN
SM23XXR-NGSB
Gemini -L3E
Gemini -L3E
Gemini -L3R
Gemini -L3R
23GS CABLE-XX
23GB CABLE-XX
23GR CABLE-XX
23GR CABLE-XX
71-018303-XX
71-018303-XX
71-018303-XX
71-018303-XX
m
m
m
m
71-018308-XX
71-018309-XX
71-018307-XX
71-018307-XX
e,h,t
e,h,t,b
r,t
r,t,b
2
2
3
3
SM23XXE-NMSN
SM23XXE-NMSB
SM23XXR-NMSN
SM23XXR-NMSB
miscellaneous
miscellaneous
miscellaneous
miscellaneous
23MS CABLE-XX
23MS CABLE-XX
23RS CABLE-XX
23RS CABLE-XX
71-014675-XX
71-014675-XX
71-014675-XX
71-014675-XX
m,t
m,t
m
m
71-015871-XX
71-015871-XX
71-015870-XX
71-015870-XX
e,h
e,h,b
r,t
r,t,b
2
2
3
3
SM23XXE-NTQN
SM23XXE-NTQB
OEM770
OEM770
23TQ CABLE-XX
23TQ CABLE-XX
71-015017-XX
71-015017-XX
m,t,h
m,t,h
71-015886-XX
71-015886-XX
e
e,b
2
2
SM23XXR-NMSN
Compax1000SL
23CX CABLE-XX
71-015531-XX
m
71-020104-XX
r,t
2
16
BE16XXE-NMSN
BE16XXE-NMSN
BE16XXE-NTQN
Gemini -U3E
miscellaneous
OEM770
BE-GS CABLE-XX
BE-MS CABLE-XX
BE-TQ CABLE-XX
71-018304-XX
71-015531-XX
71-015017-XX
m
m
m,h***
71-018308-XX
71-015871-XX
71-015886-XX
e,h***
e,h***
e
2
2
2
23
BE23XXE-NMSN
BE23XXE-NMSB
BE23XXR-NMSN
BE23XXR-NMSB
Gemini -UXXE
Gemini -UXXE
Gemini -UXXR
Gemini -UXXR
BE-GS CABLE-XX
BE-GB CABLE-XX
BE-GR CABLE-XX
BE-GR CABLE-XX
71-018304-XX
71-018304-XX
71-018304-XX
71-018304-XX
m
m
m
m
71-018308-XX
71-018309-XX
71-018307-XX
71-018307-XX
e,h,t
e,h,t,b
r,t
r,t,b
2
2
3
3
BE23XXE-NMSN
BE23XXE-NMSB
BE23XXR-NMSN
BE23XXR-NMSB
miscellaneous
miscellaneous
SLVD5
SLVD5
BE-MS CABLE-XX
BE-MS CABLE-XX
BE-RS CABLE-XX
BE-RS CABLE-XX
71-015531-XX
71-015531-XX
71-015531-XX
71-015531-XX
m
m
m
m
71-015871-XX
71-015871-XX
71-015870-XX
71-015870-XX
e,h,t
e,h,t,b
r,t
r,t,b
2
2
3
3
BE23XXR-NMSN
Compax1000SL
23CX CABLE-XX
71-015531-XX
m
71-020104-XX
r,t
2
BE23XXE-NTQN
BE23XXE-NTQB
OEM770
OEM770
BE-TQ CABLE-XX
BE-TQ CABLE-XX
71-015017-XX
71-015017-XX
m,t,h
m,t,h
71-015886-XX
71-015886-XX
e
e,b
2
2
BE34XXE-NMSN
BE34XXE-NMSB
BE34XXR-NMSN
BE34XXR-NMSB
Gemini -UXXE
Gemini -UXXE
Gemini -UXXR
Gemini -UXXR
BE-GS CABLE-XX
BE-GB CABLE-XX
BE-GR CABLE-XX
BE-GR CABLE-XX
71-018304-XX
71-018304-XX
71-018304-XX
71-018304-XX
m
m
m
m
71-018308-XX
71-018309-XX
71-018307-XX
71-018307-XX
e,h,t
e,h,t,b
r,t
r,t,b
2
2
3
3
BE34XXE-NMSN
BE34XXE-NMSB
BE34XXR-NMSN
BE34XXR-NMSB
miscellaneous
miscellaneous
SLVD5
SLVD5
BE-MS CABLE-XX
BE-MS CABLE-XX
BE-RS CABLE-XX
BE-RS CABLE-XX
71-015531-XX
71-015531-XX
71-015531-XX
71-015531-XX
m
m
m
m
71-015871-XX
71-015871-XX
71-015870-XX
71-015870-XX
e,h,t
e,h,t,b
r,t
r,t,b
2
2
3
3
BE34XXR-NMSN
Compax2500S
34CX CABLE-XX
71-015531-XX
m
71-020104-XX
r,t
2
SM
16
B
23
Motor Cable
Feedback
Cable
Motor
Motor
Family
Motor
Cable
Includes
**
Feedback
Cable
Includes
**
Cable Set
(Consists of 1 Motor
Cable and 1
Feedback Cable)
BE
34
Custom Designed Servo Motors For Your Specific Application. Call 1-800-358-9070 Today.
89
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Motor Cable Table
SERVO MOTORS
Motor Cable Table, continued
Motor Cable
Motor
Cable
Includes
**
Feedback
Cable
Feedback
Cable
Includes
**
Length
-XX
70GS CABLE-XX
70GB CABLE-XX
70GR CABLE-XX
70GR CABLE-XX
71-018304-XX
71-018304-XX
71-018304-XX
71-018304-XX
m
m
m
m
71-018308-XX
71-018309-XX
71-018307-XX
71-018307-XX
e,h,t
e,h,t,b
r,t
r,t,b
2
2
3
3
miscellaneous
miscellaneous
SLVD5
SLVD5
70MS CABLE-XX
70MS CABLE-XX
70RS CABLE-XX
70RS CABLE-XX
71-015531-XX
71-015531-XX
71-015531-XX
71-015531-XX
m
m
m
m
71-015871-XX
71-015871-XX
71-015870-XX
71-015870-XX
e,h,t
e,h,t,b
r,t
r,t,b
2
2
3
3
N/J070XXR-NMSN
Compax2500S
70CX CABLE-XX
71-015531-XX
m
71-020104-XX
r,t
2
N/J070XXE-NTQN
N/J070XXE-NTQB
OEM770
OEM770
70TQ CABLE-XX
70TQ CABLE-XX
71-015017-XX
71-015017-XX
m,t,h
m,t,h
71-015886-XX
71-015886-XX
e
e,b
2
2
N/J092XXE-NGSN
N/J092XXE-NGSB
N/J092XXR-NGSN
N/J092XXR-NGSB
Gemini -UXXE
Gemini -UXXE
Gemini -UXXR
Gemini -UXXR
92GS CABLE-XX
92GB CABLE-XX
92GR CABLE-XX
92GR CABLE-XX
71-018305-XX
71-018305-XX
71-018305-XX
71-018305-XX
m
m
m
m
71-018308-XX
71-018309-XX
71-018307-XX
71-018307-XX
e,h,t
e,h,t,b
r,t
r,t,b
2
2
3
3
N/J092XXE-NMSN
N/J092XXE-NMSB
N/J092XXR-NMSN
N/J092XXR-NMSB
miscellaneous
miscellaneous
miscellaneous
miscellaneous
92MS CABLE-XX
92MS CABLE-XX
92RS CABLE-XX
92RS CABLE-XX
71-015532-XX
71-015532-XX
71-015532-XX
71-015532-XX
m
m
m
m
71-015871-XX
71-015871-XX
71-015870-XX
71-015870-XX
e,h,t
e,h,t,b
r,t
r,t,b
2
2
3
3
N/J092XXR-NMSN
Compax2500S
92CX CABLE-XX
71-015532-XX
m
71-020104-XX
r,t
2
M105XXJ-KMSN
M105XXR-KMSN
Gemini -HXXE
Gemini -HXXR
105GS CABLE-XX
105GR CABLE-XX
71-020105-XX
71-020105-XX
****
m
m
71-020117-XX
71-020621-XX
e,h,t
r,t
1
1
M105XXR-KMSN
HPD
105RS CABLE-XX
71-020105-XX
m
71-020645-XX
r,t
1
M105XXR-KMSN
Compax1500M
105CX CABLE-XX
Contact Factory
m
Contact Factory
r,t
1
M145XXJ-KMSN
M145XXR-KMSN
Gemini -HXXE
Gemini -HXXR
145GS CABLE-XX
145GR CABLE-XX
71-020114-XX
71-020114-XX
m
m
71-020117-XX
71-020621-XX
e,h,t
r,t
1
1
M145XXR-KMSN
HPD
145RS CABLE-XX
71-020114-XX
m
71-020645-XX
r,t
1
M145XXR-KMSN
Compax3500M
145CX CABLE-XX
Contact Factory
m
Contact Factory
r,t
1
M205XXJ-KMSN
M205XXR-KMSN
M205XXR-KPTN
Gemini -HXXE
Gemini -HXXR
Gemini -HXXR
205GS CABLE-XX
205GR CABLE-XX
205GRP CABLE-XX
71-020116-XX
71-020116-XX
71-020622-XX
m
m
m
71-020117-XX
71-020621-XX
71-020623-XX
e,h,t
r,t
r,t
1
1
1
M205XXR-KMSN
M205XXR-KPTN
HPD
HPD
205RS CABLE-XX
205RP CABLE-XX
71-020116-XX
71-020622-XX
m
m
71-020645-XX
71-020646-XX
r,t
r,t
1
1
M205XXR-KMSN
Compax3500M
205CX CABLE-XX
Contact Factory
m
Contact Factory
r,t
1
Amplifier*
Cable Set
(Consists of 1 Motor
Cable and 1
Feedback Cable)
NEO & J
70/34
N/J070XXE-NGSN
N/J070XXE-NGSB
N/J070XXR-NGSN
N/J070XXR-NGSB
Gemini -UXXE
Gemini -UXXE
Gemini -UXXR
Gemini -UXXR
N/J070XXE-NMSN
N/J070XXE-NMSB
N/J070XXR-NMSN
N/J070XXR-NMSB
Motor
Family
92
Motor
M
105
145
205
Key
m
t
e
h
r
b
motor phase wires
temperature switch
encoder signals
hall effect signals
resolver signals
brake wires
Notes
* Refer to applicable amplifier section of the catalog for specific motor/amplifier compatibility
** Only the signals used by the motor are shown, cable may contain additional unused signal wires
*** Size 16 BE motors do not contain temperature switches
**** All M series motor cables include brake wires
1 Cables and Cable Sets in this row are available in -10 & -25 foot lengths
2 Cables and Cable Sets in this row are available in -10, -25, & -35 foot lengths
3 Cables and Cable Sets in this row are available in -10, -25, -35 & -50 foot lengths
For Hi-Flex cables see motor cable table at www.compumotor.com
90
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Drive Selection
Drive/Controllers
Compumotor Drives
Need a little more control?
Compumotor offers a variety of digital drives in many input
and output power ranges. The drive families include the
Gemini GV, SLVD, HPD, OEM770 and Dynaserv G2. Refer to
the chart below to select the optimal drive for your application
requirements, or refer to each drive's particular section in the
catalog.
The GV, SLVD and HPD drive products offer the user basic
control capabilities: I/O, position presets and encoder
tracking; however, if your application requires additional
control capabiltiies, Compumotor offers a full range of drive/
controllers. For complete information on Compumotor's
drive/controller offering, please refer to the drive/controller
selection table on the next page.
Drive Selection
GV
SLVD
HPD
OEM770
Dynaserv G2
Motor Type
Brushless
Servo Motors
(SM, BE, Neo,
J & M)
Brushless
Servo Motors
(BE, Neo & J)
Brushless
Servo Motors
(M)
Brushless
Servo Motors
(SM & BE)
Direct-Drive
Dynaserv
Motors
(DM & DR)
Language Type
Mnemonic
command
language
(binary format)
Parameterbased
command
(ASCII format)
Parameterbased
command
(ASCII format)
NA
NA
Support Software
Motion Planner
SLVD Utility
HPD Utility
NA
G2 Utility
Robustness
Moderate for light
industrial
application
Moderate for light
industrial
application
High for industrial
application
Moderate for light
industrial
application
Moderate for light
industrial
application
Power Input
120 1 Phase
240 1 Phase
240 3 Phase
240 3 Phase
240 3 Phase
480 3 Phase
24 VDC
75 VDC
120 1 Phase
240 1 Phase
40W - 7.1kW
100W - 620W
2.5kW - 17kW
30W - 200W
NA
Encoder
standard
(resolver option)
Resolver
Resolver
Encoder
Dynaserv
feedback only
Windows CE
device
compatibility
Built-in menudriven display
Built-in menudriven display
NA
NA
3 Inputs
2 Outputs
2 or 4 inputs
2 Outputs
8 Inputs
7 Outputs
NA
NA
Position Presets
No
Yes
Yes
No
No
Following (Encoder
Tracking)
Yes
Yes
Yes
No
No
Internal PLC
No
Yes
Yes
No
No
Shaft Power
continuous @ 3000 RPM
Feedback Choices
Front Panel
Inputs/Outputs
92
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
Drive/Controllers
Drive/Controller Selection
Why Drive/Controllers?
Drive/Controller Selection
Drive/controllers offer a unique and efficient solution for single
axis or independent axis of motion. By combining the
controller and the drive into one package, packaging and
cabling can be eliminated, which translates into cost savings.
Drive/controllers come in a variety of types and styles that
allow many options of connection to the machine control
elements and allow varying amounts of control complexity.
Compumotor offers the most diverse and complete line of
servo drive/controllers in the industry. Based on the exact
needs of the application, Compumotor will recommend a
different model of drive/controller. The following table and key
decision points will help you decide the best product for your
application.
Drive/Controller Selection
Motor Type
Language
Type
Application
Complexity
Support
Software
GV6K
Brushless
Brushless
Servo Motors Servo Motors
(SM, BE, Neo, (SM, BE, Neo
J & M)
J & M)
Mnemonic
Mnemonic
command
command
language
language
(ASCII or binary (ASCII format)
format)
Moderate
High
COMPAX
SLVD
Brushless
Servo Motors
(SM, BE, Neo
J & M)
Brushless
Servo Motors
(BE, Neo & J)
Parameterbased
command
language
(ASCII format)
High
Motion Planner Motion Planner Servo Manager
HPD
Brushless
Servo Motors
(M)
ParameterParameterbased
based
command
command
language
language
(ASCII format) (ASCII format)
OEM770X
Brushless
Servo Motors
(SM & BE)
Dynaserv M2
Direct-Drive
Dynaserv
Motors
(DM &DR)
Mnemonic
command
language
(ASCII format)
Specialized
G code
(ASCII format)
Moderate
Low
Low
Moderate
SLVD Utility
HPD Utility
Xware
M2 Utility
Robustness
Moderate for light
industrial
application
Moderate for industrial
application
High for industrial
application
Moderate for light
industrial
application
High for industrial
application
Moderate for light
industrial
application
Moderate for light
industrial
application
Power Input
120 1 Phase
240 1 Phase
240 3 Phase
120 1 Phase
240 1 Phase
240 3 Phase
120 1 Phase
240 1 Phase
240 3 Phase
480 3 Phase
240 3 Phase
240 3 Phase
480 3 Phase
24 VDC
75 VDC
120 1 Phase
240 1 Phase
Shaft Power
continuous
@ 3000 RPM
40W - 7.1kW
40W - 7.1kW
118W - 17kW
(@1500 RPM)
30W - 200W
NA
Encoder
Dynaserv
feedback
only
NA
NA
RS232
DeviceNet
Profibus
Feedback
Choices
Front Panel
Supported
Fieldbuses
& Interfaces
Encoder
Encoder
standard
standard
(resolver option) (resolver option)
Windows CE device RP240 &
compatibility
MotionPanel
& MotionPanel
DeviceNet
Ethernet
Profibus
RS485, RS232
RS485, RS232
Resolver
standard
(SinCos +
Absolute option)
100W - 620W 2.5kW - 17kW
(@1500 RPM)
Resolver
Resolver
Parker Operator Built-in menu- Built-in menuPanel (POP)
driven display driven display
Profibus
InterbusRS485
CS31
RS232
CAN bus
CAN open
CAN
RS485
RS485
Find Your Local Factory Authorized Distributor at www.compumotor.com or Call 1-800-358-9070.
93
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
B
GV6
Catalog 8000-4/USA
Recommendations
Drive/Controllers
Key Decision Points and
Recommendations
Specialty Applications
All drive/controllers can solve simple point-to-point moves for
general motion control applications.
Language Type and Programming Style
Cam Control – COMPAX Servo Manager software allows
easy setup and designing of complex electronic cam motion.
Based on your background and training, you may have
different preferences for the style of programming you desire.
Engineers familiar with Ladder logic and PLC systems are
more comfortable with parameter-based products. These
products allow setting up of many parameters (e.g., velocity,
distance, modes) and then have only a few commands to
command motion. Engineers familiar with computer
programming are more comfortable with mnemonic
languages that have a specific command for each function or
setup parameter. Finally G codes are a well accepted
programming style adapted from CNC machining systems.
Ethernet Networking – The GV6K is one of the first drive/
controllers available with a standard Ethernet port. Combined
with Compumotor software, the GV6K provides high-speed,
flexible and low-cost connectivity to a wide variety of devices.
General following – The GV6K position-based following is
flexible and powerful and can handle advanced features such
as advance/retard and error correction without losing
synchronization.
Industry Robustness (Input Power,
Feedback and I/O)
Computer-Free Operation
The front panel on the HPD and the SLVD allows setup and
configuration of the drive controllers without the use of a
computer for editing.
For applications in industrial environments, Compumotor
recommends the COMPAX or HPD families. These drives
also contain 480 VAC input and I/O made to stand up in
industrial application. These products are also the most
economical and highest performance choices when a resolver
is desired as the primary motor feedback. All Compumotor
drive products are required to be mounted in a suitable
enclosure based on the environment.
Efficient solutions: Compumotor's line of drive/controllers
includes the COMPAX 1000SL (left), the HPD (above) and the
Gemini GV6K (right).
94
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
GV Servo Drives
GEMINI
The Gemini GV is a compact, low-cost, digital servo drive
available in six power levels for producing up to 40 Amps
continuous and 100 Amps peak current, or up to 29.4 kW of
peak power. The Gemini GV is easily configurable via RS232/
485 using Compumotor’s Motion PlannerTM on a PC or Pocket
Motion PlannerTM on a Window’s CETM-based palm PC. With
the available power levels, small package size, low cost, and
numerous drive features, the Gemini GV will be the obvious
choice for all of your low-to-mid power servo drive
applications.
Protection
•
•
•
•
•
•
•
Simplified Tuning/Configuration
Tuning and configuration are easy. They are accomplished via
RS232/485 with a PC or palm PC. Only the motor and some
basic load information must be known by the drive to determine baseline-tuning gains. These are simple parameter
entries the user can complete with the help of the front-end
software tools. Users also have the ability to override these
parameters for special application requirements.
•
Performance
•
•
•
•
•
•
•
Short-circuit protection – phase-to-phase and phase-toground
Inrush current protection
Drive over-voltage protection
Drive under-voltage (brownout) protection
Drive and motor over-temperature protection
Current-foldback protection
Regeneration protection
Physical
Features
•
B
The Gemini GV
Digital Servo Drive
•
Provides six power ranges for up to 11.8 kW of continuous power
Torque, velocity, step & direction and CW/CCW modes
Encoder tracking mode
Digital notch filters provide the tools to eliminate
mechanical resonance
Sinusoidal commutation with encoder or resolver feedback
Simplified tuning and configuration
Variable resolution for encoder signal output as well as the
command input
Wide range of PWM frequencies for linear motor support
•
A wide selection of brushless servo motors are available
from Compumotor including the SM, BE, NeoMetric, J
and M Series motors; a family of Linear Motors is also
available
Three input power ranges available: low – 120V, universal –
120/240V, and high – 240V
Diagnostic LEDs for drive status, firmware download, and
optional keep alive mode
Gemini Family Features
•
•
•
•
24V Keep Alive (not required) – keeps logic alive if AC
power is removed
Error Log – records 10 most recent errors with time stamp
Approvals: UL Recognition, cUL, CE (LVD), and CE (EMC)
Configurable via RS232/485 using Compumotor’s Motion
PlannerTM on a PC or Pocket Motion PlannerTM on a
Windows CETM-based Palm PC
See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers.
95
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
GV6
The Gemini GV6
Digital Servo Drive
with Basic Controller
Compumotor's Gemini GV6 is a compact, low-cost, digital
servo drive/controller. In addition to all of the drive features of
the Gemini GV, the GV6 incorporates basic motion control and
programming capabilities, allowing solutions for many distributed control applications. The Gemini GV6 is easily configured/
programmed via RS232/485 using Compumotor’s Motion
PlannerTM on a PC or Pocket Motion PlannerTM on a Windows
CETM-based Palm PC. The Gemini GV6 also offers connectivity
to several field buses including Profibus and DeviceNet.
Protection, continued
•
•
•
•
Physical
•
Features
Performance
•
•
•
•
•
•
•
•
•
•
Incorporates all of the powerful features of the Gemini
GV digital servo drive
Provides six power ranges for up to 11.8 kW of continuous
power
Stand-alone servo controller and drive in one small
package
Full ASCII communications capability
Control features such as registration, motion profiles,
S-curve velocity profiling and conditional statements
Program storage: Up to 32 programs or 190 lines of
program code
Daisy chain up to 99 units
Simplified configuration and tuning
8 programmable inputs and 6 programmable outputs
Wide range of PWM frequencies for linear motor support
•
•
•
•
A wide selection of brushless servo motors are available
from Compumotor including the SM Series, NeoMetric, J
Series and M Series motors; a family of Linear Motors is
also available
Three input power ranges available: low – 120V, universal –
120/240V, and high – 240V
Diagnostic LEDs for drive status, firmware download, and
keep alive mode
Connectivity
•
•
•
RS232/485 serial communications (ASCII)
Profibus DP (optional)
DeviceNet (optional)
Gemini Family Features
•
•
•
•
Protection
•
Drive under-voltage (brownout) protection
Drive and motor over-temperature protection
Current-foldback protection
Regeneration protection
Short-circuit protection – phase-to-phase and phase-toground
Inrush current protection
Drive over-voltage protection
24V Keep Alive (not required) – keeps logic alive if AC
power is removed
Error Log—records 10 most recent errors with time stamp
Approvals: UL Recognition, cUL, CE (LVD), and CE (EMC)
Configurable/Programmable via RS232/485 using
Compumotor’s Motion PlannerTM on a PC or Pocket Motion
PlannerTM on a Windows CETM-based Palm PC
When can I take advantage of a low-cost stepper motor? Applications with . . .
✓
✓
✓
✓
✓
Predictable loads
High stiffness at rest required
High accuracy, resolution and reliability required
96
Automation
Continuous power needs
Speed less than 50 rps
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GV6K
GEMINI
Compumotor's Gemini GV6K is the most powerful addition to
the Gemini servo family lineup. This full-feature, standalone
drive/controller offers a complete motion control solution in one
economical, compact package. The GV6K comes complete
with the same features, connectivity and front-end software
tools as the Gemini GV and Gemini GV6. In addition to offering
many of the drive features of the Gemini GV and control
features of the Gemini GV6, the GV6K incorporates the
flexibility and control functionality of Compumotor's 6K
Controller to allow highly advanced motion control and
sequencing capabilities for unrivaled flexibility in many distributed-control applications. The GV6K is easily configured/
programmed via RS232/485 using Compumotor’s Windowsbased Motion PlannerTM software package. The GV6K also
offers connectivity to any ASCII-based serial device, including
HMI panels and PLC ASCII modules. Products such as OPTO
22TM Snap I/O, DVTTM Vision Systems and ABTM SLC 5/05 PLC
platforms can also be used for data chaining using the GV6K's
Ethernet Client feature.
Protection
•
•
•
•
•
•
•
Physical
•
Features
•
Performance
•
•
•
•
•
•
•
Short-circuit protection – phase-to-phase and phase-toground
Inrush current protection
Drive over-voltage protection
Drive under-voltage (brownout) protection
Drive and motor over-temperature protection
Current-foldback protection
Regeneration protection
•
Combines the powerful features of the 6K Controller with
the Gemini GV digital servo drive for a complete standalone servo solution in one small package
Six power ranges for up to 11.8 kW of continuous power
Full ASCII communication capability
Control features such as following, registration,
multitasking, PLC scan, electronic cam profiling, S-curve
profiling, scaling, high-level math functionality and more
Program storage: 300KB standard (battery backed)
Daisy chaining of up to 99 units
Simplified configuration and tuning
Compatible with a wide selection of brushless servo
motors, such as the Compumotor SM, BE, NeoMetric, J
and M Series motors
Supports linear servo motors, such as the Compumotor
LXR and SL motor series
Three input power ranges available: low – 120VAC,
universal – 120/240VAC, and high – 240VAC
Gemini Family Features
•
•
•
•
•
•
24VDC Keep Alive Circuit (24VDC supply required) –
powers the controller section independent of AC power
and maintains vital position and controller information
Error Log – records 10 most recent errors with time stamp
Wide range of PWM frequencies for linear motor support
Approvals: UL Recognition, cUL, CE (LVD), and CE (EMC)
Diagnostic LEDs for drive status, firmware, download and
24VDC control power active
Configurable/Programmable via RS232/485 or Ethernet
using Compumotor’s Motion PlannerTM
Gemini Offers Greater Flexibility and More Reliability Than Ever Before. Call 1-800-358-9070 Today.
97
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
The Gemini GV6K Digital
Servo Drive with FullFeature Controller
Catalog 8000-4/USA
GEMINI
Gemini Features
Connectivity
I/O Capabilities
•
•
•
•
•
•
•
Two serial communication ports: one RS232 port (3 wire)
and one RS232/RS485 port (4 wire)
Ethernet communication port (10 Base-T, 10 Mbps twisted
pair)
Imbedded Ethernet Client – provides up to six client
connections to the following devices: ABTM SLC 5/05 PLC,
OPTO 22 SNAPTM I/O or DVTTM vision camera system
Peer-to-peer data chain – allows direct Ethernet connectivity with up to 8 Gem6K or 6K devices for distributed
control
Master encoder port – allows for following from an external
feedback signal
Expandable I/O (up to 256 additional discrete I/O points,
and/or 192 Ethernet I/O points)
•
•
•
•
•
•
•
Software and Standard Control Features
•
•
•
•
•
•
•
•
Complete position-based following and electronic cam
profiling
Compiled motion functionality
Multitasking (up to 10 individual programs simultaneously)
PLC scan mode
Floating point, integer and binary variables with high-level
math functionality
Full scaling functionality
Comprehensive program monitoring, status and diagnostic
features
Full-feature 6K language command set
Compatibility with platforms such as VisualBasicTM, Visual
C++TM and NI LabVIEWTM
Servo
Gemini Family Summary
GV
GV6
Stepper
GV6K
GT
GT6
GT6K
CE, UL Recognition
GEMINI FAMILY FEATURES
•
Onboard I/O: 8 digital inputs (3 programmable limits, 5
programmable), 6 digital outputs, 1 analog input, 2 D/A
monitor outputs, 1 relay output
Software selectable onboard input/output functionality
Expandable serial I/O of up to 256 additional discrete
digital I/O points, 64 analog I/O points or a combination of
both digtial and analog points
Expandable Ethernet I/O of up to 192 additional digital or
analog I/O points using Ethernet Client with OPTO 22
SNAPTM I/O modules
Registration input capability
Software selectable I/O high/low active level
5-24VDC selectable input reference voltage
Inputs: selectable as sinking or sourcing; outputs: open
collector (sinking)
RS232/485
Encoderless
Encoderless Stall Detect
Ethernet
Ether
Profibus
Profib
DeviceNet
DeviceNet
± 10V Command Input
Step/Direction, CW/CCW Command Input
Encoder Signal Input
Onboard I/O
Expandable I/O
Expandab
Registr
Registration
System Status & Diagnostics
Scaling
Variables
wing
Following
Multitasking
Compiled Motion
Full Functionality
Limited Functionality
98
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GV/GV6 Common Specifications
GEMINI
GV/GV6 Common Specifications
Specifications
GV (GV6)-L3
GV (GV6)-U3
GV (GV6)-U6
GV (GV6)-U12
GV (GV6)-H20
GV (GV6)-H40
95-132VAC
1Ø
50/60 Hz
24 VDC +/- 20%
@ x Amps max
95-265VAC
1Ø
50/60 Hz
24 VDC +/- 20%
95-265 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
95-265 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
208-265 VAC
1 or 3Ø
50/60 Hz
24 VDC +/- 20%
208-265 VAC
3Ø
50/60 Hz
24 VDC +/- 20%
170 VDC
40 kHz
3 Amps
0.44 kW
7.5 Amps
1.1 kW
Sinusoidal
170/340 VDC
8 kHz
3 Amps
0.88 kW
7.5 Amps
2.2 kW
Sinusoidal
Drive Input Power
Voltage
Phase
Frequency
24V Keep Alive (Optional)
Drive Output Power
Bus Voltage
PWM**
Continuous Current *
Continuous Power
Peak Current*
Peak Power
Commutation
Performance
Servo Update
Accuracy
70/340 VDC
170/340 VDC
295/340 VDC
295/340 VDC
8, 16, 20 KhZ User selectable (current deration applies )
6 Amps
12 Amps
20 Amps
40 Amps
1.75 kW
3.5 kW
5.9 kW
11.8 kW
15 Amps
30 Amps
50 Amps
100 Amps
4.4 kW
8.75 kW
14.7 kW
29.4 kW
Sinusoidal
Sinusoidal
Sinusoidal
Sinusoidal
50 micro secondsm
Solid lines represent 240VAC operation, continuous and peak. Dashed lines represent performance using
120VACinput. Speed/torque curves may vary +/- 10%. +/- 0.5 arc min (0.0833°), encoder dependent.
Command Inputs – GV
Velocity and Torque Mode
Position Mode
12 bit, +/- 10 V
Step & Direction/CW & CCW/Encoder Tracking
Inputs – GV
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
8 MHz Post Quadrature
B
Enable, Reset
Neg/Pos Limits
User Fault
Encoder
Inputs – GV6
8 Programmable
Enable, Reset
Encoder
Analog Input
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
8 MHz Post Quadrature M
12 bit, +/- 10 VDC input voltage (1 ms update)
Outputs – GV
Fault, At Limit
Position Error
Analog Monitors
Encoder
Relay
Open collector, 300mA sink capability
Open collector, 300mA sink capability
+/- 10 V scalable, 8 bit (not to be used as control functions)
Programmable up to 1,024,000 counts/rev post quadrature
Normally open, dry contact
Outputs – GV6
6 Programmable
Analog Monitors
Encoder
Relay
Open collector, 300mA sink capabilities
+/- 10 V scalable, 8 bit (not to be used as control functions)
Programmable up to 1,024,000 counts/rev post quadrature
Normally open, dry contact
Communications
Type
Baud Rate
Daisy Chain – GV6
Fieldbus (GV6)
RS232/ RS485 (4-wire), ASCII or 8 bit binary protocol
Fixed at 9600
Up to 99
Profibus (optional), DeviceNet (optional)
Environmental
Temperature
Humidity
Shock/Vibration
Still air: 113°F (45°C), moving air: 122°F (50°C)
0-95%, non-condensing
Shock:15G half-sine @ 11 msec/vibration: 2G, 10-2000 Hz
Protection
Short Circuit
Brownout
Over Temperature
Phase-to-phase, phase-to-ground
AC drops below 85 VAC
Shutdown fault at 131°F (55°C)
Standards
Physical
UL, cUL, CE (LVD), CE ( EMC)
Compumotor Motors
Non-Compumotor Motors
Connectors
Serial
Motor and Power
Command and I/O
Feedback
+24VDC/Relay
Gemini
Offers Greater
SM Series, BE Series, NeoMetric Series, J Series, M Series, and Linear Motors
Please refer to the GV and GV6 Hardware Installation Guide
* Peak of sine wave
** Motor ripple frequency
is rated at twice the
PWM value for a given
drive
9-pin D-shell (male)
Barrier screw terminal
50-pin High density Amp Champ - .050 Series II (with screw attachment)
26-pin High density Amp Champ - .050 Series II (with screw attachment)
4-pin removable
terminal
block
Flexibility
and More
Reliability
Than Ever Before. Call 1-800-358-9070
99
Automation
Today.
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
GV6K Common Specifications
GV6K Common Specifications
Specifications
GV6K-L3
GV6K-U3
GV6K-U6
GV6K-U12
GV6K-H20
GV6K-H40
95-132VAC
1Ø
50/60 Hz
24 VDC +/- 20%
95-265VAC
1Ø
50/60 Hz
24 VDC +/- 20%
95-265 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
95-265 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
208-265 VAC
1Ø or 3Ø
50/60 Hz
24 VDC +/- 20%
208-265 VAC
3Ø
50/60 Hz
24 VDC +/- 20%
170 VDC
40 kHz
3 Amps
0.44 kW
7.5 Amps
1.1 kW
Sinusoidal
170/340 VDC
8 kHz
3 Amps
0.88 kW
7.5 Amps
2.2 kW
Sinusoidal
Drive Input Power
Voltage
Phase
Frequency
24V Keep Alive (Required)
Drive Output Power
Bus Voltage
PWM**
Continuous Current *
Continuous Power
Peak Current*
Peak Power
Commutation
Performance
Servo Update
Accuracy
70/340 VDC
170/340 VDC
295/340 VDC
295/340 VDC
8, 16, 20 KhZ User selectable (current deration applies )
6 Amps
12 Amps
20 Amps
40 Amps
1.75 kW
3.5 kW
5.9 kW
11.8 kW
15 Amps
30 Amps
50 Amps
100 Amps
4.4 kW
8.75 kW
14.7 kW
29.4 kW
Sinusoidal
Sinusoidal
Sinusoidal
Sinusoidal
50 micro secondsm
Solid lines represent 240VAC operation, continuous and peak. Dashed lines represent performance using
120VACinput. Speed/torque curves may vary +/- 10%. +/- 0.5 arc min (0.0833°), encoder dependent.
Inputs – Onboard
8 Programmable
1 Analog
Enable, Reset
Encoder
Inputs – Expansion
(Optional)
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
12-bit, +/- 10 VDC input voltage (2 ms update)
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
8 MHz Post Quadrature MHz
Up to 256 additional digital inputs (2ms update)
Up to 64 additional 12-bit analog inputs (+/- 10 VDC)
Up to 192 analog or digital Ethernet inputs via Ethernet Client and OPTO22™ SNAP I/0 Module
Outputs – Onboard
6 Progammable
2 Analog Monitors
Encoder / Resolver
Relay
Outputs – Expansion
(Optional)
Open collector, 300mA sink capability
+/- 10 V scalable, 8 bit (not to be used as control functions)
Programmable up to 1,024,000 counts/rev post quadrature
Normally open, dry contact
Up to 256 additional digital outputs (2ms update)
Up to 64 additional 12-bit analog outputs (+/- 10 VDC)
Up to 192 analog or digital Ethernet outputs via Ethernet Client and OPTO22™ SNAP I/0 Module
Communications
Type
Baud Rate
Daisy Chain
Ethernet
Protocols supported
Serial: RS232/ RS485 (4-wire), ASCII
Selectable up to 115200
Up to 99
10 Base-T (10 Mbps twisted pair)
TCP/IP and UDP, ModBus/TCP, AB Ethernet and ASCII over Ethernet
Environmental
Temperature
Humidity
Shock/Vibration
Still air: 113°F (45°C), moving air: 122°F (50°C)
0-95%, non-condensing
Shock:15G half-sine @ 11 msec/ vibration: 2G, 10-2000 Hz
Protection
Short Circuit
Brownout
Over Temperature
Standards
Physical
Phase-to-phase, phase-to-ground
AC drops below 85 VAC
Shutdown fault at 131°F (55°C)
UL, cUL, CE (LVD), CE ( EMC)
Compumotor Motors
Non-Compumotor Motors
Connectors
Serial (Com1 & Com2)
Ethernet
Motor and Power
Command, Onboard I/O
Feedback
Master Encoder
Expandable I/O
+24VDC/Relay
SM Series, BE Series, NeoMetric Series, J Series, M Series, and Linear Motors
Please refer to the GV and GV6 Hardware Installation Guide
9-pin D-shell (male)
RJ45 connector for 10 Base-T
Barrier screw terminal
50-pin High density Amp Champ - .050 Series II (with screw attachment)
26-pin High density Amp Champ - .050 Series II (with screw attachment)
9-pin D shell (female)
15-pin D shell (female)
4-pin removable terminal block
100
Automation
* Peak of sine wave
** Motor ripple frequency
is rated at twice the
PWM value for a given
drive
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
GV/GV6 Connections
Gemini GV/GV6 Connections and LEDs
LEDs
RS232/485
• 9 pin D-connector
RS-485 Connections
Rx+
Tx+ Gnd
(RD B)
(TD B)
1
2
3
4
5
6
7
8
9
Green/Red Yellow/Green
RS-232 Connections
Rx Tx
Gnd
1
Male
Pins
2
3
4
5
6
7
8
9
LED Color:
Left
Off
Red (flash)
Green (flash)
Red
Green
Green
Red
Right
Yellow
Off
Yellow (flash)
Grn
Grn (flash)
Yellow/Green (flash)
Off
Green
Off
Indicated State*
Initialization
Awaiting flash download
Programming flash memory
Keep alive mode
Incoming steps (variable rate)
Autorun mode
Drive not enabled
Drive faulted
Drive ready
Rx- Tx(RD A) (TD A)
GV & GV6 -Drive
Inputs/Outputs
RS-232/485
• 50-pin .050 Series II
AMP CHAMP
24VDC/Relay (Optional)
• + 24VDC - provides logic keep alive to the drive
• Relay – 5A at 24 VDC or 120 VAC
• Relay opens when drive is disabled/faulted
Gemini GV
+24V DC
24V RTN
RELAY COM
SERVO
RELAY COM
Compumotor Cable
Color Code:
Black #1
WARNING: Hazardous voltage may exist for up to
30 seconds after power is removed.
VBUS+
VBUS–
L2/N
L1
DRIVE
U
Black #2
V
Black #3
W
W
MOTOR FEEDBACK
Terminals: #8 (M4)
Mating Terminals: spade fork, 0.325” max width
V
DRIVE I/O
Motor Output Connections
MOTOR
U
RELAY N.O.
•
•
reserved
reserved
reserved
Output Ground
Output 4
Output 3
Output Ground
Output 2
Output Ground
reserved
Input Ground
reserved
reserved
reserved
Input Ground
reserved
reserved
reserved
Input Ground
Input 3
Input Ground
Input 2
Input 1
CNTRL-P
VINref
COMPUMOTOR
24V RTN
50
49
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Analog Ground
–10V Cmd
–10V Cmd+
Analog Output B
Analog Output A
Digital Ground
Encoder Out Z—
Encoder Out Z+
Encoder Out B—
Encoder Out B+
Encoder Out A—
Encoder Out A+
Reserved
Reserved
Dir-/CCW-/BX—
Dir+/CW+/BX+
Step-/CCW-/AX—
Step+/CW+/AX+
Digital Ground
Digital Ground
Encoder +5V
Encoder +5V
Reset
Digital Ground
Enable
GV-U3/6/12
Gemini GV6
Grn/Yel
Motor Feedback
Connector
Motor Cable
• 26-pin .050 Series II AMP
CHAMP
AC Input Connections
• Terminals: #8 (M4)
• Mating Terminals: spade fork, 0.325” max width
Fuses
Fuses
L3
L2
165 — 264VAC,
1-phase
L1
L3
165VAC —
264VAC
3-phase
L2
L1
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Hall C
Hall B
Hall A
Hall Ground
Hall +5V
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Thermal Switch
Thermal Switch
Digital Ground
Encoder Z–
Encoder Z+
Encoder B–
Encoder B+
Encoder A–
Encoder A+
Encoder Ground
Encoder Ground
Encoder +5V
Encoder +5V
Output Ground
Output 6
Output 5
Output Ground
Output 4
Output 3
Output Ground
Output 2
Output Ground
Output 1
Input Ground
Input 8
Input 7
Input 6
Input Ground
Input 5
Input 4
Pullup-Inputs 4,5,6,7
Input Ground
Input 3
Input Ground
Input 2
Input 1
Pullup-Inputs 1,2,3
VINref
50
49
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Analog Ground
±10V Input—
±10V Input+
Analog Output B
Analog Output A
Digital Ground
Encoder Out Z–
Encoder Out Z+
Encoder Out B–
Encoder Out B+
Encoder Out A–
Encoder Out A+
Reserved
Reserved
Dir-/CCW-/BX–
Dir+/CW+/BX+
Step-/CCW-/AX–
Step+/CW+/AX+
Digital Ground
Digital Ground
Encoder +5V
Encoder +5V
Reset
Digital Ground
Enable
*Please Consult the User Guide for
Proper Fuse Selection
GV6K-H20n at 208/
240VAC 1-phase
GV6K-H20n/H40n at
208/240VAC 3-phase
See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers.
101
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
RELAY N.O.
+24V DC
Catalog 8000-4/USA
GEMINI
GV6 Fieldbus Specification
Gemini GV6 with Profibus Option
Profibus LED Indicators
LED
Steady Flash Function
Status
-Off
Green
Off
Red
Off
-FBS bit #4= 0
FBS bit #4= 1
FBS bit #4= 1
FBS bit #4= 0
--
GV6
FB1
FB2
FB3
FB4
--
Not used
Module is not online
Module is online
Module is not offline
Module is offline
No diagnostics present
1 flash/second - FBSIZE setting does not
match network configuration
4 flashes/second - hardware failure
Red
Red
Gemini
Servo
---
Profibus connector
Profibus Connector Pin Out
Pin
Housing
1
2
3
4
5
6
7
8
9
Termination switch
Name
Function
Shield
Not connected
Not connected
B-Line
RTS
GND BUS
+5V BUS
Not connected
A-Line
Not connected
Protective earth
--Positive Rx/TxD
Request to send*
Isolated GND*
Isolated +5V*
-Negative Rx/TxD
--
Hardware address settings
LEDs
Profibus Baud Rate
The GV6 will automatically detect the baud rate of the Profibus network. For a
complete list of supported baud rates, see the CMTRØ9ØE.GSD file, which
accompanies the Gemini product.
Gemini GV6 with DeviceNet Option
DeviceNet LED Indicators
LED Steady Flash Function
Status
FB1
FB2
--FBS bit #4= 1
FBS bit #5= 1
FBS bit #6= 1
FBS bit #7= 1
-FBS bit #8= 1
FBS bit #9= 1
FBS bit #10= 1
FBS bit #11= 1
--
-Off
Green
Red
--
Green
Red
FB3
Off
Green
Red
FB4
--
Green
Red
--
Not used
Not powered/not online
Network link is OK
Network critical link failure
1 flash/second - network link not connected
1 flash/second - network connection timeout
No power
Module device operational
Unrecoverable fault
1 flash/second - module in standby
1 flash/second - module minor fault
Not used
DeviceNet connector
Hardware address settings
DeviceNet Connector Pin Out
Pin
Name
Function
1
2
3
4
5
VCAN_L
SHIELD
CAN_H
V+
DC Return
CANBUS LOW
Protective earth
CANBUS HIGH
+24 VDC Power*
LEDs
* 30mA in standby and 100mA in rush
DeviceNet Baud Rate
To configure baud rate via hardware, dip switches are provided to set a baud rate
of 125, 250 or 500kb. Setting the dip switches to 0xFF (all ON) enables software
configuration of baud rate.
Baud rate (Bit/sec)
125k
250k
500k
Reserved
BD1
OFF
OFF
ON
ON
BD2
The Profibus or DeviceNet
User Guide
for complete specifications
OFF
ON
OFF
ON
102
Automation
See Also:
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
GV6K Specifications
RS-232 Connector – COM2 – Port 2
RS-232/485 Connector – COM1 – Port 1
Connect an RP240, or use this port for RS-232.
Download OS through this port only.
Ethernet and COM2 can both be active at the same time.
To configure drive parameters, connect a PC to this port.
Use Motion Planner for drive configuration.
Enabling Ethernet will disable the COM1 port.
RS-485 Connections
Rx+
Tx+ Gnd
(RD B)
(TD B)
1
2
3
4
5
6
7
8
9
RS-232 Connections
Rx Tx
Gnd
1
Male
Pins
2
3
4
5
6
7
8
9
GV6K
Digital Controller/Drive
RS-232 Connections
Rx Tx
Gnd
1
2
3
6
7
4
5
8
9
Male
Pins
+5VDC
Rx- Tx(RD A) (TD A)
GV6K
RS-232/485
RS-232
+24VDC/Relay Connector
Required +24VDC input.
19.2 — 28.8 VDC,
500 mA maximum.
Gemini
Servo
Expansion I/O Connector
Connect as many as eight EVM32-II I/O modules in series,
for up to 256 additional I/O points.
24V RTN
RELAY COM
24V RTN
RELAY N.O.
Relay rating: 5A at 24VDC or RELAY COM
120VAC.
RELAY N.O.
SERVO
VBUS–
L2/N
L1
GV-U3/6/12
Grn/Yel
Motor Cable
Output Ground 50
Output 6 49
Output 5 48
Output Ground 47
Output 4 46
Output 3 45
Output Ground 44
Output 2 43
Output Ground 42
Output 1 41
Input/Limit Ground 40
Input 3 39
(Trig B) Input 2 38
(Trig A) Input 1 37
Input/Limit Ground 36
(Master Trig) Input 5 35
Input 4 34
CNTRL-P: Inputs 1 — 5 33
Input/Limit Ground 32
(Home) Limit 3 31
Input/Limit Ground 30
(Neg) Limit 2 29
(Pos) Limit 1 28
CNTRL-P: Lim 1 — 3 27
VINref 26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Analog Ground
Analog Input—
Analog Input+
Analog Output B
Analog Output A
Digital Ground
Enc Out Z—
Enc Out Z+
Enc Out B— /Dir— Out
Enc Out B+ /Dir+ Out
Enc Out A— /Step— Ou
Enc Out A+ /Step+ Out
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Digital Ground
Digital Ground
Reserved
Reserved
Reset
Digital Ground
Enable
GV6K
AC Input Connections
Fuses
Fuses
Fuses
Fuses
N/C
L3
VBUS–
L2
L2/N
N
95 — 132VAC
95 — 264VAC
L1
L1
GV6K-L3n
at 120VAC
GV6K-U3n/6n/12n
at 120/240VAC
L3
165VAC —
264VAC
3-phase
165 — 264VAC,
1-phase
L1
GV6K-H20n at 208/
240VAC 1-phase
Environmental Specifications
Operating Temperature
Storage Temperature:
Humidity:
Still Air:
45¡C (113¡F)
Moving Air: 50¡C (122¡F)
-40¡C — 85¡C(-40¡F — 185¡F)
0 — 95%, non-condensing
L2
L1
GV6K-H20n/H40n at
208/240VAC 3-phase
Protective Circuits
Short Circuit Protection
Inrush Current Protection
Drive Overtemperature Protection
Motor Overtemperature Protection
Undervoltage Protection
Overvoltage Protection
Current Foldback
Regeneration Protection
LEDs
Green/Red Yellow/Green
LED Color:
Left
Red
Red
Grn
Grn
Red
Right
Grn
Yel
Grn (flash)
Yel/Grn (flash)
Off
Off
Grn
Yel
Off
26 Pin MOTOR FEEDBACK Connector
Indicated State
+24VDC only
AC only
Motion in progress
Autorun mode
Drive not enabled; or
Drive faulted
Initializing
Drive ready
Cos— 26
Cos+ 25
Sin— 24
Sin+ 23
Reserved 22
Reserved 21
Ref 1— 20
Ref 1+ 19
Hall C 18
Hall B 17
Hall A 16
Hall Ground 15
Hall +5V 14
13
12
11
10
9
8
7
6
5
4
3
2
1
Thermal Switch
Thermal Switch
Digital Ground
Encoder Z—
Encoder Z+
Encoder B—
Encoder B+
Encoder A—
Encoder A+
Encoder Ground
Encoder Ground
Encoder +5V
Encoder +5V
Ethernet Connector
RJ-45 connector for 10Base-T (10Mbps twisted pair) TCP/IP
protocol. Default address is 192.168.10.30. Green LED on =
Connection OK; Amber LED on = Transmitting
Master Encoder Connector
Connect an encoder for Following. Not for servo feedback or
stepper stall detect.
See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers.
103
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
MOTOR
VBUS+
MASTER ENCODER
W
ETHERNET
Black #3
W
MOTOR FEEDBACK
Compumotor DRIVE
Servo Cable
Color Code:
U
Black #1
V
DRIVE I/O
WARNING: Hazardous voltage may exist for up to
30 seconds after power is removed.
U
Motor Output Connections
Black #2
50 Pin DRIVE I/O Connector
COMPUMOTOR
If drive is faulted or disabled,
relay will open. (Typical use:
control of motor brake.)
V
EXPANSION I/O
+24V DC
+24V DC
When drive is enabled, it
holds relay closed.
Catalog 8000-4/USA
GEMINI
Gemini Dimensions
Gemini Dimensional Drawings
GV/GV6 Dimensions in inches (mm)
W
2.75
(70)
3x clearance
for #8 or M4
mounting screws
1.38
(35)
FH
6.00
(153.0)
5.40
(138.0)
Power
Level
8.0
(203.2)
7.75
(196.9)
7.0
(177.8)
W
Width
IN (mm)
FH
FIN Height
IN (mm)
L3
3.13 (79.4)
0.38 (9.5)
U3
3.13 (79.4)
0.38 (9.5)
U6
3.75 (95.3)
1.00 (25.4)
U12
3.75 (95.3)
1.00 (25.4)
H20
5.00 (127)
2.25 (57.2)
H40
5.00 (127)
2.25 (57.2)
GPDM
2.75 (70.0)
0.00 (0.0)
1.00
(25.4 )
0.88
(22.2)
GV6K/GV6-PB/GV6-DN Dimensions in inches (mm)
OW
3.50
(88.9)
FH
6.0
(153.0)
Power
Level
OW
Overall Width
IN (mm)
FH
Fin Height
IN (mm)
L3
3.88 (98.6)
0.38 (9.5)
8.0 (203.2)
6.0 (153.0)
U3
3.88 (98.6)
0.38 (9.5)
8.0 (203.2)
6.0 (153.0)
U6
4.50 (114.3)
1.00 (25.4)
8.0 (203.2)
6.0 (153.0)
U12
4.50 (114.3)
1.00 (25.4)
8.0 (203.2)
6.0 (153.0)
H20
5.75 (146.1)
2.25 (57.2)
9.9 (251.5)
6.0 (153.0)
H40
5.69 (144.6)
N/A
12.5 (317.5)
8.49 (215.7)
3x clearance
for #8 or M4
mounting screws
1.38
(35)
OL
Overall Length
IN (mm)
OH
Overall Height
IN (mm)
5.40
(138.0)
8.0
(203.2)
104
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
Ordering Information
Gemini Ordering Nomenclature
GV
-
-
Control Level:
Blank - drive only
6 - basic drive/controller
6K - full-feature drive/
controller
Option:
PB (Profibus - GV6 only)
DN (DeviceNet - GV6 only)
(blank) no fieldbus
Feedback:
E - Encoder
R - Resolver
Maximum
Current
(Apk)
Bus
Voltage
(VDC)
Continuous
Current
(Apk)
120
170
3
7.5
120/240 1 ø
170/340
3
7.5
120/240 1 ø
170/340
6
15
120/240 1 ø
170/340
12
30
208/240 1 or 3 ø
295/340
20
50
208/240 3 ø
295/340
40
100
Compatible Servo Motors
•
•
•
•
•
SM Series (in 16 and 23 frame sizes)
BE Series (in 16, 23 and 34 frame sizes)
NeoMetric Series (in 34, 70mm and 92 frame sizes)
J Series (in 34, 70mm and 92 frame sizes)
M Series (in 105mm - 205mm frame sizes)
Motor Cabling Options
•
•
•
•
CE(LVD & EMC) compliant MS connector option
Flying lead option (with GFB-Kit)
10' cable option (with GFB-Kit)
C1 quick connection option (Coming Soon)
See Also:
The Gemini Family of
Digital Stepper Drive
Products in the
Stepper Section
See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers.
105
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Input
Voltage
(VAC)
L3
U3
Servo
U6
Power Levels U12
H20
H40
(Example: GV6K-U6E)
Catalog 8000-4/USA
GEMINI
Ordering Information
Cables and Accessories
Gemini to
6K Controller
(GV only)
Part Number
Product Description
71-016966-10
71-016987-10
71-018183-10
71-019862-04
71-019863-04
Gemini to 6K Step & Direction command cable, 10', CE(LVD&EMC) (position mode)
Gemini to 6K Analog command cable, 10', CE(LVD&EMC) (torque or velocity mode)
Gemini to 6K Step & Dir or Analog command cable, 10', CE(LVD&EMC) (all modes)
Gemini to 6K Step & Direction command cable, 4', (non CE) (position mode)
Gemini to 6K Step & Dir or Analog command cable, 4', (non-CE) (all modes)
50-Pin
High Density
(Entire Family)
Part Number
Product Description
GEM-VM50
71-016943-10
71-019861-04
71-019861-10
GC-50
GC-SDA
Gemini 50-pin screw terminal breakout board with 3' cable
10' cable, 50-pin high density to flying leads, CE(LVD&EMC)
4' cable, Gemini 50-pin high density to flying leads (non-CE)
10' cable, Gemini 50-pin high density to flying leads (non-CE)
50-pin Gemini connector with terminal strips
Gemini connector with 11-pin terminal strips (drive commands only)
26-Pin
HighDensity
(Entire Family)
Part Number
Product Description
GC-26
GFB-KIT
Gemini connector with 26-pin terminal strips
26-pin Gemini connector kit
Additional
Accessories
(Entire Family)
Part Number
Product Description
71-016939-10
GPDM
10' cable, RS232/485 null modem, CE(LVD&EMC)
Gemini Power Dissipation Module
106
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
Cables
Selecting a Servo Motor and Cables
The following cable sets are recommended when combining the shown Gemini GV, GV6 and GV6K
power levels with the following Compumotor servo motors.
L3E
L3R
U3E
U3R
U6E
U6R
U12E
Cable Sets
BE161CJ-NMSN
BE162CJ-NMSN
BE163CJ-NMSN
BE162CJ-NMSN
SM161AE-NGSN
SM162AE-NGSN
SM231AE-NGSN
SM232AE-NGSN
BE-GS CABLE-nn
SM231AR-NMSN
SM232AR-NMSN
SM233AR-NMSN
23GR CABLE-nn
BE161CJ-NMSN
BE162CJ-NMSN
BE163CJ-NMSN
BE164CJ-NMSN
BE230CJ-NMSN
BE231DJ-NMSN
BE232DJ-NMSN
BE233DJ-NMSN
BE-GS CABLE-nn
Power Level Motor
U12R
23GS CABLE-nn
H20E
BE-GS CABLE-nn
BE230DR-NMSN
BE231DR-NMSN
BE232DR-NMSN
BE-GR CABLE-nn
BE232FJ-NMSN
BE233FJ-NMSN
BE341FJ-NMSN
BE342FJ-NMSN
N/J0701DE-NMSN
N/J0702EE-NMSN
N/J0703FE-NMSN
N0704FE-NMSN
BE-GS CABLE-nn
H20R
70GS CABLE-nn
BE232FR-NMSN
BE233FR-NMSN
BE341FR-NMSN
BE342FR-NMSN
N/J0701DR-NMSN
N/J0702ER-NMSN
N/J0703FR-NMSN
N0704FR-NMSN
N/J0921FE-NMSN
BE-GR CABLE-nn
BE341JJ-NMSN
BE342JJ-NMSN
BE232JJ-NMSN
N/J0701FE-NMSN
N/J0702FE-NMSN
N/0703GE-NMSN
N/J0704GE-NMSN
N/J0921GE-NMSN
N/J0922GE-NMSN
N/J0922JE-NMSN
N/J0923HE-NMSN
N0924JE-NMSN
M1053KJ-NMSN
M1054KJ-NMSN
BE-GS CABLE-nn
H40E
70GR CABLE-nn
H40R
92GR CABLE-nn
Cable Sets
BE341JR-NMSN
BE342HR-NMSN
BE343JR-NMSN
BE344JR-NMSN
N/J0701FR-NMSN
N/J0702FR-NMSN
N/J0703GR-NMSN
N0704GR-NMSN
N/J0921GR-NMSN
N/J0922GR-NMSN
N/J0923HR-NMSN
N0924JR-NMSN
M1053KR-KMSN
M1054KR-KMSN
BE342KJ-NMSN
BE343LJ-NMSN
N/J0923KE-NMSN
N0924KE-NMSN
M1053KJ-KMSN
M1054KJ-KMSN
M1453LJ-KMSN
M1454NJ-KMSN
M1455PJ-KMSN
M2052PJ-KMSN
BE342KR-NMSN
BE343LR-NMSN
N/J0923KR-NMSN
N0924KR-NMSN
M1053KR-KMSN
M1054KR-KMSN
M1453LR-KMSN
M1454NR-KMSN
M1455PR-KMSN
M2052PR-KMSN
M1053KJ-KMSN
M1054KJ-KMSN
M1453LJ-KMSN
M1454NJ-KMSN
M1455PJ-KMSN
M2052PJ-KMSN
M1053KR-KMSN
M1054KR-KMSN
M1453LR-KMSN
M1454NR-KMSN
M1455PR-KMSN
M2052PR-KMSN
M2053RR-KPTN
M2054SR-KPTN
BE-GR CABLE-nn
70GR CABLE-nn
92GR CABLE-nn
105GR CABLE-nn
BE-GS CABLE-nn
92GS CABLE-nn
105GS CABLE-nn
145GS CABLE-nn
205GS CABLE-nn
BE-GR CABLE-nn
92GR CABLE-nn
105GR CABLE-nn
145GR CABLE-nn
205GR CABLE-nn
105GS CABLE-nn
145GS CABLE-nn
205GS CABLE-nn
105GR CABLE-nn
145GR CABLE-nn
205GR CABLE-nn
70GS CABLE-nn
ADDITIONAL CABLE INFORMATION
● Each cable set comes with 1 motor cable and 1 feedback cable.
92GS CABLE-nn
N0703GE-NMS
● All cables have MS connectors and are CE(LVD&EMC) compliant.
● Motors may also be purchased with either flying leads or nonremovable cables if GC-26 or GFB KIT are purchased.
105GS CABLE-nn
● Motor and/or feedback cables may also be purchased individually.
● Cable sets: nn denotes cable lengths. Cables available in selected
lengths. Call for details.
For complete motor and cable information, please
refer to the Motor Cable Table at the end of the
Servo Motors section.
● For motors with brake option, refer to the motor/cable table for
approriate cable part numbers.
107
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Power Level Motor
Catalog 8000-4/USA
GEMINI
Speed-Torque Curves
Motor Speed-Torque Peformance Curves
Gemini with SM motors, 16 and 23 frame, encoder feedback, 120 VAC*
100
0.71
50
0.35
80
0.56
40
0.28
60
0.42
30
0.21
40
0.28
0.14
20
0.14
10
0.07
20
0
0
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Speed – RPM (rps)
200
1.41
150
1.06
100
0.71
50
0.35
3000
(50)
4000
(67)
Speed – RPM (rps)
5000
(83)
0
Torque (oz-in)
1.76
2000
(33)
0.85
80
0.56
40
0.28
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Speed – RPM (rps)
400
2.82
300
2.12
200
1.41
100
0.71
0
0
0
500
(8.3)
1000
(17)
1500
(25)
2000
(33)
2500
(42)
3000
(50)
Torque (Nm)
250
Torque (Nm)
2.12
1000
(17)
120
SM233A with
with GV/6/6K-L3E
GV(GV6)-L3E
SM233A
SM232A with GV/6/6K-L3E
0
0
1.13
0
Speed – RPM (rps)
300
0
0
Torque (oz-in)
0.42
Torque (oz-in)
60
160
0
Speed – RPM (rps)
CONTINUOUS
PEAK
NOTES:
•
•
•
•
•
Speed-torque curves limited to 7,500 rpm (motor mechanical limit).
Curves represent 120VAC (nominal) operation.
Actual speed-torque curves may vary ±10%.
Speed-torque curves are based on motor current values listed in Motor Parameter Table, available on the Motion Planner CD
and on the Compumotor Web site, www.compumotor.com.
For speed-torque curves of motors that may have been released after this catalog was published, see the Gemini Motor
Reference section of the Compumotor Web site.
*Encoder feedback performance shown. Resolver-based systems provide up to an 8% increase of continuous and peak torque
at all speeds over encoder-based systems. Refer to the Servo Motors section for more information on resolver motors.
108
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
0
Torque (Nm)
0.85
Torque (Nm)
120
0
Torque (oz-in)
SM231A with GV/6/6K-L3E
SM162A with GV/6/6K-L3E
0.49
Torque (Nm)
Torque (oz-in)
SM161A with GV/6/6K-L3E
70
Catalog 8000-4/USA
GEMINI
Speed-Torque Curves
Motor Speed-Torque Peformance Curves
Gemini with BE motors, 16 and 23 frame, encoder feedback, 120/240 VAC*
.42
50
.35
40
.28
30
20
.21
10
.14
0
0
1000
2000
3000
Speed (RPM)
100
.70
80
.56
60
.42
40
.28
20
.14
0
5000
4000
0
0
1000
2000
3000
Speed (RPM)
4000
Torque (oz-in)
60
.84
0
5000
160
140
120
100
80
60
40
20
0
1.12
..98
.84
.70
.56
.42
0
1000
2000
3000
4000
Torque (Nm)
.49
BE163C with GV/6/6K-U3E
120
Torque (Nm)
70
Torque (oz-in)
BE162C with GV/6/6K-U3E
.56
Torque (Nm)
Torque (oz-in)
BE161C with GV/6/6K-U3E
80
.28
.14
0
5000
Speed (RPM)
BE164C with GV/6/6K-U3E
1.40
160
1.05
120
.70
80
Torque (Nm)
.35
0
1000
2000
3000
4000
0
5000
CONTINUOUS
Speed (RPM)
80
.56
60
.42
40
.28
20
.14
0
1000
2000
3000
4000
5000
Torque (oz-in)
.70
0
6000
.84
300
2.1
100
.70
250
1.75
80
.56
200
1.4
60
.42
150
1.05
40
.28
100
.70
20
.14
50
.35
0
0
1000
2000
Speed (RPM)
1.4
150
1.05
100
.70
50
.35
0
5000
Torque (oz-in)
200
4000
400
2.8
300
2.1
200
1.4
100
.70
0
1000
2000
4000
5000
4.2
500
3.5
500
3.5
400
2.8
400
2.8
300
2.1
300
2.1
200
1.4
200
1.4
100
.70
100
.70
5000
0
6000
Torque (oz-in)
600
4000
2.8
300
2.1
200
1.4
100
.70
0
0
1000
2000
3000
4000
5000
0
6000
0
0
1000
Speed (RPM)
2000
3000
4000
5000
Torque (Nm)
4.2
Torque (Nm)
4.9
600
3000
3.5
BE233F with GV/6/6K-U6E
700
2000
0
6000
Speed (RPM)
4.9
1000
5000
400
0
6000
700
0
4000
500
Speed (RPM)
BE233D with GV/6/6K-U3E
Torque (oz-in)
3000
3000
BE232F with GV/6/6K-U6E
3.5
0
0
6000
2000
Speed (RPM)
500
Speed (RPM)
0
1000
Torque (Nm)
1.75
3000
0
Torque (Nm)
250
2000
5000
BE232D with GV/6/6K-U3E
2.1
Torque (Nm)
Torque (oz-in)
BE231F with GV/6/6K-U3E
1000
4000
Speed (RPM)
300
0
3000
0
0
6000
Torque (Nm)
100
BE231D with GV/6/6K-U3E
120
Torque (Nm)
.84
0
PEAK (340V)
BE230F with GV/6/6K-U3E
120
Torque (Nm)
Torque (oz-in)
BE230D with GV/6/6K-U3E
PEAK (170V)
B
0
Torque (oz-in)
40
Torque (oz-in)
Torque (oz-in)
200
0
6000
Speed (RPM)
CONTINUOUS
PEAK
120 VAC
MECHANICAL LIMIT
*Encoder feedback performance shown. Resolver-based systems provide up to an 8% increase of continuous and peak torque at
all speeds over encoder-based systems. Refer to the Servo Motors section for more information on resolver motors.
See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers.
109
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
Speed-Torque Curves
Motor Speed-Torque Peformance Curves
Gemini with BE motors, 34 frame, encoder feedback, 120/240 VAC*
500
3.5
400
2.8
400
2.8
300
2.1
300
2.1
200
1.4
100
.70
1000
2000
3000
4000
5000
100
0
6000
.70
0
0
1000
Speed (RPM)
5000
Torque (oz-in)
Torque (oz-in)
1200
8.4
900
6.3
600
4.2
300
2.1
0
0
1000
3000
4000
.84
900
6.3
4.2
2.1
300
0
5000
0
6000
Torque (oz-in)
1200
600
3000
4000
5000
0
6000
5000
1400
9.8
1200
8.4
1000
7.0
800
5.6
600
4.2
400
2.8
200
1.4
0
0
6000
0
1000
2000
3000
4000
5000
0
6000
Speed (RPM)
2000
14.
1600
11.2
1200
8.4
800
5.6
400
2.8
0
0
1000
2000
3000
4000
5000
Torque (Nm)
10.5
Torque (Nm)
1500
4000
2000
2000
BE344J with GV/6/6K-H20E
12.6
3000
1000
BE343L with GV/6/6K-H20E
10.5
BE344L with GV/6/6K-U12E
2000
1.4
0
Speed (RPM)
1800
1000
2.8
200
Speed (RPM)
1500
Speed (RPM)
0
4.2
400
Torque (Nm)
4000
5000
Torque (Nm)
3000
6.3
5.6
4.9
4.2
3.5
2.8
2.1
1.4
.70
0
6000
Torque (Nm)
2000
4000
5.6
600
BE343J with GV/6/6K-U12E
BE342K with GV/6/6K-U12E
1000
3000
800
Speed (RPM)
900
800
700
600
500
400
300
200
100
0
0
2000
7.0
0
0
6000
Torque (oz-in)
0
1.4
200
Torque (oz-in)
3.5
Torque (oz-in)
500
1000
Torque (Nm)
4.2
Torque (Nm)
600
0
Torque (oz-in)
BE342H with GV/6/6K-U12E
BE341J with GV/6/6K-U12E
4.2
Torque (Nm)
Torque (oz-in)
BE341F with GV/6/6K-U6E
600
0
6000
Speed (RPM)
Speed (RPM)
CONTINUOUS
PEAK
120 VAC
MECHANICAL LIMIT
*Encoder feedback performance shown. Resolver-based systems provide up to an 8% increase of continuous and peak torque at
all speeds over encoder-based systems. Refer to the Servo Motors section for more information on resolver motors.
110
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
Speed-Torque Curves
Motor Speed-Torque Peformance Curves
Gemini with NeoMetric and J series motors, 70mm and 34 frame, encoder feedback, 120/240 VAC*
200
1.41
200
1.41
400
2.82
150
1.06
150
1.06
300
2.12
100
.71
100
.71
200
1.41
50
0.35
50
0.35
100
0.71
0
0
0
0
0
0
0
2.12
200
1.41
100
0.71
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Speed – RPM (rps)
Torque (oz-in)
300
5.65
600
4.24
400
2.82
200
1.41
0
0
0
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Speed – RPM (rps)
CONTINUOUS
120V Limit
1000
7.06
800
5.65
600
4.24
400
2.82
200
1.41
0
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Torque (Nm)
2.82
0
N0704G with G/6/6K-U12E
800
Torque (Nm)
400
Torque (Nm)
3.53
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Speed – RPM (rps)
N0703G/J0703G with G/6/6K-U12E
N0702F/J0702F with GV/6/6K-U6E
0
0
0
0
Speed – RPM (rps)
500
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
0
Speed – RPM (rps)
B
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Torque (oz-in)
0
0
Torque (oz-in)
3.53
Torque (oz-in)
500
Torque (Nm)
1.76
Torque (Nm)
250
Speed – RPM (rps)
Torque (oz-in)
N0702E/J0702E with GV/6/6K-U6E
N0701F/J0701F with GV/6/6K-U6E
1.76
Torque (Nm)
Torque (oz-in)
N0701D/J0701D with GV/6/6K-U6E
250
PEAK
NOTES:
•
•
•
•
•
Speed-torque curves limited to 7,500 rpm (motor mechanical limit).
Curves represent 120VAC (nominal) and 240VAC (nominal) operation.
Actual speed-torque curves may vary ±10%.
Speed-torque curves are based on motor current values listed in Motor Parameter Table, available on the Motion Planner CD
and on the Compumotor Web site, www.compumotor.com.
For speed-torque curves of motors that may have been released after this catalog was published, see the Gemini Motor
Reference section of the Compumotor Web site.
*Encoder feedback performance shown. Resolver-based systems provide up to an 8% increase of continuous and peak torque
at all speeds over encoder-based systems. Refer to the Servo Motors section for more information on resolver motors.
See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers.
111
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
Speed-Torque Curves
Motor Speed-Torque Peformance Curves
Gemini with NeoMetric and J series motors, 92mm frame, encoder feedback, 120/240 VAC*
600
4.24
600
4.24
1200
8.47
400
2.82
400
2.82
800
5.65
200
1.41
200
1.41
400
2.82
0
0
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Speed – RPM (rps)
N0922J/J0922J with GV-U12E
400
2.82
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Torque (oz-in)
Torque (oz-in)
5.65
0
1600
11.30
14.12
1200
8.47
1500
10.59
800
5.65
1000
7.06
400
2.82
500
3.53
0
0
0
0
0
1000
(17)
2000
(33)
3000
(50)
4000
(67)
5000
(83)
6000
(100)
0
0
1000
(17)
2000
(33)
3000
(50)
4000
(67)
5000
(83)
0
Speed – RPM (rps)
Speed – RPM (rps)
N0924K with GV-H20E
11.30
2500
17.6
2000
14.1
1500
10.6
1000
7.1
500
3.5
8.47
5.65
400
2.82
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Torque (oz-in)
21.2
1600
0
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Torque (Nm)
3000
Torque (Nm)
14.12
Speed – RPM (rps)
0
17.65
N0923K/J0923K with GV-H20E
0
0
6000
(100)
N0924J with GV-U12E
2000
800
5000
(83)
2000
Speed – RPM (rps)
1200
4000
(67)
Torque (Nm)
800
3000
(50)
2500
Torque (Nm)
8.47
2000
(33)
14.12
2000
Torque (Nm)
1200
0
1000
(17)
Speed – RPM (rps)
N0923H/J0923H with GV-U12E
11.30
1600
0
0
Speed – RPM (rps)
Torque (oz-in)
0
0
Torque (oz-in)
11.30
Torque (oz-in)
1600
Torque (Nm)
5.65
Torque (Nm)
800
0
Torque (oz-in)
N0922G/J0922G with GV-U12E
N0921G/J0921G with GV-U12E
5.65
Torque (Nm)
Torque (oz-in)
N0921F/J0921F with GV-U6E
800
0
Speed – RPM (rps)
CONTINUOUS
120V Limit
PEAK
NOTES:
•
•
•
•
•
Speed-torque curves limited to 7,500 rpm (motor mechanical limit).
Curves represent 120VAC (nominal) and 240VAC (nominal) operation.
Actual speed-torque curves may vary ±10%.
Speed-torque curves are based on motor current values listed in Motor Parameter Table, available on the Motion Planner CD
and on the Compumotor Web site, www.compumotor.com.
For speed-torque curves of motors that may have been released after this catalog was published, see the Gemini Motor
Reference section of the Compumotor Web site.
*Encoder feedback performance shown. Resolver-based systems provide up to an 8% increase of continuous and peak torque
at all speeds over encoder-based systems. Refer to the Servo Motors section for more information on resolver motors.
112
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
Speed-Torque Curves
Motor Speed-Torque Peformance Curves
Gemini with M series motors, 105, 145 and 205mm frame, encoder feedback, 240 VAC*
M1053K with GV/6/6K-H20E
60
6.73
40
4.48
20
2.24
150
16.8
100
11.2
5.60
50
0
0
1000
2000 3000 4000
Speed (RPM)
5000
0
0
6000
0
6.73
40
4.48
20
2.24
0
0
6000
0
1000
2000
3000
4000
5000
0
6000
Speed (RPM)
M1453L with GV/6/6K-H20E
M1453L with GV/6/6K-H40E
20.2
300
33.6
600
67.3
150
16.8
250
28.0
500
56.0
120
13.5
200
22.4
400
44.8
90
10.1
150
16.8
300
33.6
60
6.73
100
11.2
200
22.4
30
3.36
50
5.60
100
11.2
3000
4000
5000
0
Speed (RPM)
28.0
200
22.4
150
16.8
100
11.2
50
5.60
0
500 1000 1500 2000 2500 3000 3500 4000
0
Speed (RPM)
350
39.2
300
33.6
250
28.0
200
22.4
150
16.8
100
11.2
50
5.60
0
0
0
500 1000 1500 2000 2500 3000 3500 4000
Speed (RPM)
Speed (RPM)
M2052P with GV/6/6K-H20E
500
56.0
400
44.8
300
33.6
200
22.4
100
11.2
0
500
1000
1500
2000
Speed (RPM)
0
2500
1200
135
1000
112
800
89.7
600
67.3
400
44.8
200
22.4
0
0
500
1000
1500
2000
Torque (Nm)
67.3
0
Speed (RPM)
M2052P with GV/6/6K-H40E
600
Torque (Nm)
Torque (Nm)
89.7
78.5
67.3
56.0
44.8
33.6
22.4
11.2
0
500 1000 1500 2000 2500 3000 3500 4000
Torque (Lb-in)
M1455P with GV/6/6K-H40E
0
M1455P with GV/6/6K-H20E
89.7
78.5
67.3
56.0
44.8
33.6
22.4
11.2
0
500 1000 1500 2000 2500 3000 3500 4000
Torque (Nm)
250
800
700
600
500
400
300
200
100
0
Torque (Nm)
33.6
Torque (Nm)
300
800
700
600
500
400
300
200
100
0
0
500 1000 1500 2000 2500 3000 3500 4000
Speed (RPM)
M1454N with GV/6/6K-H40E
39.2
Torque (Lb-in)
M1454N with GV/6/6K-H20E
0
0
Speed (RPM)
350
0
0
0
500 1000 1500 2000 2500 3000 3500 4000
Torque (Lb-in)
2000
0
Torque (Lb-in)
1000
0
6000
Torque (Lb-in)
78.5
180
Torque (Lb-in)
700
Torque (Nm)
39.2
Torque (Nm)
350
0
Torque (Lb-in)
5000
8.97
60
23.5
0
Torque (Lb-in)
2000 3000 4000
Speed (RPM)
11.2
80
210
Torque (Nm)
Torque (Lb-in)
M1054K with GV/6/6K-H20E
1000
13.5
100
0
2500
Speed (RPM)
M2053R with GV/6/6K-H40E
135
1000
112
800
89.7
600
67.3
400
44.8
200
22.4
0
0
500
1000
1500
Speed (RPM)
2000
Torque (Nm)
Torque (Lb-in)
1200
0
2500
CONTINUOUS
PEAK
340V
*Encoder feedback performance shown. Resolver-based systems provide up to an 8% increase of continuous and peak torque
at all speeds over encoder-based systems. Refer to the Servo Motors section for more information on resolver motors.
See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers.
113
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
8.97
Torque (Lb-in)
80
Torque (Lb-in)
11.2
120
Torque (Nm)
100
M1054K with GV/6/6K-U12E
22.4
200
Torque (Nm)
13.5
Torque (Nm)
Torque (Lb-in)
M1053K with GV/6/6K-U12E
120
Catalog 8000-4/USA
Introduction
COMPAX
Digital Servo Drive/Controllers
The COMPAX servo drive/controller family is the highpowered cousin to Compumotor's line of Gemini low- to midpower servo drive/controllers. Providing an ideal solution for
motion control systems where 120VAC - 460VAC direct input
power is used, the COMPAX family provides up to 35kW
continuous/70kW peak drive power for those more demanding
high-speed, high-inertia, high-load applications. The COMPAX
family is flexible, offering the choice of either standalone or
modular packages for single- or multi-axis needs, thereby
providing a complete motion control solution in a highly reliable
and integrated package.
All COMPAX units incorporate the easy-to-use Servo
ManagerTM front-end software package – a user-friendly,
parameter-based configurator that greatly simplifies setup and
programming for software users of any level.
The COMPAX can communicate via ASCII and binary or via a
number of supported fieldbus protocols for direct interface with
PCs, HMIs and PLCs. Moreover, any standard COMPAX unit
can be upgraded with specialized functionality and/or alternative feedback devices, allowing users to tailor the COMPAX to
their specific application needs.
This combination of performance, flexibility and expandability
makes the COMPAX a powerful and valuable member of the
Compumotor servo product family.
(EMC and LVD)
COMPAX Family Features
•
•
•
•
•
•
•
•
•
•
•
Features
•
•
Performance
•
•
•
•
•
•
Eight power ranges available, providing up to 35kW of
continuous drive power
Direct online single or 3-phase power input (120VAC to
460VAC)*
Continuous current levels from 2.5 Amps to 50 Amps
(RMS); peak current from 5 Amps to 100 Amps (RMS)
Digital control of position, velocity and torque (current)
loops
High-speed DSP
100 microsecond servo update rate
1 millisecond command processing rate
•
* Input power range depends on COMPAX model
† Optional feature; standard on COMPAX 1000SL
114
Automation
Standalone servo controller and drive in one integrated
package
Control features such as registration, motion profiles, Scurve velocity profiles, conditional statements, arithmetic
functions and resolver feedback all standard
Specialized functions such as following, cam profiling,
electronic gearing or cut-on-the-fly available as options for
all COMPAX products
Available in standalone or modular configuration for singleor multi-axis applications
Serial, binary and fieldbus communication
PLC-handshaking via onboard I/O
Comprehensive program monitoring, status and diagnostic
features
Error log—records and stores the four most recent errors
Easy parameter-based drive setup and motor configuration
via the included Servo Manager™ software package
Guided motor setup and tuning via software tools
Non-volatile memory for reliable storage of parameters and
programs
Simple, BASIC-style programming language
Floating point, integer and binary variables with high-level
math functionality
Position or velocity control via external encoder pulse,
step/direction† or ±10VDC analog signal†
Fully CE compliant (EMC & LVD)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Introduction
COMPAX
Protection
Software Options
•
•
•
•
•
•
•
•
Short-circuit protection—phase-to-phase and phase-toground
Over-voltage protection for both drive and controller
sections
Under-voltage (brownout) protection for both drive and
controller sections
Drive over-temperature protection
Motor over-temperature protection
Current foldback protection
Regeneration protection
I/O Capabilities
•
•
Physical
•
•
•
•
Compatible with a wide selection of brushless servo
motors, such as the Compumotor SM, BE, NeoMetric, J
and M Series motors
Supports linear servo motors, such as the Daedal LXR and
Compumotor SL motor series
3-digit LED display* for monitoring diagnostic status and/
or errors related to the following:
Controller section
Amplifier drive section
Fieldbus
Bus power and 24VDC control power status light
Built-in regeneration (power dissipation) circuitry on all
units; optional external modules available for additional
power dissipation capability
•
•
•
•
Onboard digital I/O—16 inputs, 16 outputs (8 inputs, 8
outputs for COMPAX 1000SL)
Software-configurable onboard digital input and output
functionality
2 D/A monitor outputs, 1 brake output
Speed override input and registration input capability
24VDC reference voltage for direct interface with PLCs
Optional I/O features:
Additional monitor output (on some models)
Encoder signal output‡ (encoder simulation)—to an
individual COMPAX unit or multiple COMPAX units via
Enocder Bus
±10VDC analog input‡
B
•
Software variants available for specialized applications,
including:
Complete position-based following
Electronic cam generation and profiling
Electronic gearing
Cut-on-the-fly applications
Connectivity
•
•
RS232 ASCII serial communication standard
Additional communication options:
Fieldbus interfaces (Profibus, Interbus-S, CAN Bus,
CANopen or CS31)
RS485 ASCII/binary (2- or 4-wire)
* Not available on COMPAX 1000SL
‡ Standard on COMPAX 1000SL
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Catalog 8000-4/USA
Applications
COMPAX
Application Specific Variants
COMPAX XX30M: Indexing table control
High precision control and
positioning of indexing tables
and endless assembly chains
Special features:
• External position sensing
possible with E2 encoder
option
• Indexing calculator up to
1000 increments per
revolution
• Control of mechanical
clamping
• Manual fine adjustment of
table position
• No cumulative error
COMPAX XX60M: Electronic gearing
Synchronous control of angle,
synchronous control of
speed, processing in motion.
Requires E2 or E4 encoder
option.
• Electronic gearing
• Processing of moving
parts
Special features:
• Any desired gear ratio,
including negative values
• Synchronous control of
angle or rotational speed
• Enable/disable external
master reference value
• Internal motion program
superimposed on master
motion
COMPAX XX70M: Cam control
Replacement of mechanical
elements of machines, for
example cam plates and
discontinuous shaft, camshaft
or gear elements. Requires E2
or E4 encoder option
Special features:
• Several curves storable
• 8 digital outputs as a
function of cam position
• Up to 2500 base points
per curve
• Powerful software tool for
design and implementation of curves
• Flying synchronization
into predefined positions
116
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Standalone Specifications
COMPAX
COMPAX -S (Standalone) Specifications
Parameter
Performance
Resolver Accuracy
Resolution
Output Power
Voltage
Frequency Current
Current
Cont. (max rms per phase)
Peak (max rms per phase)
Power Dissipation
Value
±10 arc min
2,048 or 4,096 post quadurature counts per rev
COMPAX1000SL
170VDC or 325VDC
10 kHz
COMPAX2500S
325VDC
10 kHz
COMPAX4500S
650VDC
10 kHz
COMPAX8500S
650VDC
10 kHz
2.5A
5.0A
50W
6.3A
12.6A
80 W
6.5A
13.0A
170 W
12.5A
25.0A
170 W
Input Power
Protection
Short Circuit
Brownout
Overvoltage
Overtemperature
I2 t
Safety Isolation
120-230VAC, 1- or 3-Ph. 230-460VAC, 3-Phase
50/60 Hz
50/60 Hz
+10%, -15%
+10%, -15%
+24VDC ±10%, ripple
+24VDC ±10%, ripple
<1V p-p
<1V p-p
16 amp (1-Phase),
16 amp
10 amp (3-Phase)
Phase to phase, Phase to earth
Below 80VDC
Will shut down when power dump capacity is exceeded
Motor 170°C (330°F); Drive 85°C (185°F)
Error generated if peak current > 3 seconds
VDE0160
Inputs
Programmable
Enable, Brake, Auto Offset,
Mode Select, Limit
(NPN type, sinking only) 24V nom. @ 10 mA high = 14-32V, low <7.5V
Internal clamp w/ zener diode @ 6.8V, fully optically isolated, sink or source
Outputs Digital
Encoder
Programmable: Fault, Error
Ready Contact Output
Outputs Analog
5V line driver (RS485) output, TTL compatible, source 60 mA max, requires external +5VDC
supply @ 100 mA User selectable 2,048 or 4,096 ppr
PNP type, sourcing only, rated for 24V @ 100 mA fully optically isolated, short circuit protected
125V, 500 mA, 30W maximum
Motor Voltage
Current Monitor
Absolute: 8V = 6,000 rpm
Normalized: +10V = max speed
0.7–10V = 70-1000VDC
1V = 1.2 A for COMPAX 1000SL, 2500S, COMPAX 4500S; 1V = 2.4A for COMPAX 8500S
Connections
Inputs/Outputs
Resolver
Encoder Output
RS-232, RS-485
Motor and brake
AC supply
Control voltage
Absolute encoder
16-pin screw terminal, removable (15-pin D connector on 1000SL)
15-pin D connector
15-pin D connector
9-pin D connector
8-pin screw terminal, removable (6-pin screw terminal on 1000SL)
4-pin screw terminal, removable (3-pin screw terminal on 1000SL)
2-pin screw terminal, removable
9-pin D connector (not available on 1000SL)
Environment
Drive temp range (ambient)
Maximum heat sink temp
Motor temp range (ambient)
Maximum motor case temp
Humidity
Storage
0-45° C (32-113° F)
85° C (185° F)
0-40° C (32-104° F)
125° C (257° F)
0-95% non-condensing
-30-85° C (-22-185° F)
Tuning
Position Mode
Stiffness, damping, speed feedforward, accel feedforward, current feedforward
Diagnostics
LEDs
Ready and error LEDs
3-digit, 7-segment LED display will indicate 23 error conditions and 31 status messages (not available
on COMPAX1000SL)
Physical
Velocity
230-460VAC, 3-Phase
50/60 Hz
+10%, -15%
+24VDC ±10%, ripple
<1V p-p
16 amp
B
Max Input Voltage, AC Supply 120-230VAC, 1-Phase
Frequency
50/60 Hz
AC Supply Tolerance
+10%, -15%
Voltage (Control)
+24VDC ±10%, ripple
<1V p-p
Fuses Input, AC Supply
16 amp
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Compumotor Division
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Catalog 8000-4/USA
Modular Specifications
COMPAX
COMPAX -M (Modular) Specifications
Performance
Parameter
Value
Resolver Accuracy
±10 arc min
Resolution
2,048 or 4,096 post quadurature counts per rev
Output Power
COMPAX200M
Voltage
Frequency Current
COMPAX1500M
COMPAX3500M
10 kHz
10 kHz
5 kHz
Continuous (max rms per phase)
6.5A
11.5A
25A
50A
Peak (max rms per phase)
8.5A
17A
50A
100A
120 W
250 W
250 W
610W
Power Dissipation
Power Supply
Module
COMPAX500M
650VDC from NMD power supply module; see NMD module specs below for additional info
Voltage
NMD10
Input—AC Supply
5 kHz
NMD20
No NMD Module
required for
100-480VAC 3 Phase +10%, -15%
Input—Control
COMPAX 3500M
+24VDC ±10%, ripple <1V p-p; 1 amp max per drive,
1 amp max per brake
Output
Frequency
50/60 Hz
160-650VDC
The 3500M is also
50/60 Hz
capable of providing
Power (max continuous)
10 kW
20 kW
up to 15 kW for
Power (peak <3 seconds)
20 kW
40 kW
powering additional
16 amp
35 amp
Fuses
COMPAX -M units
Input—AC Supply
Protection
Inputs
Outputs Digital
Outputs Analog
Short Circuit
Below 80VDC
Overvoltage
700VDC (Power dump capability)
Overtemperature
Motor 170°C (330°F); Drive 85°C (185°F)
I2t
Error generated if peak current > 3 seconds
Safety Isolation
VDE0160
Programmable
Enable, Brake, Auto Offset,
(NPN type, sinking only) 24V nom. @ 10 mA high = 14-32V, low <7.5V
Mode Select, Limit
Internal clamp w/ zener diode @ 6.8V, fully optically isolated, sink or source
Encoder
5V line driver (RS485) output, TTL compatible, source 60 mA max, requires external +5VDC
supply @ 100 mA User selectable 2,048 or 4,096 ppr
Programmable: Fault, Error
PNP type, sourcing only, rated for 24V @ 100 mA fully optically isolated, short circuit protected
Ready Contact Output
125V, 500 mA, 30W maximum
Velocity (X8, pin 10)
(X8, pin 11)
Physical
Environment
Phase to phase, Phase to earth
Brownout
Absolute: 8V = 6,000 rpm
Normalized: +10V = max speed
Motor Voltage (X8, pin 12)
0.7–10V = 70-1000VDC
Current Monitor
1V = 1.2 A for COMPAX200M; 1V = 2.4 A for COMPAX500M; 1V = 7.0 A for COMPAX1500M
Connections
Inputs/Outputs
16-pin screw terminal, removable
Resolver
15-pin D connector
Encoder Output
15-pin D connector
RS-232, RS-485
9-pin D connector
Motor and brake
7-pin screw terminal
AC supply
3-pin screw terminal
Control voltage
2-pin screw terminal
HEDA, Absolute encoder
9-pin D connector
Drive temperature ambient
0-45° C (32-113° F)
Maximum heat sink temp
85° C (185° F)
Motor temperature ambient
0-40° C (32-104° F)
Maximum motor case temp
125° C (257° F)
Humidity
0-95% non-condensing
Storage
-30-85° C (-22-185° F)
Tuning
Position Mode
Stiffness, damping, speed feedforward, accel feedforward, current feedforward
Diagnostics
LEDs
Ready and error LEDs
3 digit, 7 segment LED display will indicate 23 error conditions and 31 status messages
118
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Ordering
COMPAX
COMPAX1000SL Dimensions
Dimensions in inches (mm)
3.35 (85)
5.73 (145.5)
7.78 (197.5)
7.07 (180)
2.16 (55)
6.85 (174)
Attach with four 5mm
hex socket head screws.
7.20 (183)
B
8.13 (206.5)
0.63 (16)
0.17 (5)
COMPAX2500S
COMPAX4500S and COMPAX8500S
Dimensions in inches (mm)
Dimensions in inches (mm)
0.63 (16)
5.71
(145)
3.03
(77)
10.67 (271)
8.70 (221)
5.12 (130)
3.86 (98)
12.79
(325)
10.83
(275)
2.56
(65)
0.39
(10)
1.18
(30)
2.56 (65)
0.94
(24)
Status
Number
Value
+
Ready
Enter
13.82
(351)
Error
X6
RS232
X8
14.88
(378)
X10
Input
COMPAX S
15.55
(395)
Output
Test
Control
X9
X11
4.33 (110)
11.42 (290)
10.63 (270)
9.45 (240)
-
2.56
(65)
0.43
(11)
Attach with four 5mm
hex socket head screws.
Attach with four 5mm
hex socket head screws.
3.86 (98)
For More Information on COMPAX Digital Servo Sytems, Call 1-800-358-9070 Today.
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Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Modular Specifications
COMPAX
Mounting Details for direct-panel mounting
Dimensions in inches (mm)
15.35
(390)
3.35
3.35
(85)
(85)
2.95
1.58
(75)
(40)
0.39
(10)
13.49
(340)
3.78
(96)
2.95 (75)
1.97
(50)
2.56
(65)
14.33
(364)
16.93
(430)
17.72
(450)
1.27 (31)
2.56
(65)
1.97
(50)
02XXM, 05XXM,
15XXM, NMD10
& NMD20
Dimensions and Mounting Details for through-panel mounting
Dimensions in inches (mm)
11.57 (294)
9.61 (244)
3.23
(82)
3.35
(85)
1.97
(50)
1.97
(50)
1.67
(424)
3.78
(96)
Mounting
plate
17.3
(441,5)
16.1
(408)
1.67
(424)
1.97
(50)
1.97
(50)
Mounting
plate
Panel cut-out
dimensions
All backplate and bracket fixings accept M6 screws.
For through-panel mounting, use bracket type MTS2/01.
120
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Ordering
COMPAX
Ordering Nomenclature
COMPAX 10
COMPAX 25
SL /
S/
COMPAX 45
S/
/
/
COMPAX 85
COMPAX 2
COMPAX 5
COMPAX 15
S/
M/
M/
/
/
/
M/
M/
/
Power Supply Module
(Required for COMPAX 200M,
500M and 1500M)
NMD 10
NMD 20
/
B
COMPAX 35
/
Class
S or SL - Standalone unit
M - Modular unit
Application Variant
00 - Standard drive/controller
30 - Indexing table control
60 - Following / electronic gearing
70 - Electronic cam following
Options
A1 - Absolute Encoder*
D1 - D-to-A monitor w/o box
E2 - Encoder input module
(individual unit)*
E3 - Encoder simulation output*
E4 - Encoder input module
(encoder bus)
E7 - Analog input module
F1 - RS485, 4 wire
F2 - Interbus-S
F3 - Profibus
F4 - CAN bus
F5 - RS484, 2 wire
F8 - CAN open
S1 - SinCos encoder (single turn)
S2 - SinCos encoder (multi turn)
S3 - Linear motor support
* Not available on COMPAX1000SL
For More Information on COMPAX Digital Servo Sytems, Call 1-800-358-9070 Today.
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Parker Hannifin Corporation
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Catalog 8000-4/USA
NMD Power Supplies
COMPAX
NMD
Three-phase direct online
power supplies
Two central power modules are available to power COMPAX-M
drives, with continuous ratings of 10 kW (NMD10) and 20 kW
(NMD20). These supplies operate from a 3-phase AC input up
to 480V. The DC output is connected to one or more servo
drives by jumper cables fitted behind a removable front plate. A
separate 24 VDC supply is required to power the control
circuits, permitting communication and diagnostic facilities to
be retained should the main power supply fail.
Energy regenerated during deceleration will be stored in the
power supply capacitors unless the DC bus voltage exceeds a
preset level, in which case a ballast resistor is automatically
switched in to dissipate the surplus energy. The high-power
NMD20 module may be used in conjunction with an external
ballast resistor to handle high regenerated energy levels.
Power Supply Characteristics
• AC supply voltage:
100-480V +10% -15%
• Supply frequency:
50-60 Hz
• Safety specification:
VDE0160
• Control voltage:
+24 VDC ±10%, ripple
<1V p-p
• Undervoltage protection:
DC output <80V
• Control current:
See ratings below
• Overvoltage protection:
• Standby contact rating:
0.5 A, 125V, 30 W
Braking resistor switched in
at preset level
• Overheating protection:
Heatsink temperature >85°C
• Phase failure monitoring:
Red LED flashes on phase
failure, system disabled
after 40 seconds
Power Supply Ratings
Model No.
Continuous
Power
Peak (<3s)
Power
AC Supply
Voltage
DC Output
Voltage
AC Supply
Protection*
NMD10
10kW
20kW
480V 3ø
680V
16A
NMD20
20kW
40kW
480V 3ø
680V
35A
* External cutout or equivalent cartridge fuse, supplied by customer
Power Supply Braking & Ballast Ratings
Model No. Continuous Power
Intermittent ratings
Dissipation
Power
Duration Cooling Time
DC Bus
Capacity
Storable
Energy
NMD10
120W*
4.5kW
<1s
17kW
>50s
<50ms
1100µF
>10s
173 Ws
NMD20
120W*
3kW
<1s
9.5kW
>50s
<50ms
1650µF
>10s
260 Ws
BMR4/1†
570W
37kW
<0.4s
>120s
-
-
BMR4/2†
740W
37kW
<0.6s
>120s
-
-
BMR4/3†
1.5kW
37kW
<1.2s
>120s
-
-
* Increased to 250W with fan option
†
External ballast used with NMD20
122
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Parker Hannifin Corporation
Compumotor Division
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Catalog 8000-4/USA
Accessories
COMPAX
COMPAX Accessories
Additional Accessories
Fieldbus & Communication Cables /
(Entire Family)
Encoder Bus / Feedback Accessories
Part
Description
Part
Description
IVD1
BDF2/01
BDF1/02
BDF1/03
SSK6/01
SSK6/02
ASS1/01
Limit switch interface kit
Hand-held terminal with cable
Teach pendant without housing, no cable
Teach pendant with housing, no cable
Teach pendant cable - 1m
Teach pendant cable - 2.5m
D-to-A option junction box with cable
SSK1/01
SSK1/02
SSK13/01
SSK13/02
RS232 cable - 1m
RS232 cable - 2.5m
Fieldbus communication cable - 1m
Fieldbus communication cable - 2.5m
EAM4/01
SSK/4/01
SSK/4/02
SSK/7/01
SSK/7/01
BUS1/01
Encoder bus distributor
COMPAX-to-EAM4/01 cable - 1m
COMPAX-to-EAM4/01 cable - 2.5m
COMPAX-to-EAM4/01 encoder bus cable - 1m
COMPAX-to-EAM4/01 encoder bus cable - 2.5m
Encoder bus terminator
AG100
GBK1/02
GBK1/04
GBK1/07
GBK1/10
G71SSLDBIO200-151-15
GBK11/04
GBK11/07
GBK11/10
Absolute encoder with flange
Absolute encoder cable - 2.5m
Absolute encoder cable - 7.5m
Absolute encoder cable - 15m
Absolute encoder cable - 30m
Incremental master encoder
Encoder-to-COMPAX cable - 7.5m
Encoder-to-COMPAX cable - 15m
Encoder-to-COMPAX cable - 30m
Power Dissipation Modules/
EMC Accessories
Part
Description
BRM4/01
BRM4/02
BRM4/03
BRM5/01
BRM6/01
BRM7/01
.57kW resistor for NMD20
.74kW resistor for NMD20
1.5kW resistor for NMD20
Power dissipation resistor 2500S
Power dissipation resistor 4500/8500S
Power dissipation resistor 3500M
MDR01/01
MDR01/02
MDR01/03
NFI1/01
NFI1/02
NFI1/03
NFI1/04
NFI1/05
NFI1/06
Output throttle/choke - 16A/2mH
Output throttle/choke - 30A/1.1mH
Output throttle/choke - >30A/0.64mH
AC line filter - 2500S (for motor cable >10m), 1000SL
AC line filter - 4500S, 8500S, NMD10, 1000SL
AC line filter - NMD20
AC line filter - 3500M
AC line filter - 3500M w/ additional COMPAX -M slave units
AC line filter - 2500S (motor cable ≤ 10m)
B
(Entire Family)
Compatible Servo Motors
Compumotor (rotary brushless)
• SM Series (in NEMA 23 frame size)
• BE Series (in NEMA 23, 34 frame sizes)
• NeoMetric Series (in NEMA 34, 70mm and 92 mm frame sizes)
• J Series (in NEMA 34, 70mm and 92 mm frame sizes)
• M Series (in NEMA 105, 145 and 205 mm frame sizes)
See the Servo Motor section of this catalog for specific dimensions and specifications.
Linear Motors
•
•
Compumotor: SL Series
Daedal: LXR, HLE Series
Other supported motors
•
•
•
HDY (55mm, 70mm, 92mm, 115mm, 142mm, 190mm frame sizes)
HJ (96mm, 116mm, 155mm, 190mm frame sizes)
Asynchronous motors
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123
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Parker Hannifin Corporation
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Catalog 8000-4/USA
NMD Power Supplies
COMPAX
Selecting a Servo Motor and Cable Set
The following chart describes compatible Compumotor motors and the corresponding cable set for
COMPAX drive/controllers.
Motor Connectivity Options
Motor
Cable Set
SM231AR-NMSN
SM232AR-NMSN
SM233AR-NMSN
BE230DR-NMSN
BE231DR-NMSN
BE232DR-NMSN
BE233DR-NMSN
23CX
23CX
23CX
23CX
23CX
23CX
23CX
BE341FR-NMSN
BE342HR-NMSN
BE343JR-NMSN
BE344JR-NMSN
JO341FR-NMSN
JO342GR-NMSN
JO343GR-NMSN
34CX CABLE-xx
34CX CABLE-xx
34CX CABLE-xx
34CX CABLE-xx
34CX CABLE-xx
34CX CABLE-xx
34CX CABLE-xx
JO701FR-NMSN
JO702GR-NMSN
JO703GR-NMSN
NO701FR-NMSN
NO702FR-NMSN
NO703GR-NMSN
NO704GR-NMSN
70CX
70CX
70CX
70CX
70CX
70CX
70CX
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
JO921JR-NMSN
JO922HR-NMSN
JO923JR-NMSN
NO921GR-NMSN
NO922JR-NMSN
NO923HR-NMSN
NO924JR-NMSN
92CX
92CX
92CX
92CX
92CX
92CX
92CX
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
M1053KR-KMSN
M1054KR-KMSN
M1453KR-KMSN
M1454LR-KMSN
M1455NR-KMSN
M2052PR-KMSN
M2053RR-KPTN
CALL
CALL
CALL
CALL
CALL
CALL
CALL
FACTORY
FACTORY
FACTORY
FACTORY
FACTORY
FACTORY
FACTORY
For complete motor and cable information, please
refer to the Motor Cable Table at the end of the
Servo Motors section.
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
124
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Speed-Torque Curves
COMPAX
Motor Speed-Torque Performance Curves
COMPAX with SM motors, 23 frame, resolver feedback. 120/240 VAC
.840
100
.700
80
.560
60
.420
40
.280
20
.140
0
0
1500
3000
4500
Speed (RPM)
6000
250
1.75
200
1.40
150
1.05
100
.70
50
.35
0
1500
CONTINUOUS
3000
4500
Speed (RPM)
PEAK
6000
3.50
400
2.80
300
2.10
200
1.40
100
.70
0
1500
3000
4500
6000
0
7500
Speed (RPM)
CONTINUOUS
170 VAC
500
0
0
7500
0
0
7500
Torque (oz-in)
120
2.10
Torque (Nm)
.980
SM233AR/COMPAX 1000SL
300
Torque (Nm)
140
Torque (oz-in)
SM232AR/COMPAX 1000SL
1.12
Torque (Nm)
Torque (oz-in)
SM231AR/COMPAX 1000SL
160
PEAK
340 VAC
COMPAX with BE motors – 23 and 34 frame, resolver feedback
.21
0
0
1000
2000
3000
Speed (RPM)
4000
200
1.40
150
1.05
100
.70
0
0
5000
0
3.50
400
2.80
300
2.10
200
1.40
Torque (Lb-in)
500
.70
1000
2000
3000
4000
0
5000
3000
0
5.60
40
4.48
30
3.36
20
2.24
10
1.12
1000
2000
3000
1000
2000
3000
4000
0
5000
BE342HR/COMPAX 2500S
50
0
4000
0
5000
80
70
60
50
40
30
20
10
0
0
1000
2000
3000
4000
8.97
7.85
6.73
5.60
4.48
3.36
2.24
1.12
0
5000
Speed (RPM)
BE344JR/COMPAX 2500S
8.97
7.85
6.72
5.60
4.48
3.36
2.24
1.12
0
5000
Torque (Lb-in)
Torque (Lb-in)
.70
0
0
5000
Speed (RPM)
4000
1.40
100
100
11.2
80
8.97
60
6.72
40
4.48
20
2.24
0
0
1000
Speed (RPM)
2000
3000
4000
Torque (Nm)
2000
200
Speed (RPM)
0
Torque (Nm)
1000
4000
6.73
BE343JR/COMPAX 2500S
0
2000
3000
Speed (RPM)
60
Speed (RPM)
80
70
60
50
40
30
20
10
0
2.10
0
5000
Speed (RPM)
CONTINUOUS
PEAK
CONTINUOUS
170 VAC
PEAK
340 VAC
For More Information on COMPAX Digital Servo Sytems, Call 1-800-358-9070 Today.
125
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compumotor.com
Torque (Nm)
4.20
0
1000
Torque (Nm)
600
0
2.80
300
BE341FR/COMPAX 2500S
4.90
Torque (Nm)
Torque (oz-in)
BE233DR/COMPAX 1000SL
700
100
3.50
400
.35
50
Torque (Lb-in)
30
1.75
500
B
.42
60
250
Torque (oz-in)
.63
90
2.10
Torque (Nm)
.84
BE232DR/COMPAX 1000SL
300
Torque (Nm)
120
Torque (oz-in)
BE231DR/COMPAX 1000SL
1.05
Torque (Nm)
Torque (oz-in)
BE230DR/COMPAX 1000SL
150
Catalog 8000-4/USA
Speed-Torque Curves
COMPAX
Motor Speed-Torque Performance Curves
COMPAX with NeoMetric and J series motors, 70mm and 92mm, resolver
feedback, 120/240 VAC
N0701FR/COMPAX 2500S
N0702FR/COMPAX 2500S
1.12
5
.56
0
1500
3000
4500
Speed (RPM)
6000
4.48
30
3.36
20
2.24
10
1.12
0
0
7500
0
N0704GR/COMPAX 2500S
2.24
10
1.12
0
1500
3000
4500
6000
0
7500
40
3000
4500
5000
Speed (RPM)
4500
6000
0
7500
6.73
4.48
5.60
40
4.48
30
3.36
20
2.24
10
1.12
6000
0
0
7500
0
1500
3000
4500
6000
0
7500
Speed (RPM)
N0924JR/COMPAX 2500S
8.97
7.85
6.73
5.60
4.48
3.36
2.24
1.12
0
6000
100
11.2
80
8.97
60
6.73
40
4.48
20
2.24
0
0
1000
2000
3000
4000
0
5000
Speed (RPM)
CONTINUOUS
170 VAC
126
Automation
3000
50
1.12
1500
1500
N0922JR/COMPAX 2500S
10
0
Torque (Lb-in)
Torque (Lb-in)
0
Torque (Nm)
4000
0
60
2.24
0
Torque (Nm)
3000
1.12
5.60
20
N0923HR/COMPAX 2500S
2000
2.24
10
Speed (RPM)
80
70
60
50
40
30
20
10
0
1000
3.36
20
0
7500
3.36
30
Speed (RPM)
0
30
Speed (RPM)
50
Torque (Lb-in)
20
0
4.48
PEAK
CONTINUOUS
PEAK
340 VAC
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Torque (Nm)
3.36
30
6000
Torque (Nm)
4.48
40
3000
4500
Speed (RPM)
5.60
40
N0921GR/COMPAX 2500S
5.60
Torque (Nm)
Torque (Lb-in)
50
1500
Torque (Lb-in)
0
Torque (Lb-in)
10
40
50
Torque (Nm)
1.68
Torque (Nm)
15
N0703GR/COMPAX 2500S
5.60
Torque (Lb-in)
50
2.24
Torque (Nm)
Torque (Lb-in)
20
Catalog 8000-4/USA
Speed-Torque Curves
COMPAX
Motor Speed-Torque Performance Curves
COMPAX with M series motors, 105mm, 145mm and 205mm, resolver feedback,
480 VAC
16.8
100
11.2
50
5.60
0
1000
2000 3000 4000
Speed (RPM)
5000
28.0
200
22.4
150
16.8
100
11.2
50
5.60
0
0
6000
0
M1454NR/COMPAX 3500M
0
6000
0
400
44.8
200
22.4
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Torque (Lb-in)
67.3
1000
Speed (RPM)
800
89.7
600
67.3
400
44.8
200
22.4
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Speed (RPM)
1600
1400
1200
1000
800
600
400
200
0
0
500
1000
1500
2000
2500
179
157
135
112
89.7
67.3
44.8
22.4
0
3000
Speed (RPM)
B
Speed (RPM)
M2052PR/COMPAX 3500M
112
0
89.7
78.5
67.3
56.0
44.8
33.6
22.4
11.2
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Torque (Nm)
89.7
600
0
5000
Torque (Nm)
800
0
2000 3000 4000
Speed (RPM)
800
700
600
500
400
300
200
100
0
M1455PR/COMPAX 3500M
112
Torque (Nm)
Torque (Lb-in)
1000
1000
Torque (Lb-in)
0
250
Torque (Lb-in)
150
33.6
Torque (Nm)
22.4
M1453LR/COMPAX 3500M
300
Torque (Nm)
200
Torque (Lb-in)
M1054KR/COMPAX 1500M
28.0
Torque (Nm)
Torque (Lb-in)
M1053KR/COMPAX 1500M
250
0
500
1000
1500
2000
2500
Speed (RPM)
179
157
135
112
89.7
67.3
44.8
22.4
0
3000
Torque (Nm)
Torque (Lb-in)
M2053RR/COMPAX 3500M
1600
1400
1200
1000
800
600
400
200
0
CONTINUOUS
PEAK
560 VAC
For More Information on COMPAX Digital Servo Sytems, Call 1-800-358-9070 Today.
127
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
SLVD
SLVD
Small, Low-Voltage
Digital Servo Drive
The SLVD (Small, Low-Voltage Drive) is a powerful and
compact digital servo drive available for use with 240V input
providing up to 5 Amps of continuous current (RMS). This
equates to 1.5kW of shaft power. It accepts standard drive
signals – ±10V analog and step & direction signals.
In addition to standard drive operation, the SLVD has simple
position control functionality. The user has the ability to set
preset moves, program I/O, solve following applications and
carry out camming functions. It also has an internal PLC for
simple machine control functions with up to 15 instructions. A
CANBUS interface is also available.
SLVD Part Numbering System
SLVD Features
•
•
•
•
•
•
•
•
•
•
Additional control features
•
•
SLVD
5
•
•
Small, Low-Voltage Drive
Series
SLVD
Example: SLVD5
Continuous Current Level
1
2
5
•
Optional Keypad part number
SK130 KEYPAD
128
Automation
Up to 5 Amps of continuous current (RMS)
Optional keypad interface for drive configuration, monitoring and application commands
Standard D-shell and removable screw terminal
connectors
Resolver feedback
240 VAC, 3-phase operation
±10V velocity and torque control
Step & direction input for position control
24 Volt Keep Alive (required)
RS422/485 communication
CE (EMC & LVD)
Position preset mode – drive can be set up to perform
simple trapezoidal moves.
Following (digital locking) – drive can ration against
encoder signal; acceleration and slip speeds can also be
set.
Electronic cam profiling – cam profiling up to 257 elements.
CANBUS interface – can be used in communication mode
and in real-time mode.
Internal PLC – drive can be programmed via keypad or
with a ladder diagram system.
Scan time: 6.144 mS
Timers: 2
Instructions: 15
Stack depth: 1
Program steps: 64
Mathematics operation: 16/32 bits
Fast inputs (fast copy): 3 - 512 microseconds
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
SLVD Specifications
SLVD
SLVD Common Specifications
SLVD1
SLVD2
SLVD5
230V±10%
3∅
230V±10%
3∅
230V±10%
3∅
50/60 Hz
50/60 Hz
50/60 Hz
340VDC
Drive Input Power
Voltage
Phase
Frequency
Drive Output Power
Bus voltage @ 240VAC
340VDC
340VDC
PWM
8kHz
8kHz
8kHz
Continuous current (peak of sine)
1.75A
3.54A
7.07A
Continuous current (RMS)
1.24A
2.5A
5A
Peak current (peak of sine)
3.54A
7.07A
14.14A
Peak current (RMS)
Commutation
2.5A
5A
10A
Sinusoidal
Sinusoidal
Sinusoidal
Resolver
Resolver
Resolver
Performance
Feedback
Command velocity and torque mode
Command position mode
Digital inputs (8 inputs)
±10V
±10V
±10V
Step/direction input
800kHz max
Step/direction input
800kHz max
Step/direction input
800kHz max
24V
24V
24V
Encoder input
200kHz max
200kHz max
200kHz max
Analog input - Aux
±10V (10 bit)
±10V (10 bit)
±10V (10 bit)
24V/100mA/PNP
24V/100mA/PNP
24V/100mA/PNP
±4.5V
±4.5V
±4.5V
Outputs
Digital outputs (6 inputs)
Analog output - Aux
Communication
Type
RS422/485
RS422/485
RS422/485
Up to 32 units
Up to 32 units
Up to 32 units
Control stage
18W
18W
18W
Power stage
18W
28W
45W
Internal braking resistor
60W
60W
60W
113°F (45°C)
113°F (45°C)
113°F (45°C)
IP20
IP20
IP20
BE, J and NeoMetric Series
BE, J and NeoMetric Series
BE, J and NeoMetric Series
Daisychain
Power Dissipation
Environmental
Temperature
Protection
Grade
Compumotor Motors
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129
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
B
Inputs
Catalog 8000-4/USA
SLVD
SLVD Speed-Torque Curves
Motor Speed-Torque Performance Curves
SLVD with BE, NeoMetric and J Series motors, 23, 34, and 70mm frame, resolver feedback, 240
VAC
For complete BE, Neometric, and J motor and cable information, please refer to Servo Motor section.
BE231FR/SLVD5
.70
50
Torque (oz-in)
100
2.10
250
1.75
200
1.40
150
1.05
100
.70
.35
50
0
0
1000
2000
3000
Speed (RPM)
4000
.35
0
0
5000
0
4000
3.50
400
2.80
300
2.10
200
1.40
100
.70
0
0
5000
0
1000
2000
3000
4000
0
5000
Speed (RPM)
BE341FR/SLVD5
N0701DR/J0701DR/SLVD5
2.45
600
4.20
600
4.20
300
2.10
500
3.50
500
3.50
250
1.75
400
2.80
400
2.80
200
1.40
300
2.10
300
2.10
150
1.05
200
1.40
200
1.40
100
.70
100
.70
100
.70
50
.42
0
1000
2000
3000
4000
0
5000
0
0
1000
Speed (RPM)
400
2.80
300
2.10
200
1.40
100
.70
0
4500
0
6000
Speed (RPM)
1500
3000
4500
6000
0
7500
Speed (RPM)
0
7500
800
700
600
500
400
300
200
100
0
0
1500
3000
4500
6000
5.60
4.90
4.20
3.50
2.80
2.10
1.40
.70
0
7500
Torque (Nm)
3.50
Torque (Nm)
500
3000
4000
N0703FR/J0703FR/SLVD5
4.20
Torque (oz-in)
N0702ER/J0702ER/SLVD5
1500
3000
0
0
5000
Speed (RPM)
600
0
2000
Torque (oz-in)
350
Torque (oz-in)
4.90
Speed (RPM)
CONTINUOUS
PEAK
340V
For complete motor and cable information, please
refer to the Motor Cable Table at the end of the
Servo Motors section.
130
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Torque (Nm)
700
Torque (Nm)
4.90
0
Torque (oz-in)
2000
3000
Speed (RPM)
4.20
500
700
Torque (Nm)
Torque (oz-in)
BE233FR/SLVD5
1000
600
Torque (Nm)
1.05
BE232DR/SLVD5
300
Torque (Nm)
150
Torque (Nm)
Torque (oz-in)
1.40
Torque (oz-in)
BE230DR/SLVD5
200
Catalog 8000-4/USA
SLVD Connections
SLVD
Terminal Board
X1 Resolver/Input
1
2
3
4
5
6
7
8
9
+ ECC
- ECC
SIN +
SIN COS +
COS 0V
0V
IN 0
TX
1
2
3
4
5
6
7
8
9
RX
/TX
/RX
CANH
+BR180
-BR180
CANL
0V
PHA
/PHA
PHB
/PHB
PHC
/PHC
0V
Not used
Not used
IN 1
Terminal Board
X4 CMD/Analog I/O
1
2
3
4
5
6
7
8
9
10
Terminal
X6 Power
ANALOG REFERENCE +
1
2
3
4
5
6
7
ANALOG REFERENCE 0V
AUXILIARY ANALOG INPUT +
AUXILIARY ANALOG INPUT V OUT
OUT 0/IN 2
MOTOR PHASE U
MOTOR PHASE V
MOTOR PHASE W
LIVE 1 (L1)
LIVE 2 (L2)
B
1
2
3
4
5
6
7
8
9
10
DB9 Male
X3 Encoder In/Out
DB9 Female
X2 Com/Bus
LIVE 3 (L3)
PE
OUT 1/IN 3
+ 24 V
0V
Find Your Local Factory Authorized Distributor at www.compumotor.com or Call 1-800-358-9070.
131
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
SLVD
SLVD Dimensions
SLVD Dimensions in inches (mm)
3.39
(86.0)
0.28
(7.2)
1.42
(40.0)
0.57
(14.7)
0.69
(17.5)
5.49
(139.6)
2.52
(64.1)
0.79
(20.1)
2.11
(53.5)
1.99
(50.5)
2.99
(76.0)
5.09
(129.0)
5.56
(141.2)
3.17
(80.5)
2.09
(53.0)
0.20
(5.0)
0.20
(5.0)
0.20
(5.0)
3.90
(99.2)
0.04
(1.0)
132
Automation
0.90
(22.9)
4.56
(115.7)
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
HPD
HPD
High-Power Digital
Servo Drive
HPD Features
•
•
•
•
•
•
•
•
•
Up to 67A continuous (RMS)
Resolver feedback
90-480VAC input, 3-phase voltage range
±10V input for velocity and torque control
Step & direction input for position control
Keypad interface for drive configuration, monitoring and
application commands
Optional 24V Keep Alive
RS422/485 serial interface
CE (EMC & LVD)
HPD Part Numbering System
HPD
24N
High Performance Drive
Series
Continuous Current Level
2N
16N
35N
5N
20N
45N
8N
24N
67N
25N
Example: HPD24N
Additional Control Features
In addition to basic drive functionality, the standard HPD drive
also offers the following features:
• Position-preset mode – drive can be set up to perform
simple trapezoidal moves.
• Wire-checking mode – this trouble-shooting mode
provides various tests to check drive wiring.
• Following (digital locking) – drive can ratio against encoder
signal; acceleration and slip speeds can also be set.
• Up to 8 programmable inputs and 7 programmable
outputs; can be used as general purpose, in the PLC
mode or used as an optional 4-digit thumbwheel.
• Internal PLC – can be programmed via the keypad or
programmed with a ladder diagram system.
Scan time: 6.144 microseconds
Timers: 2
Instructions: 15
Stack depth: 1
Program steps: 64
Mathematics operation: 16/32 bits
Fast inputs (fast copy): 3 - 512 microseconds
• Inter-Drive Communication – specific configuration of the
serial port makes it possible to interchange parameters
between two or more units.
Find Your Local Factory Authorized Distributor at www.compumotor.com or Call 1-800-358-9070.
133
Automation
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Compumotor Division
compumoto.com
B
The HPD (High Power Drive) is a digital servo drive that accepts
up to 480V input and provides up to 67 Amps of continuous
current (RMS). This equates to 33kW of power. The HPD also
accepts standard drive signals – ±10V analog and step &
direction signals.
In addition to standard drive operation, the HPD has 8
inputs, 7 outputs and control capabilities that include preset
moves, acceleration control, following and even an internal
simple PLC. All of these features can be programmed via the
keypad interface integrated into the drive.
Catalog 8000-4/USA
HPD
HPD Specifications
HPD Common Specifications
HPD2N
HPD5N
HPD8N
HPD16N
HPD20N
Voltage
Phase
90 - 480V
3∅
90 - 480V
3∅
90 - 480V
3∅
90 - 480V
3∅
90 - 480V
3∅
Frequency
50/60 Hz
50/60 Hz
50/60 Hz
50/60 Hz
50/60 Hz
680VDC
680VDC
680VDC
680VDC
680VDC
8kHz
2.8A
8kHz
7.1A
8kHz
11.3A
8kHz
22.6A
8kHz
28.3A
Drive Input Power
Drive Output Power
Bus voltage @ 480VAC
PWM
Continuous current (peak of sine)
Continuous current (RMS)
Peak current* (peak of sine)
Peak current* (RMS)
Commutation
2
5
8
16
20
5.7A
14.1A
22.6A
45.2A
91.9A
4
10
16
32
65
Sinusoidal
Sinusoidal
Sinusoidal
Sinusoidal
Sinusoidal
Resolver
Resolver
Resolver
Resolver
Resolver
Performance
Feedback
Inputs
Command velocity and torque mode
±10V (15 bit)
±10V (15 bit)
±10V (15 bit)
±10V (15 bit)
±10V (15 bit)
Command position mode
Step/dir input
800kHz max
Step/dir input
800kHz max
Step/dir input
800kHz max
Step/dir input
800kHz max
Step/dir input
800kHz max
Digital inputs (8 inputs)
24V
24V
24V
24V
24V
Encoder input
200kHz max
200kHz max
200kHz max
200kHz max
200kHz max
Analog input - Aux
±10V (10 bit)
±10V (10 bit)
±10V (10 bit)
±10V (10 bit)
±10V (10 bit)
24V/100mA/PNP
24V/100mA/PNP
24V/100mA/PNP
24V/100mA/PNP
24V/100mA/PNP
1
1
1
1
1
Encoder output
450Hz max
450Hz max
450Hz max
450Hz max
450Hz max
Analog output - Aux
±10V (8 bit)
±10V (8 bit)
±10V (8 bit)
±10V (8 bit)
±10V (8 bit)
Outputs
Digital outputs (6 inputs)
Voltage-free output
Communication
Type
RS422/485
RS422/485
RS422/485
RS422/485
RS422/485
Up to 32 units
Up to 32 units
Up to 32 units
Up to 32 units
Up to 32 units
Control stage
18W
18W
18W
18W
18W
Power stage
25W
60W
89W
158W
200W
Internal braking resistor
120W
120W
120W
120W
240W
45°C
45°C
45°C
45°C
45°C
Daisy chain
Power Dissipation
Environmental
Temperature
Protection
Grade
Compumotor Motors
IP20
IP20
IP20
IP20
IP20
Contact factory
Contact factory
Contact factory
M Series
M Series
134
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
HPD Specifications
HPD
HPD Common Specifications
HPD24N
HPD25N
HPD35N
HPD45N
HPD67N
Voltage
Phase
90 - 480V
3∅
90 - 480V
3∅
90 - 480V
3∅
90 - 480V
3∅
90 - 480V
3∅
Frequency
50/60 Hz
50/60 Hz
50/60 Hz
50/60 Hz
50/60 Hz
680VDC
Drive Input Power
Drive Output Power
Bus voltage @ 480VAC
680VDC
680VDC
680VDC
680VDC
PWM
8kHz
8kHz
8kHz
8kHz
8kHz
Continuous current (peak of sine)
33.9A
35.4A
49.5A
63.6A
94.7A
Continuous current (RMS)
Peak current* (peak of sine)
Peak current* (RMS)
24
25
35
45
67
70.7A
70.7A
74.9A
94.7A
141.4A
50
50
53
67
100
Sinusoidal
Sinusoidal
Sinusoidal
Sinusoidal
Sinusoidal
Resolver
Resolver
Resolver
Resolver
Resolver
Command velocity and torque mode
±10V (15 bit)
±10V (15 bit)
±10V (15 bit)
±10V (15 bit)
±10V (15 bit)
Command position mode
Step/dir input
800kHz max
Step/dir input
800kHz max
Step/dir input
800kHz max
Step/dir input
800kHz max
Step/dir input
800kHz max
Commutation
Performance
Feedback
Inputs
24V
24V
24V
24V
24V
Encoder input
200kHz max
200kHz max
200kHz max
200kHz max
200kHz max
Analog input - Aux
±10V (10 bit)
±10V (10 bit)
±10V (10 bit)
±10V (10 bit)
±10V (10 bit)
24V/100mA/PNP
24V/100mA/PNP
24V/100mA/PNP
24V/100mA/PNP
24V/100mA/PNP
1
1
1
1
1
Encoder output
450Hz max
450Hz max
450Hz max
450Hz max
450Hz max
Analog output - Aux
±10V (8 bit)
±10V (8 bit)
±10V (8 bit)
±10V (8 bit)
±10V (8 bit)
B
Digital inputs (2+2 inputs)
Outputs
Digital outputs (2 inputs)
Voltage-free output
Communication
Type
RS422/485
RS422/485
RS422/485
RS422/485
RS422/485
Up to 32 units
Up to 32 units
Up to 32 units
Up to 32 units
Up to 32 units
Control stage
18W
30W
30W
30W
30W
Power stage
246W
250W
297W
370W
470W
Internal braking resistor
240W
400W
400W
400W
400W
45°C
45°C
45°C
45°C
45°C
Daisy chain
Dissipation
Environmental
Temperature
Protection
Grade
Compumotor Motors
IP20
IP20
IP20
IP20
IP20
M Series
M Series
M Series
M Series
M Series
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135
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
HPD
HPD Speed-Torque Curves
Motor Speed-Torque Performance Curves
HPD with M Series motors, 105mm, 145mm, and 205mm frame, resolver feedback, 480 VAC
For complete M Series motor and cable information, please refer to the Servo Motor section.
13.4
80
8.97
40
4.48
0
3000
4000
5000
22.4
150
16.8
100
11.2
50
5.6
0
0
1000
Speed (RPM)
M1453LR/HPD67
400
44.8
200
Torque (Lb-in)
Torque (Lb-in)
67.3
22.4
600
67.2
500
56.0
400
44.8
300
33.6
200
22.4
100
11.2
0
M1455PR/HPD45
112
800
89.7
600
67.3
400
44.8
200
22.4
0
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Speed (RPM)
Torque (Lb-in)
44.8
M2052PR/HPD45
22.4
112
800
89.7
600
67.3
400
44.8
200
22.4
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
0
1200
112
800
89.7
600
67.3
400
44.8
200
22.4
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Speed (RPM)
134
1000
0
0
500
Speed (RPM)
400
44.8
0
2500
0
3000
Speed (RPM)
Torque (Lb-in)
89.7
1200
134
800
89.7
400
44.8
0
0
500
1000
1500
2000
2500
0
3000
1600
0
3000
179
1200
134
800
89.7
400
44.8
0
0
Speed (RPM)
CONTINUOUS
2500
500
1000
1500
2000
2500
Torque (Nm)
800
179
Torque (Nm)
134
Torque (Nm)
1200
2000
M2054SR/HPD67
1600
179
1500
Speed (RPM)
M2053RR/HPD67
M2052PR/HPD67
1600
1000
Torque (Nm)
Torque (Lb-in)
1000
Torque (Nm)
400
Torque (Nm)
67.3
200
Torque (Lb-in)
0
500 1000 1500 2000 2500 3000 3500 4000 4500
M1455PR/HPD67
600
2000
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
1000
89.7
1500
11.2
Speed (RPM)
800
1000
22.4
100
M1454NR/HPD67
78.5
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
500
200
Speed (RPM)
700
Speed (RPM)
0
33.6
Torque (Nm)
600
0
5000
Torque (Nm)
89.7
Torque (Nm)
800
0
4000
44.8
300
M1454NR/HPD45
112
0
3000
56.0
400
Speed (RPM)
1000
0
2000
500
0
0
6000
Torque (Lb-in)
2000
200
Torque (Lb-in)
1000
28.0
Torque (Lb-in)
0
0
6000
250
Torque (Lb-in)
120
33.6
Torque (Nm)
17.9
M1453LR/HPD35
300
Torque (Nm)
160
Torque (Lb-in)
M1054KR/HPD24
22.4
Torque (Nm)
Torque (Lb-in)
M1053KR/HPD16
200
0
3000
Speed (RPM)
PEAK (680V)
For complete motor and cable information, please
refer to the Motor Cable Table at the end of the
Servo Motors section.
136
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
HPD Connections
HPD
HPD2N - HPD24N
B
Front view
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137
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
HPD
HPD Connections
Terminal Board X1
1
2
3
4
5
6
7
8
9
10
Terminal Board X4
1
2
3
4
5
6
7
8
9
10
11
12
Motor PTC + (24V)
Motor PTC Resolver excitation phase high
Resolver excitation phase low
Resolver Sin high
Resolver Sin low
Resolver Cos high
Resolver Cos low
0V
0V
Terminal Board X2
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
1
2
3
4
5
6
7
8
9
0V
Auxiliary reference high
Auxiliary reference low
0V
Auxiliary analog output
0V
Tacho output
0V
Digital out 0
Digital out 1
Digital out 2
Digital out 3
Digital out 4
Digital out 5
Digital out 6 A
Digital out 6 B
+ 24V - OUT 200 mA
0V
/TX
/RX
N.C.
+BR
-BR
0V
0V
U PHASE
V PHASE
W PHASE
A-BUS
B-BUS
BRAKE COMMAND
INTER. BRAKE RESISTOR
+ DC BUS
- DC BUS
+ 10V - 10 mA max
0V
- 10V - 10 mA max
0V
+ 24 V - IN
0V
0V
+ V backup
- V backup
0V
Drive enable
Digital input 1
Digital input 2
Digital input 3
Digital input 4
Digital input 5
Digital input 6
Digital input 7
+ 24V - OUT 200 mA
0V
D Type X6 (DB9 female)
1
2
3
4
5
6
7
8
9
RX
LIVE 3 (L3)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Reference low
TX
LIVE 2 (L2)
Terminal Board X3
Reference high
D Type X5 (DB9 female)
LIVE 1 (L1)
A
/A
B
/B
-BRA
+BRB
0V
-BRB
+BRA
138
Automation
D Type X7 (DB9 female)
1
2
3
4
5
6
7
8
9
PHA
/PHA
PHB
/PHB
PHC
/PHC
0V
N.C.
N.C.
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
HPD Connections
HPD
HPD25N - HPD67N
B
Front view
Rear view
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139
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
HPD
HPD Connections
Terminal Board X1
1
2
3
4
5
6
7
8
9
10
Terminal Board X4
Motor PTC + (24V)
L1
L2
L3
U
V
W
AB
BB
Motor PTC Resolver excitation phase high
Resolver excitation phase low
Resolver Sin high
Resolver Sin low
Resolver Cos high
Resolver Cos low
LIVE 3 (L3)
Motor, phase
Motor, phase
Motor, phase
-DC BUS
R1
C1
R2
C2
220V~AUX a
220V~AUX b
Auxiliary voltage
Auxiliary voltage
0V
Terminal Board X3
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Reference high
Reference low
0V
Auxilary reference high
Auxilary reference low
0V
Auxilary analog output
0V
Tacho output
0V
Digital out 0
Digital out 1
Digital out 2
Digital out 3
Digital out 4
Digital out 5
Digital out 6 A
Digital out 6 B
+ 24V - OUT 200 mA
0V
X5 (DB9 female)
1
2
3
4
5
6
7
8
9
LIVE 2 (L2)
0V
Terminal Board X2
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
LIVE 1 (L1)
RX
/TX
/RX
N.C.
+BR
-BR
0V
0V
0V
- 10V - 10 mA max
0V
+ 24 V - IN
0V
0V
+ V backup
- V backup
0V
Drive enable
Digital input 1
Digital input 2
Digital input 3
Digital input 4
Digital input 5
Digital input 6
Digital input 7
+ 24V - OUT 200 mA
0V
A
/A
B
/B
-BRA
+BRB
0V
-BRB
+BRA
140
Automation
X7 (DB9 male)
X6 (DB9 female)
1
2
3
4
5
6
7
8
9
TX
+ 10V - 10 mA max
1
2
3
4
5
6
7
8
9
PHA
/PHA
PHB
/PHB
PHC
/PHC
0V
N.C.
N.C.
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
HPD Dimensions
HPD
HPD2N-24N Dimensions in inches (mm)
0.39
(10.0)
3.21
(81.5)
0.22
(5.5)
11.85
(301.1)
0.20
(5.0)
14.33
(364.0)
0.83
(21.2)
12.34
(313.5)
14.84
(377.0)
1.09
(27.7)
5.35
(135.9)
0.22
(5.5)
1.57
(40.0)
0.82
(20.8)
B
0.82
(20.8)
HPD25N-67N Dimensions in inches (mm)
2.44
(62.0)
12.52
(318.0)
7.64
(194.0)
0.30
(7.50)
11.91
(302.5)
2.44
(62.0)
0.31
(8.0)
15.16
(385.0)
14.45
(367.0)
15.43
(392.0)
0.05
(1.3)
0.22
(5.7)
0.16
(4.0)
11.41
(290.0)
1.04
(26.3)
13.12
(335.0)
1.21
(30.7)
0.59
(14.9)
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141
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
OEM
OEM770 & OEM770X
Compact, Low-Cost
Solutions
The Making of a Servo System
Servo systems rely on feedback devices to continuously correct
for errors in current or torque, velocity, and position. A typical
servo system includes a servo controller, amplifier, and motor
with a feedback device. The servo amplifier can have varying
degrees of complexity and performance. A torque amplifier
(e.g. OEM770T) controls only the current loop. A positioning
servo (e.g., OEM770X) accepts encoder feedback to close the
position loop.
Computer Programmable Standalone
Servo Drive/Controllers
Compumotor’s OEM770X drive/controllers are standalone, fully
integrated servo systems for fractional horsepower applications. Designed to provide greater flexibility and user convenience, the single-axis OEM770X incorporates a built-in RS232C based controller in the same small package for quick,
easy programming. Users can program seven sequences and
utilize five programmable inputs and two programmable
outputs per unit.
The OEM770 Family
The OEM770 family of products bring high performance in a
small, low-cost package. The OEM770 family offers a costeffective solution to a number of fractional horsepower brushless servo applications.
The OEM770 family was designed to operate with
Compumotor’s SM, SE, NeoMetric, J and BE series of motors
or any standard three-phase brushless DC servo motor
equipped with Hall effect sensors. The OEM770 family uses
three-state current control for efficient drive performance and
cooler motor operation.
The OEM770 family products are small and convenient to
use. Units install with only two screws (the screws also provide
grounding and captivate the cover). Their right-angle screw
terminal allows side-by-side mounting, and their small footprint
maximizes cabinet space. The snap-on molded cover is
removable for system configuration and helps provide a barrier
against environmental contamination. The drives are the same
size as a 3U Eurorack card. Their standard 25-pin connector is
compatible with universally available connectors.
See Also:
The OEM Family of
Stepper Drive Products
in the
Stepper Section
142
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM770
OEM
Compact, Low-Cost
Solutions
Features
Performance
•
•
•
•
•
•
•
Torque Mode operation with OEM770T
Three-state current control for more efficient drive and
cooler motor operation
Configurable current fold-back
Plug-in resistors for peak and fold-back current
Six-state drive design with hall effect sensors for
commutation
Operates with brushless or brushed servo motors
Several Brushless Servo motors are available from
Compumotor providing up to 190 oz-in continous and
570 oz-in peak torque
Packaging
•
•
•
•
•
•
Application-specific integrated circuit (ASIC) and surface
mount technology minimize product footprint, overall
package size, and increase product reliability
Removable snap-on molded cover for convenient configuration and protection against contaminants
Heat is dissipated through the mounting surface
Install with only two screws (also provides grounding and
captivates cover)
Universally available standard 25-pin D connector
Right-angle screw terminal allows side-to-side mounting,
or Eurorack compatibility
Power
•
•
Provides 6 Amps continuous current and 12 Amps peak
current
Single 24-75 VDC power supply input
Reliability
•
•
•
•
•
Short circuit protected—phase-to-phase and
phase-to-ground
Overvoltage circuitry protects the drive from large inertial
loads
Status/fault LED indicators to confirm proper operation
Enclosed packaging reduces danger of environmental
contamination
Overtemperature circuitry protects the drive from
excess heat
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
143
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Compumotor’s OEM770 Series of servo drives were designed
for the needs of OEMs and high-volume users with a fractional
horsepower motion control application. These products were
developed to provide performance, compact packaging,
reliability, and power. The OEM770T is a torque amplifier
utilizing a ± 10VDC analog input making it directly compatible
with industry standard motion controllers.
Catalog 8000-4/USA
OEM
OEM770
OEM770 Specifications
Parameter
Value
Power Input
Voltage
Current
24–75 VDC
0–12 amps
Power Output-Motor
Peak Current
Continuous Current
Voltage
Peak Power
Continuous Power
Switching Frequency
Bandwidth
Transconductance
Commutation
Short-Circuit Protected
12 A (approx 2 sec max duration at 45°C ambient temperature)
6A
90 VDC max
840 W (1.1 hp) @ 75 V supply voltage
420 W (0.56 hp)
20 kHz
2 kHz typical (dependent on motor)
1 volt = 1.2 amp
120° hall effect sensors for six-state commutation method or brushed DC motor
Yes
Power Output-Hall Effect
Sensors
Voltage
Current
Short-Circuit Protected
+5 VDC ±0.5 VDC
50 mA max
No
Power Output-to Controller
Output Stage
Voltage
+15 VDC ±1.5 VDC; -15 VDC ± 1.5 VDC
Current
10 mA max
Short-Circuit Protected
No
Control Inputs
Command Input
Enable Input
-10 V to +10 V analog voltage; 1 volt input = 1.2 amp output
Active LOW: 0–0.8 V @ 2 mA; when disabled: internal 2.49 kΩ pull-up resistor to +5 VDC
Hall Inputs
Low State
High State
Input Frequency
0-0.8 V
Internal 1 kΩ pull-up resistor to +5 V
0–2 kHz max
Signal Outputs
Fault Output
Current Monitor
Active High: open collector output, max volts = 24 VDC; Inactive LOW: 0-0.4 VDC @ 0-20 mA
-10 V to +10 V analog voltage; scale: 1 V corresponds to 1.2 A output; Output Impedance: 10 KΩ
LEDs
Green = power; Red = various fault conditions
Protective Circuits
Short Circuit
Overtemperature
Overvoltage
Undervoltage
Current Foldback
Position Error (OEM670SD)
Turns off outputs to motor; latched
55°C ±5°C trip temperature; latched
95 V ±5 V trip voltage; latched
21.5 V max; not latched
Configurable with 3 resistors
2,047-16,383 post-quad encoder counts
Motor Characteristics
Minimum Inductance
Minimum Resistance
Loop Gain Adjustment
Motor Type
50 µH (micro Henrys)
0.25 Ω
Configurable with one resistor
Compumotor recommends the OEM770 Series with NeoMetric, J, SM, SE and BE Series
motors.
Environmental
Minimum Temperature
Max Temperature
Max Heatplate Temperatsure
Package Dissipation
0°C (32°F)
45°C (113°F)
45°C (113°F)
Heatplate: 0–30 W, depending on motor current; PP = (IAVG/12 A) 30 W; Cover: 3 watts max
Physical
Power Connector
Input/Output Connector
Approx Dimensions
Weight
10-pin screw terminal; 14 awg max wire size
25-pin D connector
5" x 1.6" x 3.5" (127 x 41 x 90)
OEM770T: 12 oz
144
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM770X
OEM
Fully Integrated Controller
and Brushless Servo
Drives
Reliability
•
•
•
•
•
Short-circuit protected: phase-to-phase, and phase-toground
Overvoltage circuitry protects the drive from large inertial
loads
Status/fault LED indicators to confirm proper operation
Enclosed packaging reduces danger of environmental
contamination
Overtemperature circuitry protects the drive from
excess heat
Packaging
Features
•
Performance
•
•
•
•
•
•
•
•
•
Servo controller and drive in one small package
Standard RS-232C serial communications interface
Optional 2 kBytes of battery-backed RAM to store up to 7
command sequences (-M2 option)
Daisy chaining up to 256 units on one serial port
Five programmable inputs for remote sequence select,
trigger, and home limit, and two dedicated limit inputs
Two programmable outputs for machine interaction
Operates with standard differential, optical encoder for
velocity and position feedback
PID control algorithm used for servo tuning
Several AC Brushless Servo motors are available from
Compumotor providing up to 190 oz-in continous and
570 oz-in peak torque
•
•
•
•
•
•
Application-specific integrated circuit (ASIC) and surfacemount technology minimize product footprint, overall
package size, and increase product reliability
Removable snap-on molded cover for convenient configuration and protection against contaminants
Heat is dissipated through the mounting surface
Install with only two screws (also provides grounding and
captivates cover)
Universally available standard 25-pin D connector
Right-angle screw terminal allows side-to-side mounting,
or Eurorack compatibility
Overall dimension 5.0 x 3.6 x 1.6 in (127 x 9 x 41 mm)
Power
•
•
Provides 6 amps continuous current and 12 amps
peak current
Single 24-75 VDC power supply input
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
145
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
The OEM770X is designed for the needs of OEMs and highvolume users with a fractional horsepower motion control
application. Compumotor’s OEM770X fully integrated servo
systems combine the power, compact packaging, and reliability
of the OEM770T torque servo amplifiers with a simple, programmable, built-in, RS232C-based servo controller. Users can
program seven sequences and have five programmable inputs
and two programmable outputs per unit.
The OEM770X is ideal for less demanding motion control
applications such as rotary indexing, step-and-repeat, and
linear positioning. The “X” version is a cost-effective, singleaxis servo system to meet your high-volume application needs.
Catalog 8000-4/USA
OEM
OEM770X Specifications
OEM770X Specifications
Parameter
Value
Voltage
Current
Peak Current
Continuous Current
Voltage
Peak Power
Continuous Power
Switching Frequency
Bandwidth
Transconductance
Commutation
Short-Circuit Protected
24–75 VDC
0–12 amps
12 A (approx 2 sec max duration at 45°C ambient temperature)
6A
75 VDC max
840 W (1.1 hp) @ 75 V supply voltage
420 W (0.56 hp)
20 kHz
2 kHz typical (dependent on motor)
1 volt = 1.2 amp
120° hall effect sensors for six-state commutation method or brushed DC motor
Yes
Voltage
Current
Short-Circuit Protected
+5 VDC ±0.5 VDC
50 mA max
No
Hall Inputs
Low State
High State
Input Frequency
0-0.8 V
Internal 1 kΩ pull-up resistor to +5 V
0–2 kHz max
Inputs
Programmable Inputs
End-of-Travel Limits
Enable Input
Encoder
5 user defined, TTL signal levels: low = 0–0.8 V, high = 2–5 V
CW/CCW, 0-5 TTL signal levels: low = 0–0.8 V, high = 2–5 V
Active Low: 0-0.8V@2mA; when disabled: Internal 2.49W pull-up resistor to +5VDC
2-phase differential (recommended) or single-ended (+5VDC TTL compatible), 960 kHz max
frequency
Outputs
Programmable Outputs
Fault Output
Current Monitor
LEDs
2 user-defined, TTL signal levels: low = 0–0.8 V, high = 2–5 V
Active High: open collector output, max volts = 24 VDC; Inactive LOW: 0-0.4 VDC @ 0-20 mA
-10 V to +10 V analog voltage; scale: 1 V corresponds to 1.2 A output; Output Impedance: 10 KΩ
Green = power; Red = various fault conditions
Performance
Position Range
Velocity Range
Acceleration Range
Velocity Accuracy
Velocity Repeatability
Resolution
±1,073,741,823
0.01 to 200 rps
0.01 to 9999 rps2
±0.02% of maximum rate
±0.02% of set rate
400-65,532 encoder counts/rev
Digital Servo Loop
Update Time
Output
Servo Tuning
Tuning Parameters
266 µsec
12-bit DAC
Digital, via RS232C
PID with digital filter
Protective Circuits
Short Circuit
Overtemperature
Overvoltage
Undervoltage
Current Foldback
Turns off outputs to motor; latched
55°C ±5°C trip temperature; latched
95 V ±5 V trip voltage; latched
21.5 V max; not latched
Configurable with 3 resistors
Motor Characteristics
Minimum Inductance
Minimum Resistance
Loop Gain Adjustment
Motor Type
50 µH (micro Henrys)
0.25 Ω
Configurable with one resistor
Compumotor recommends the OEM770 Series with NeoMetric, J, SM, SE and BE Series motors.
Environmental
Minimum Temperature
Max Temperature
Max Heatplate Temperature
Package Dissipation
0°C (32°F)
45°C (113°F)
45°C (113°F)
Heatplate: 0–30 W, depending on motor current; P = (IAVG/12 A) 30 W; Cover: 3 watts max
Physical
Power Connector
Input/Output Connector
Approx Dimensions
Weight
10-pin screw terminal; 14 awg max wire size
25-pin D connector
5" x 1.6" x 3.5" (127 x 41 x 90)
14 oz
Power Input
Power Output- Motor
Power Output-Hall
Effect Sensors
146
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM770 & OEM770X Speed-Torque Curves OEM
Motor Speed-Torque Performance Curves
OEM770 with SM Motors, 16 and 23 frame, encoder feedback, 75 VDC
For complete SM motor and cable information, please refer to Servo Motor section.
(N-m) oz-in
(0.38) 50
SM160A with OEM770
(0.46) 60
Torque
(0.15) 20
(0.15) 20
0
(N-m) oz-in
(0.61) 80
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
0
8000
(133)
SM161B with OEM770
(0.30) 40
(0.15) 20
(0.08) 10
(0.08) 10
SM161A with OEM770
(N-m) oz-in
(0.61) 80
(0.23) 30
(0.23) 30
Torque
Torque
(0.30) 40
0
SM160B with OEM770
(N-m) oz-in
(0.30) 40
0
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
0
8000
(133)
SM162A with OEM770
(N-m) oz-in
(1.14) 150
0
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
SM162B with OEM770
(N-m) oz-in
(1.14) 150
(0.95) 125
(0.95) 125
(0.76) 100
(0.76) 100
8000
(133)
(0.30) 40
Torque
Torque
Torque
(0.46) 60
(0.57) 75
(0.57) 75
(0.38) 50
(0.38) 50
(0.19) 25
(0.19) 25
(0.15) 20
0
(N-m) oz-in
(0.76) 100
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
8000
(133)
SM230A with OEM770
(N-m) oz-in
(0.61) 80
1000
(17)
2000
3000
4000
(33)
(50)
(67)
Speed – RPM (rps)
0
5000
(83)
SM230B with OEM770
(N-m) oz-in
(1.14) 150
0
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
8000
(133)
SM231A with OEM770
(0.95) 125
(0.61) 80
(0.46) 60
(0.30) 40
Torque
(0.76) 100
(0.46) 60
Torque
Torque
0
B
0
0
(0.30) 40
(0.57) 75
(0.38) 50
(0.15) 20
(0.15) 20
0
(0.19) 25
0
SM231B with OEM770
0
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
0
8000
(133)
SM232A with OEM770
(N-m) oz-in
(2.28) 300
(1.90) 250
(1.52) 200
(1.52) 200
Torque
(1.90) 250
(0.76) 100
(0.57) 75
(1.14) 150
(0.76) 100
(0.76) 100
(0.19) 25
(0.38) 50
(0.38) 50
0
0
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
8000
(133)
SM233A with OEM770
0
(N-m) oz-in
(3.81) 500
(3.05) 400
(2.28) 300
(2.28) 300
Torque
(3.05) 400
(1.52) 200
1000
1500
2000
(17)
(25)
(33)
Speed – RPM (rps)
2500
(42)
2000
3000
4000
(33)
(50)
(67)
Speed – RPM (rps)
5000
(83)
SM232B with OEM770
0
0
1000
(17)
2000
3000
4000
(33)
(50)
(67)
Speed – RPM (rps)
5000
(83)
SM233B with OEM770
* For motor specifications
and dimensions, please
refer to the servo motor
section.
(1.52) 200
(0.76) 100
(0.76) 100
0
500
(8)
1000
(17)
(1.14) 150
(0.38) 50
0
0
(N-m) oz-in
(2.28) 300
(0.95) 125
(N-m) oz-in
(3.81) 500
Torque
8000
(133)
Torque
Torque
(N-m) oz-in
(1.14) 150
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
0
0
500
1000
1500
(8)
(17)
(25)
Speed – RPM (rps)
2000
(33)
0
0
500
(8)
1000 1500 2000 2500 3000
(17) (25) (33) (42) (50)
Speed – RPM (rps)
CONTINUOUS
PEAK
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
147
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM770 & OEM770X Speed-Torque Curves OEM
Motor Speed-Torque Performance Curves
OEM770 with NeoMetric and J Series Motors, 34 and 70mm frame, encoder
feedback, 75 VDC
For complete NeoMetric and J Series motor and cable information, please refer to Servo Motor
section.
N0701F/N0341F/J0701F/J0341F
with OEM670
(N-m) oz-in
(1.90) 250
(1.52) 200
(1.52) 200
(1.14) 150
(1.14) 150
Torque
Torque
N0701D/N0341D/J0701D/J0341D
with OEM670
(N-m) oz-in
(1.90) 250
(0.76) 100
(0.38) 50
0
(0.38) 50
0
0
500 1000 1500 2000 2500 3000 3500
(8) (17) (25) (33) (42) (50) (58)
Speed – RPM (rps)
N0702E/N0342E/J0702E/J0342E
with OEM670
(3.05) 400
(3.05) 400
(2.28) 300
(2.28) 300
(1.52) 200
0
1000
(17)
2000
3000
4000
(33)
(50)
(67)
Speed – RPM (rps)
5000
(83)
* For motor specifications
and dimensions, please refer
to the servo motor section.
N0702F/N0342F/J0702F/J0342F
with OEM670
(N-m) oz-in
(3.81) 500
(1.52) 200
(0.76) 100
(0.76) 100
0
500
(8)
1000
1500
2000
(17)
(25)
(33)
Speed – RPM (rps)
2500
(42)
CONTINUOUS
1
0
(N-m) oz-in
(3.81) 500
Torque
Torque
(0.76) 100
0
0
500
(8)
1000 1500 2000 2500 3000
(17) (25) (33) (42) (50)
Speed – RPM (rps)
PEAK
With 75VDC bus voltage; 25°C (77°F) ambient temperature.
148
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM770 & OEM770X Speed-Torque Curves OEM
Motor Speed-Torque Performance Curves
OEM770 with BE Series Motors, 16 and 23 frame, encoder feedback, 75 VDC
For complete BE motor and cable information, please refer to Servo Motor section.
20
.14
0
3000
4000
.21
20
.14
10
.07
0
0
1000
Speed (RPM)
.42
40
.28
20
.14
0
4000
.84
120
.56
80
.28
40
0
0
5000
0
OEM770/BE164D
1000
Torque (oz-in)
.70
.35
0
4000
4000
1.05
120
.84
90
.63
60
.42
30
.21
1000
Speed (RPM)
2000
3000
4000
.28
20
.14
0
1000
100
.70
200
1.40
80
.56
60
.42
150
1.05
40
.28
4000
Torque (oz-in)
1.75
100
.70
50
.14
.35
0
0
5000
0
1000
2000
3000
4000
Speed (RPM)
Speed (RPM)
4000
0
5000
200
1.4
150
1.05
100
.70
50
.35
0
1000
2000
3000
4000
0
5000
0
5000
500
3.5
400
2.8
300
2.1
200
1.4
100
.70
0
0
1000
2000
3000
4000
Torque (Nm)
250
0
3000
0
Torque (Nm)
.84
Torque (Nm)
120
20
2000
OEM770/BE232F
2.1
3000
.42
40
OEM770/BE231F
300
2000
.56
60
Speed (RPM)
.98
1000
.70
80
0
0
5000
140
0
.84
100
Speed (RPM)
OEM770/BE230F
0
5000
OEM770/BE230D
150
0
4000
Speed (RPM)
0
0
5000
3000
Torque (Nm)
Torque (oz-in)
3000
0
5000
Torque (Nm)
1.05
100
Torque (Nm)
150
50
Torque (oz-in)
2000
2000
120
OEM770/BE164F
1.4
3000
1000
Speed (RPM)
200
2000
.14
OEM770/BE163F
1.12
Speed (RPM)
1000
.28
20
Speed (RPM)
160
Torque (oz-in)
60
0
.42
40
Torque (Nm)
.56
3000
.56
60
0
Torque (Nm)
80
2000
4000
.70
80
OEM770/BE163D
.70
Torque (Nm)
Torque (oz-in)
OEM770/BE162F
1000
3000
.84
100
Speed (RPM)
100
0
2000
.98
120
0
0
5000
Torque (oz-in)
2000
30
Torque (oz-in)
1000
.28
Torque (oz-in)
0
0
5000
40
140
B
.28
Torque (oz-in)
40
.35
Torque (Nm)
.42
OEM770/BE162D
50
Torque (Nm)
60
Torque (Nm)
Torque (oz-in)
OEM770/BE161F
.56
Torque (oz-in)
OEM770/BE161D
80
0
5000
Speed (RPM)
5.6
600
4.2
400
2.8
200
1.4
0
0
1000
2000
3000
4000
0
5000
Torque (Nm)
Torque (oz-in)
OEM770/BE233F
800
CONTINUOUS
PEAK (170VDC)
Speed (RPM)
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
149
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM
OEM770 & OEM770X Dimensions
OEM770 Series Dimensional Drawings
0.420
(10.67)
Dimensions in inches (mm)
This surface must be
thermally coupled to a
cold plate in most
applications
2x 0.177 (4.496)
thru (clearance
for #8 (M4)
mounting screw)
1.625 (41.28)
3.555 (90.30)
3.315 (84.20)
1.000 (25.40)
7.000 (177.80)
Mounting Clearance
ORQU
SER
IVE
T
OEM
s
e
r
i
e
s
E
5.000 (127.00)
5500 Business Park Dr.
Rohnert Park, CA 94928
Compumotor
VO DR
Compumotor
4.650 (118.11)
0.175 (4.45)
0.812 (20.62)
POWER
FAULT
VDC+
VDCHALL GND
HALL +5V
HALL 1
HALL 2
HALL 3
PHASE A
PHASE B
PHASE C
Motor/Power
Screw-Terminal
Pin No.
Signal
1
VDC+
2
VDC-
3
Hall GND
4
Hall +5V
5
Hall 1
6
Hall 2
7
Hall 3
8
Phase A
9
Phase B
10
Phase C
1.000 (25.40)
Exposed aluminum
for electrical
grounding
0.335
(8.51)
2.000 (50.80)
Mounting Clearance
150
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM770 & OEM770X Connections
OEM
OEM770X Drive Connections
OEM
1
2
Input #3
N.C.
s
e
r
i
e
s
OSITIO
VO DR
POWER
FAULT
VDC+
VDCHALL GND
HALL +5V
HALL 1
HALL 2
HALL 3
PHASE A
PHASE B
PHASE C
Customer
Equipment
N.C.
N SER
P
Input #1
Input #2
N.C.
Compumotor
IVE
N.C.
N.C.
Tx
15
Rx
16
Encoder Ground
Input #4
4
Input #5
Output #1
5 17
18
6
RS232 Ground
7
Output #2
Fault Output
N.C.
3
14
Enable In
Encoder +5V
Encoder Channel A-
20
Encoder Channel B+
9 21
22
10
Encoder Channel Z+
Current Monitor +
8
N.C.
CW Limit
N.C.
CCW Limit
13 25
Encoder
Interface
Encoder Channel A+
19
11 23
12 24
Digital Ground
RS-232C
(Ground Z+
if Z+ input
is not used)
Encoder Channel B-
Encoder Channel Z-
Current
Monitor
Current Monitor -
B
OEM770T Drive Connections
Inputs & Outputs
Command +
Command -
OEM770T Internal Connections
1
10KΩ
2
10KΩ
1
+15VDC Output
-15VDC Output
GND
14
14
2
15
15
16
16
GND
7
Fault Output
Enable Input
GND
9
10KΩ
10KΩ
7
+5V
9
10
10
11
11
2.49KΩ
24
22KΩ
25
Current Monitor Current Monitor +
22KΩ
24
10KΩ
25
25 Pin D-Connector
Mounted on OEM670T/OEM675T
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
151
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM770 & OEM770X Ordering
OEM
Ordering Information
Drives
Part No.
Description
OEM770T
Torque Servo Drive
OEM770X
Servo Drive/Controller
OEM770X-M2
Servo Drive/Controller with battery-backed RAM (2KBytes)
Part No.
Description
OEM-HS1*
Heatsink Size 1
OEM-HS2*
Heatsink Size 2
Accessories
58-013465-01
Thermstrate mounting pad (ordered in multiples of 25)
OEM300
300 Watt peak power output at 75 VDC. Operates at 120 or 240 VAC, 50/60 Hz
OEM1000
1000 Watt peak power output at 70 VDC. Operates at 120 or 240 VAC, 50/60 Hz
OEM1000-Cover
OEM1000 Power Module Cover
M2-KIT
Memory Upgrade Kit (Battery-backed RAM 2 KBytes)
* Note: Heatsinks are available for applications with inadequate mounting surface. Whether or not a heatsink is required
depends on duty cycle and load characteristics.
For complete motor and cable information, please
refer to the Motor Cable Table at the end of the
Servo Motors section.
152
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DYNASERV
(LVD and EMC*)
Direct-Drive Brushless
Servo Systems
Each Dynaserv system consists of a brushless servo motor,
microprocessor-based drive, power supply, and a brushless
resolver or encoder for position feedback. The primary benefit
of the Dynaserv System is high accuracy and torque without
speed reducers. Additional advantages include:
• Faster settling time than a traditional servo motor and
speed reducer system
• Smooth rotation at slow speeds
• A flat speed/torque curve for high controllability
• Ability to operate in a position, speed or torque
control mode
• Built-in test mode simplifies optimum tuning
G2 — Small Packaged, Digital Servo
Drive!
•
•
•
•
•
RS232 communication
Auto-tuning
Increased resolutions (up to 4,096,000 ppr)
Repeatability to ±1 arc second
Utility software
DM Series — Best Accuracy and
Repeatability!
•
•
•
•
•
•
•
Incremental encoder feedback
9 models: 4-, 6- or 10-inch diameter
Resolutions to 1,024,000 steps/rev
Torques to 150 ft-lb (200 Nm)
Repeatability of ±2 arc seconds
Clean room operation
DM1004 has axial and radial run-out of 0.01mm
M2 — Drive/Controller in a Single
Package!
•
•
•
•
•
•
•
Autotuning
Controls all Dynaserv motors except D5000A Series
Position feed forward (faster settling)
PLC mode
Fieldbus: Profibus, DeviceNet and CC Link
Non-volatile RAM
Configuration replication (flash memory)
The Dynaserv Family
DR Series — Lowest Cost!
•
•
•
•
•
•
Brushless resolver feedback
20 models: 4-, 6-, 8- or 10-inch diameter
Resolutions to 819,200 steps/rev
Torques to 370 ft-lb
(500 Nm)
Repeatability of ±5 arc seconds
Speeds up to 5 rps for DR5000
* EMC with proper filter and intallation procedures.
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
153
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Dynaserv Series
Catalog 8000-4/USA
Introduction
DYNASERV
The Dynaserv System Allows the User to
Operate in One of Three Modes of Control:
High Torque at High Speed
Position control – up to 4,096,000 steps/rev
Speed control – ±10V Velocity command input
Torque control – stable response at ±8V input
This type of flexibility combined with a high torque/weight
ratio, high accuracy, faster settling times, high torque at high
speed, smooth rotation, optimum tuning and clean operation all
add up to cost effective high performance alternative to the
traditional motor and speed reducer combinations.
The torque/speed curve of the various Dynaserv models is very
flat. This results in high acceleration at high speeds (4.0 rps)
with good controllability.
Smooth Rotation
The very low velocity and torque ripple of the Dynaserv
contribute to its excellent speed controllability.
Speed Ripple
(DM1150A)
Torque Ripple
(DM1015A)
20
High Torque/Weight Ratio
Conditions
The Dynaserv motors are designed with a permanent magnet
constructed of rare-earth materials located at the center of the
stator core.
• Load 30 x Rotor Inertia
• Rotation: CW
• Speed Mode
15
15.3
Torque (Power)/Weight Comparison
5000
10
Torque (N • m)
Ripple (%)
15
14.7
Power (W)
5
3
5%
5
2000
0
+
V
ER
AS +
YN
D +
500
Max. Torque x Rated Speed
0.2
++
1000
+
AC
th
wi
(
or
200
100
+
S
v
er
o
Ac
tu
S
e
pe
d
Re
du
c
0.4
0.6
0.8
1.0
1.2
0°
Revolution (rps)
)
er
90°
180°
270°
360°
Rotational Angle (deg.)
Dynaserv Velocity/Torque Ripple
Optimum Tuning
at
Dynaserv systems offer the user a tuning mode that simplifies
the setting of optimum parameters for the actual load. Turning
on the "test" switch on the front panel of the drive produces a
test signal. Utilizing an oscilloscope the gain settings are quickly
optimized by adjusting the digital switches and potentiometers
on the front panel.
/
DC
50
20
Clean Opearation
10
2
4
10
20
42
108
The Dynaserv system is brushless and gearless which results in
a maintenance-free operation. With preparation, the DM Series
can operate in Class 10 environments.
216
Weight (lbs)
Power/Weight Comparison
High Precision
Dynaserv motors eliminate the backlash or hysteresis inevitable
in using any speed reducer. Absolute positioning of 30 arc-sec
is typical with a repeatability of ±1 arc-sec.
Faster Settling Time
Measured by:
Made by:
Source:
Min. Resolution:
Sampling:
LPC-101 Particle Counter
PMS Corp.
He-Ne Lazor Light
0.1 micro meter (Particle Diameter)
0.1 Cubic feet/min.
COUNT (Count/ft3 • min)
The Dynaserv system reduces machine cycle times by decreasing settling times. This result is realized because of the
"gearless" design and sophisticated "I-PD" control algorithm.
VERTICAL 5 AXES ROBOT
(µm)
Using Traditional Motors/Reducers
Distance
100
50
0
-20
Time (sec.)
-50
-100
0.8 Settling Time
0.25
50
30
10
Travel Time
(µm)
SCARA 4 AXES ROBOT
100
Using “DYNASERV”
0
0
Distance
50
0
0.5
0.8
Time (sec.)
-20
-50
0.3
Diameter (µm)
0.2
Dust from Dynaserv (DM1045B)
0.2
Settling Time
-100
Travel Time
Settling Time comparison in Robot Application
154
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DYNASERV
Introduction
The Dynaserv has provided solutions to a variety
of applications such as:
Assembly
• Base machine
• Pick and place
• Inserter/mounter
Robots
• Handling
• Clean room
• Universal
Transport
• Turn table
• Belt conveyor
• Three-dimensional
warehouse
Inspection and Measuring
• Three dimensional
measuring
• Goniometer
• Non-destructive x-ray
Indexing/Rotary Positioning
The Dynaserv has high accelerations lending itself to high
speed point-to-point positioning applications requiring low
cycle time. In scanning and inspection applications the
outstanding low speed performance will be of merit.
Tool turret
Work
• Machining center work
table
• Press roll feed
• Grinder table
Commercial
• Printing machines
• Medical equipment
• Follow-up equipment
Material Handling
Dynaserv motor for arm
Dynaserv motor
for X axis
Rotary table for assembly
Robotics
Dynaserv direct drive motors were first developed to drive
SCARA (Selective Compliance Assembly Robot Arm) in
applications requiring repetitive and physically taxing
operations.
Printed
circuit board
Feeder
Feed-to-Length
The Dynaserv system eliminates the need for gear reduction
and allows for direct control of the nip roll in most feed-tolength applications. The ability to effectively control loads up to
100 times its own rotor inertia allows the Dynaserv to be
applied in a variety of machines. The net result of specifying a
Dynaserv system is increased repeatability of the feed material.
SCARA robot
for assembly
Peripherals for robot
Roll Feeder
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By attaching a small arm or linkage to the Dynaserv, very high
velocities can be attained. This type of design has been used
on a wide variety of equipment, such as a chip mounting
machine. On this machine accuracies of 30 arc-sec are
maintained with very high arm speed.
Catalog 8000-4/USA
Introduction
DYNASERV
Motor Construction and Operation
The torque is proportional to the square of the sum of the bias
magnetic flux Øm, due to the permanent magnet and the
excitation magnetic flux of windings.
T oc (φm + φc)2
High torque is generated due to the following factors. First,
the motor diameter is large. The tangential forces between
rotor and stator act at a large radius, resulting in higher torque.
Secondly, a large number of small rotor and stator teeth create
many magnetic cycles per motor revolution. More working
cycles means increased torque.
Direct drive systems couple the load of the system directly to
the motor without the use of belts or gears. Most servo motors,
brushed or brushlesss, often lack adequate torque or resolution
to satisfy application needs. Therefore, mechanical means,
such as gear reduction systems are implemented to meet
system requirements. The Dynaserv can provide very high
torque in a modest package size and solve many of the
performance issues of the gear reducer. All this in a system that
is as easy to use as a stepping motor.
The figure below shows the construction of the Dynaserv DM
Series direct drive motor compared to a conventional motor
with a gear reducer. As shown in the figure, the gear reducer
relies on frictional contact to reduce the speed of the load. This
gearing effectively increases torque and resolution but sacrifices speed and accuracy. The direct drive motor is brushless
and gearless so it eliminates friction from its power transmission. Since the feedback element is coupled directly to the
load, system accuracy and repeatability are greatly increased
and backlash is eliminated.
Magnetic Circuit
DC/AC motor
Bearing
Φm
Φc
Excitation
coil
Permanent
magnet
Stator A
Stator B
T
Exploded View of the Dynaserv Motor Model DM
Encoder plate
PDA kit
LED kit
Clamp ring
Housing kit
Retaining
ring
Encoder
Stator core
Rotor core
Housing
Hub
Conventional Motor/Gear Reducer vs. Dynaserv
Gear reducer
Φm
Rotor
Core
Rotating
element
Encoder PCB
Slit plate
Stator
element
Encoder
Rotor core
Stator core
DM Series
• Friction introduces inaccuracies and non-linearities
• Gearing reduces stiffness at the load
The motor contains precision bearings, magnetic components
and integral feedback in a compact motor package. The motor
is an outer rotor type, providing direct motion of the outside
housing of the motor and thus the load. The cross roller
bearings which support the rotor have high stiffness, to allow
the motor to be connected directly to the load. In most cases is
is not necessary to use additional bearings or connecting
shafts.
Gear Reducer System Limitations
• Backlash limits positional accuracy
• Gearing causes a trade-off between speed and resolution
• Inefficiently transfers torque
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Catalog 8000-4/USA
DYNASERV
Introduction
Selecting your Dynaserv
The normal principals of servo motor sizing apply to the
Dynaserv, but there are a few special considerations to keep in
mind.
Peak Torque/Continuous Torque
DR-A Series – 115 volts
lb-ft
296
The speed torque curves in this section represent the peak
available torque. Continuous torques are approximately 2/3 of
the peak value. Use one-half of peak torque for the DM1004.
(N-m)
(400)
DR1400A
259
(350)
222
(300)
Torque
185
(250)
DR1300A
DR1200A
148
(200)
(150)
111
74
(100)
DR1100A
37
(50)
0
0
0.5
1.0
Speed-RPS
1.5
2.0
0
When selecting the right Dynaserv for your application, the
inertia match between the motor and load is a critical factor.
The specifications listed in this section are for a 30:1 load to
rotor inertia ratio. The following table lists the recommended
ratios for specific application types. Actual results will depend
highly on the usage, so these values are just for reference
purposes. It is always a good idea to add 30-50% safety
margin in sizing calculations.
Max K Ratio
(Jload/Jmotor)
Application Type
High throughput applications
(printing machines, chip mounting)
5-10
General high speed applications
(SCARA robot, transfer arms)
20-30
High speed but balanced load
applications
(Rotary Index, Rotary Tables)
50-100
High accuracy, slow speed
applications
(Measuring Equipment)
100-200
Motor Types
Motor Types
When selecting the motor type, the decision comes down to a
trade-off of resolution, accuracy, speed, and cost. Please use
this table to match your specific application requirements to the
correct direct drive motor. Keep in mind that these ratings are
speculative and based only on the features of these three
models. The lowest accuracy Dynaserv is still very accurate by
normal motor standards.
Power
Accuracy
Motor Weight
Resolution
Cost
Speed
DM
Series
DR
Series
DR5000
Series
Lowest
Highest
Lowest
Highest
Medium
Lowest
Medium
Medium
Medium
Medium
Lowest
Medium
Highest
Lowest
Highest
Lowest
Highest
Highest
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Application Types and Ratios
Inertia Matching
Catalog 8000-4/USA
Introduction
DYNASERV
Application Considerations for using the
Dynaserv Direct-Drive Brushless Servo Systems
Sizing and Selection Considerations
Cabling Considerations
•
•
•
•
•
•
All Speed vs. Torque curves shown in Compumotor’s
Catalog and Dynaserv User Guide show peak torque.
Use two-thirds of peak torque to calculate the available
continuous torque. Use one-half for DM1004.
If you require more than two-thirds of peak torque for short
periods of time (low duty cycle applications), calculate
RMS (room mean square) torque. make sure RMS torque
is less than 2/3 of peak torque.
Friction torque should not exceed 30% of a motor’s peak
torque.
Dynaservs operate most efficiently with a balanced load.
Overhung loads cannot exceed 148 ft-lbs for the DR-B
and DM-B series motors. Overhung loads cannot eceed
15 ft-lbs for DR5000C series, 24 ft-lbs for the DM1004C
and 20 ft-lbs for the DM1004B. These values should be
derated by 33% for constant loads and 80–90% for
intermittent loads (fatigue) to incoroprate a safety margin.
Always calculate the load-to-rotor inertia ratio before
selecting a motor. The acceptable ratio is applicationand motor-dependent. Applications requiring low cycle
times and high accelerations need a lower ratio than slowspeed, continuous velocity applications. Refer to the
acceptable inertia values for different application types on
the previous page.
•
The Dynaserv is not shipped with a power cable. This
cable must be provided by the end user. The Dynaserv is
shipped with a 50-pin Honda connector. Use this connector to construct a cable between the Indexer, Servo
controller, or other input/output devices. Prefabricated
cables for Compumotor indexers and servo controllers are
available.
The motor and feedback cables cannot exceed 30 meters
in length.
Mounting and Environmental Considerations
•
•
•
Do not drill holes into the Dynaserv motor.
The Dynaserv is an outer rotor motor. The rotating load
must be mounted to the upper mounting surface (the
rotor). The lower stator surface must be mounted to the
rigid and stationary machine base.
Install the motor in an appropriate location as the motor is
not dust proof, watertight, or oil proof.
Axial Compression
and Tension Load Limits
Compression
Tension
DR5000C
1124 lbs
674 lbs
DR-B Series
6744 lbs
2248 lbs
DR-E, DR-A
8992 lbs
4496 lbs
DM1004B
440 lbs
154 lbs
DM1004C
770 lbs
770 lbs
DM-B
6600 lbs
2200 lbs
DM-A
8800 lbs
4400 lbs
These limits should be derated to incorporate a safety
margin. If the load is intermittent and repetitive, derate these
values by 80–90%.
• If the motor is used with oscillating rotation movements
with a small angle (50º or less), then perform a running-in
operation with back-and-forth movements about 10 times,
each move exceeding an angle of at least 90º. The
running-in operation must be carried out every 10,000
times of back-and-forth oscillation movements in order to
ensure proper lubrication of the bearings.
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Catalog 8000-4/USA
DYNASERV
Introduction
How to Order – Linearserv and Dynaserv
How to Order – Dynaserv
How to Order – Dynaserv G2
D
G2 —
—
D
—
Model Series Name
M - Encoder
R - Resolver
Model Series Name
M - Encoder
R - Resolver
Motor Speed
1 - Standard (up to 2.0 rps)
5 - High speed (up to 5.0 rps)
Motor Speed
1 - Standard (up to 2.0 rps)
5 - High speed (up to 5.0 rps)
Peak Torque (Nm)
004 - 400
Depending on motor type
Peak Torque (Nm)
004 - 500
Depending on motor type
Motor Diameter
A - 10"
B - 6"
C - 4"
E - 8"
Motor Diameter
A - 10"
B - 6"
C - 4"
E - 8"
Input AC Voltage
- 115
- 230
Input AC Voltage
¥ 115
¥ 200 (DR5000A Series only)
¥ 230
CE Compliance
EMC - EMC & LVD Compliance.
Including CE-MArked motor, drive, filter, and installation instructions.
The -EMC option is not available with the DR5000A Series.
—
—
—
B
CE Compliance
EMC - EMC & LVD Compliance.
Including CE-MArked motor, drive, filter, and installation instructions.
The -EMC option is not available with the DR5000A Series.
How to Order – Linearserv
How to Order – Dynaserv M2
D
M2 —
—
Model Series Name
M - Encoder
R - Resolver
Motor Speed
1 - Standard (up to 2.0 rps)
5 - High speed (up to 5.0 rps)
Peak Torque (Nm)
004 - 400
Depending on motor type
Motor Diameter
A - 10"
B - 6"
C - 4"
E - 8"
Input AC Voltage
- 115
- 230
CE Compliance
EMC - EMC & LVD Compliance.
Including CE-MArked motor, drive, filter, and installation instructions.
The -EMC option is not available with the DR5000A Series.
LM
—
—
—
—
Model
1
High Precision**
5
Standard**
Motor Force
04 40 N (LM5000)
05
50 N (LM1000)
10
100 N (LM1000) 09 90 N (LM5000)
30
300 N (LM1000) 27 270 N (LM5000)
Precision
0
Standard
1
Ultra Precision*
Stroke Length
Available from 50—1500 mm (e.g., 040—400 mm)
Cable Option
1
Cable Option #1 (3 m motor and Encoder cable
and 1.5 m Amp-Head cable)
Input AC Voltage
115
100—115 VAC
230
200—230 VAC
Number of Sliders and Drives
4
4 slider/drives
1 slider/drive
5
5 slider/drives
2
2 slider/drives
6
6 slider/drives
3
3 slider/drives
* Available in the LM1000 Series
** High rigidity versions are available for increased load and moment capabilities
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Catalog 8000-4/USA
G2 Drive
DYNASERV
Dynaserv G2 Digital
Servo Drives
The Dynaserv G2 is a small-packaged, position-command-type
(step-and-direction command input), new-generation digital
servo amplifier. It is designed specifically to drive the Dynaserv
direct-drive rotary and Linearserv direct-drive linear motors.
The G2 can be easily configured via RS232 using the G2 Utility
on a PC or by using the optional hand-held Teach Pendant.
The G2 is available in 500 watts and 2 kW power levels. It will
run all the Dynaserv motors except the DR5000A series.
Servo tuning is simplified with the auto-tuning feature. No
information is required to tune the servo; the auto-tuning
operation oscillates the rotor and measures the inertia and
weight of the load, then automatically sets the optimum tuning
parameters for servo control.
Features
•
•
•
•
•
•
•
•
•
•
160
Automation
Step and direction input only
Resolver or encoder feedback
Torques to 295 ft-lbs. (400 Nm)
RS232 communication
Auto-tuning
Increased resolutions (up to 4,096,000 ppr)
Repeatability to ±1 arc second
Homing operation
LED diagnostics display
Utility software
Parker Hannifin Corporation
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Catalog 8000-4/USA
G2 Drive
DYNASERV
G2 Specifications
Features
Model
Value
DR1xxxB
Performance
Repeatability
Accuracy
Resolution
Power
Volts
+10% to -15%
DR1xxxE
DR1xxxA
± 3 arc sec ± 3 arc sec ± 3 arc sec
DM1xxxB
DM1xxxA
± 5 arc sec ± 5 arc sec ± 1 arc sec ± 1 arc sec
DM1004x
± 3 arc sec
± 45
arc sec
± 30
arc sec
± 90
arc sec
± 50
arc sec
± 15
arc sec
± 15
arc sec
± 60
arc sec
1,015,808
steps/rev
1,228,800
steps/rev
1,638,400
steps/rev
557,056
steps/rev
425,984
steps/rev
2,621,440
steps/rev
4,096,000
steps/rev
2,621,440
steps/rev
115VAC or 230VAC, 1-phase
230VAC,
1-phase
115VAC or 230VAC, 1-phase
50/60 Hz
+10% to -15%
Range
Power Level
DR5xxxC
± 45
arc sec
Frequency
Current
DR5xxxB
15 amps
max
500W & 2kW
500W
2kW
15 amps max
20 amps max
2kW
2kW
500W
20 amps
max
500W &&2kW
500W
2kW
2kW
5 amps
max
500W
Communication
Serial
RS232C
Command Interface
Step Input
5V TTL, EIA-422 standard
Encoder Output
Inputs
B
5V TTL, EIA-422 standard
Direction Input
5V TTL, EIA-422 standard
5V, 4.0mA/input, 3.0k impedance; or 12 - 24VDC, 4.1 - 8.5mA/input, 10k impedance
Outputs
Open collector, 100mA/output
Environmental
Operating
Temperature
0 to 50 degrees C
Storage
Temperature
-20 to 85 degrees C
Humidity
20 to 90% RH without condensation
Power
Consumption
3.4KVA
.8KVA
Weight
7.9 lbs
3.7 lbs
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Catalog 8000-4/USA
G2 Drive
DYNASERV
G2
I/O Connections (CN4)
36-Pin Honda
Pin No.
I/O Signals
Signal Name
Description
1
2
3
4
5
COMP1
COMN1
OUT_DRDY
OUT_SRDY
OUT_BUSY
Common power
Common ground
Driver ready
Servo ready
Busy
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
OUT_XOVL
OUT_OVER
OUT_COIN
UA_OUT+
UA_OUTUB_OUT+
UB_OUTZ_OUT+
Z_OUTPUA_IN+
PUA_INSDB_IN+
SDB_ININ ERR_RESET
IN_SERVO
IN_MODE_START
IN_ABORT
IN_MODEL, 0
IN_MODEL, 1
IN_POSW 0
IN_POSW 1
IN_GAIN
IN_FN
IN_PLS_DIRECT
IN_PACT
NC
NC
CRNT LMT IN+
CRNT LMT INNC
NC
Overload signal
Over signal
Position settling signal
Encoder output UP+ or A+
Encoder output UP- or AEncoder output DOWN+ or A+
Encoder output DOWN- or AEncoder output Z+
Encoder output ZPosition command input pulse+
Position command input pulseSign (direction) command input pulse+
Sign (direction) command input pulseError reset
Servo ON
Operation start command
Operation abort command
Operation mode number
Operation mode number
Settling width selection
Settling width selection
Velocity control bandwidth selection
Position control bandwidth selection
Pulse direct or scaled selection
Position control integral operation disabled
No connection
No connection
Current limit
Current limit
No connection
No connection
Input power 12 to 24 VDC
Input power ground
Turns ON when it is not in the error status
Turns ON when it is in the servo ready state
The status where operation cannot be performed according to the pulse
train position command
Turns OFF when overload occurs
Turns ON when position deviation overflow or excessive velocity occurs
Turns ON when the position deviation is within the settling width
UP+ or A+, depending on the setting
UP- or A-, depending on the setting
DOWN+ or A+, depending on the setting
DOWN- or A-, depending on the setting
Homing Z_Channel
Homing Z_Channel
PLS+, UP+ or A+, depending on the setting
PLS-, UP- or A-, depending on the setting
SIGN+, DOWN+ or B+, depending on the setting
SIGN-, DOWN- or B-, depending on the setting
Executes error status reset when setting from OFF to ON
Servo ON when activated
Starts operation when setting from OFF to ON
Stops operation when setting from OFF to ON
162
Automation
Switches the settling width
Switches the settling width
Selects the velocity control bandwidth 1 or 2
Changes the position control bandwidth 1 or 2
Selects direct pulse command input or scaled input pulse command
Disables the integral operation when ON
0V: 0% to 10V: 100%
0V: 0% to 10V: 100%
Parker Hannifin Corporation
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Catalog 8000-4/USA
M2 Controller/Drive
DYNASERV
Dynaserv
Drive/Controller
Features
•
•
•
•
•
•
•
•
•
Auto Tuning
Position Feed Forward
RS232 Communication
PLC Mode
LED Diagnostic Display
Indicator Lamps
Controls most DR or DM series motors
Flash Read Only Memory(ROM)
Windows 95/98 Utility Software (M2 Utility)
Accessories
•
•
•
•
CP7576S-020 RS232C 2 meter cable (IBM compatible)
CP7802S-020 PLC 2 meter cable
CP7902S-020 Sensor (Home, travel limits, etc.) 2-meter
cable
Teach Box wired remote control
Please refer to the ordering information matrix
on page 159
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The Dynaserv M2 drive/controller is a single-axis servo motor
programmable drive/controller, designed to optimize the use of
the Dynaserv direct drive motors. It incorporates a completely
digital motion and position programmable controller with the
well-established Dynaserv drive in a single package. It was
designed to simplify the use of Dynaserv direct-drive servo
motor system, especially in rotary indexing applications. The
M2 uses the I-PD control algorithm for precise motion and
position control. The “auto tuning” feature simplifies servo
tuning and decreases system setup time. Improved settling
time is realized due to the use of position feed forward and the
close proximity of the controller and drive.
The Dynaserv M2 can be used with all the Dynaserv motors
except the DR5000A series. RS232C and the PLC mode
allow the user to manipulate the controller, with either a
computer or a Programmable Logic Controller. Programs,
parameters, configurations, and data settings can be stored in
the Flash Read Only Memory (ROM). (Since Flash ROM does
not require battery backup, it makes for a very safe method for
storing valuable setup information).
The M2 Drive can be used to replace mechanical cam
indexers and have the flexibility to change index number, index
distance, acceleration, speed, etc., electronically, without
replacing the dial indexer.
Catalog 8000-4/USA
M2 Drive/Controller
DYNASERV
General Specifications
Function Specifications
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Catalog 8000-4/USA
M2 Drive/Controller
DYNASERV
B
Specifications, continued
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G2/M2 Drive
DYNASERV
DR Series Motor Data
Model
1008B
Model
1015B
Model
1030B
Model
1045B
Model
1060B
Model
1070E
Model
1100E
Model
1130E
Model
1160E
Rated speed 115/230VAC
ft-lbs
(Nm)
rps
6
(8)
2.0/2.0
11
(15)
2.0/2.0
22
(30)
1.5/2.0
33
(45)
1.0/2.0
44
(60)
1.0/1.5
52
(70)
1.5/2.0
74
(100)
1.0/1.5
96
(130)
0.5/1.0
118
(160)
0.5/1.0
Maximum power consumption
115/230VAC
KVA
0.7
1.0
1.8
1.8
1.8
2.0
2.3
2.5
2.8
lbs
(kg)
7.9
(15)
507,904
13
(6)
11
(21)
507,904
20
(9)
13
(24)
507,904
24
(11)
14
(26)
507,904
29
(13)
18
(33)
507,904
35
(16)
46
(85)
614,400
49
(22)
55
(100)
614,400
57
(26)
68
(125)
614,400
70
(32)
77
(140)
614,400
79
(36)
lbs
lbs
ft-lb
6,744
2,248
148
6,744
2,248
148
6,744
2,248
148
6,744
2,248
148
6,744
2,248
148
8,992
4,496
295
8,992
4,496
295
8,992
4,496
295
8,992
4,496
295
Peak torque
oz-in2 x 102
(Kgm2 x 10-3)
Rotor inertia
Max resolution
Motor weight
Maximum static axial load*
• Compression
• Tension
Maximum static overhung load*
DR Series Motor Data
Model
1100A
Model
1200A
Model
1300A
Model
1400A
74
(100)
148
(200)
221
(300)
295
(400)
Peak torque
ft-lbs
(Nm)
Rated speed, 115/230VAC
rps
1.0/1.0
0.5/1.0
0.25/0.5
0.25/0.5
Maximum power consumption,
115/230VAC
KVA
2.5
3.0
3.2
3.2
109
(200)
156
(285)
186
(340)
219
(400)
oz-in2 x 102
(Kgm2 x 10-3)
Rotor inertia
Maximum resolution
819,200
819,200
819,200
819,200
lbs
(kg)
68
(31)
101
46)
125
(57)
150
(68)
Maximum static axial load**
• Compression
• Tension
lbs
lbs
8,992
4,496
8,992
4,496
8,992
4,496
8,992
4,496
Maximumum Static Overhung Load*
ft-lb
295
295
295
295
Motor weight
166
Automation
*
When designing a system, de-rate
the maximum load to the values
shown below:
Application
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
De-rate
Factor
1/3
1/5
1/10
Parker Hannifin Corporation
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Catalog 8000-4/USA
G2/M2 Drive
DYNASERV
DR5000 Series–Motor Data
Peak torque
ft-lbs
(Nm)
Rated speed
rps
Rotor inertia
oz-in2x102
(kgm2)x10-3
Resolution
Steps/rev
Motor weight
lbs
(kg)
Model
5005C
Model
5010C
Model
5015C
Model
5030B
Model
5070B
Model
5300A
Model
5500A
2.8
(3.8)
5.9
(8)
10.3
(14)
22
(30)
52
(70)
221
(300)
369
(500)
6
6
6
4
4
1.5
1.5
3.28
(0.006)
3.83
(0.007)
4.37
(0.008)
4.4
(8)
19.7
(36)
185.9
(340)
251.5
(460)
212,992
212,992
212,992
278,528
278,528
425,984
425,984
11.0
(5.0)
13.2
(6.0)
15.4
(7.0)
15.4
(7.0)
38.5
(17.5)
121
(55)
165
(75)
lbs
lbs
1124
674
1124
674
1124
674
6600
2200
6600
2200
8800
4400
8800
4400
Maximum static
overhung load**
ft-lb
15
15
15
148
148
296
296
Maximum power
consumption
KVA
1.0
1.0
1.0
3.1
3.1
5.5
7.5
Maximum static
axial load**
• Compression
• Tension
Application
**
1/3
1/5
1/10
When designing a system,
de-rate the maximum load to the
value as shown at the left:
B
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
De-rate
Factor
DM Series – Motor Data
Model
1015B
Model
1030B
Model
1045B
Model
1050A
Model
1100A
Model
1150A
Model
1200A
Peak torque
ft-lbs
(Nm)
11
(15)
22
(30)
33
(45)
37
(50)
74
(100)
111
(150)
148
(200)
Rated speed
• rps
115VAC
230VAC
2.0
2.0
2.0
2.0
1.0
2.0
1.0
1.0
1.0
1.0
0.5
1.0
0.5
1.0
Rotor inertia
oz-in2 x 102
(Kgm2) x 10-3
6.6
(12)
8.2
(15)
10.4
(19)
52.5
(96)
65.1
(119)
77.6
(142)
91.3
(167)
655,360
655,360
655,360
1,024,000
1,024,000
1,024,000
1,024,000
lbs
(kg)
12
(5.5)
17
(7.5)
21
(9.5)
32
(14.5)
42
(19)
53
(24)
64
(29)
Maximum static axial load**
• Compression
• Tension
lbs
lbs
6,600
2,200
6,600
2,200
6,600
2,200
8,800
4,400
8,800
4,400
8,800
4,400
8,800
4,400
Max. static overhung load**
ft-lb
148
148
148
296
296
296
296
Max. power consumption
KVA
1.6
2.0
2.0
2.4
2.7
3.0
3.0
Maximum steps/rev
Motor weight*
** When designing a system, de-rate the maximum load to the values shown at the right:
Application
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
De-rate
Factor
1/3
1/5
1/10
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Compumotor Division
compumotor.com
Catalog 8000-4/USA
G2/M2 Drive
DYNASERV
DM1004 Motor Data Specifications
DM1004B
DM1004C
Peak torque
ft-lbs
(N-m)
3
(4)
3
(4)
Rated speed
• rps
115VAC
230VAC
2.5
2.5
2.5
2.5
Rotor inertia
oz-in2 x 102
(Kgm2) x 10-3
3.01
(5.5)
1.37
(2.5)
Maximum step
s/rev
655,360
655,360
Motor weight*
lbs
(kg)
6.6
(3)
6.6
(3)
440 (200)
154 (70)
770 (350)
770 (350)
20 (2.7)
24.4 (3.3)
0.3
0.3
Maximum static axial load**
• Compression
• Tension
lbs (kg)
lbs (kg)
Maximum static overhung load**
ft-lb (kg-m)
Maximum power consumption
KVA
** When designing a system, de-rate the maximum load to the values specified
here:
Application
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
De-rate
Factor
1/3
1/5
1/10
Please refer to the ordering information matrix on page 159
168
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
G2/M2 Drive
DYNASERV
Motor Speed-Torque Performance Curves
The speed-torque curves represent peak torque available.
DRG2/DRM2-A Series — 115V
lb-ft (N-m)
296 (400)
DRG2/DRM2-A Series — 230V
lb-ft (N-m)
296 (400)
DR1400A
DR1400A
259 (350)
259 (350)
222 (300)
222 (300)
DR1300A
185 (250)
Torque
Torque
185 (250)
DR1200A
148 (200)
DR1300A
DR1200A
148 (200)
111 (150)
111 (150)
DR1100A
74 (100)
DR1100A
74 (100)
37 (50)
37 (50)
0
0
0
0.5
1.0
1.5
2.0
0
0.5
Speed-RPS
DRG2/DRM2-B Series — 115V
lb-ft (N-m)
45.0 (60)
1.5
2.0
DRG2/DRM2-B Series — 230V
lb-ft (N-m)
45.0 (60)
DR1060B
DR1060B
37.5 (50)
B
37.5 (50)
DR1045B
DR1045B
30.0 (40)
Torque
30.0 (40)
Torque
1.0
Speed-RPS
DR1030B
22.5 (30)
15.0 (20)
DR1030B
22.5 (30)
15.0 (20)
DR1015B
DR1015B
7.5 (10)
7.5 (10)
DR1008B
DR1008B
0
0
0
0.5
1.0
1.5
2.0
0
0.5
Speed-RPS
DRG2/DRM2-E Series — 115V
lb-ft (N-m)
222 (300)
148 (200)
Torque
Torque
2.0
185 (250)
148 (200)
DR1160E
111 (150)
DR1130E
37 (50)
1.5
DRG2/DRM2-E Series — 230V
lb-ft (N-m)
222 (300)
185 (250)
74 (100)
1.0
Speed-RPS
DR1130E
74 (100)
DR1100E
0.5
1.0
1.5
DR1100E
37 (50)
DR1070E
0
0
DR1070E
0
0
DR1160E
111 (150)
2.0
Speed-RPS
0.5
1.0
1.5
Speed-RPS
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169
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
2.0
Catalog 8000-4/USA
G2/M2 Drive
DYNASERV
Motor Speed-Torque Performance Curves
The speed-torque curves represent peak torque available.
DMG2/DMM2-A Series — 115 VAC
lb-ft (N-m)
222 (300)
185 (250)
111 (150)
74 (100)
37 (50)
185 (250)
DM1200A
DM1150A
DM1100A
DM1150A
111 (150)
DM1100A
74 (100)
DM1050A
DM1050A
37 (50)
0
0
0
0.5
1.0
Speed-RPS
1.5
2.0
0
DMG2/DMM2-B Series — 115 VAC
lb-ft (N-m)
42 (60)
DM1045B
28 (40)
Torque
DM1030B
21 (30)
14 (20)
46
(66)
37
(53)
28
(40)
19
(27)
9
(13)
0.5
1.0
Speed-RPS
1.5
1.5
2.0
DM-B Series — 230 VAC
DM1030B
DM1015B
0
2.0
0
0.63
1.25
1.88
2.5
Speed-RPS
DMG2/DMM2-1004 Series
lb-ft N-m
3.70 5
Torque
0
1.0
Speed-RPS
DM1045B
DM1015B
7 (10)
0
0.5
lb-ft (N-m)
56 (80)
35 (50)
Torque
DM1200A
148 (200)
Torque
Torque
148 (200)
DM-A Series — 230 VAC
lb-ft (N-m)
222 (300)
3.00
4
2.20
3
1.50
2
0.74
1
0
0
0.5
1.0
1.5
2.0
2.5
3.0
Speed-RPS
170
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
G2/M2 Drive
DYNASERV
G2 Drive Dimensional Drawings
Dimensions in inches (mm)
Dynaserv G2/M2 2kW with Regen
9.06 .04 (230
1)
.08 (2)
(215 1)
B
.5)
9.41 .02 (239
.63 (16)
)
8.46 .04
1)
9.84 .04 (250
4.33 .04 (110 1)
1.65(42) 2.60(66)
1.97(50)1.97 .02(50
.28(7)
Dynaserv G2/M2 2kW with Regen
2.76 .04 (70
.39 (10)
1.97 .02 (50
1)
.63 (16)
.5)
5.91 .04
.28 (7)
(150 1)
8.46 .04 (215 1)
9.84 .04 (250 1)
9.41 .02 (239 .5)
.08 (2)
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171
Automation
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Compumotor Division
compumotor.com
Catalog 8000-4/USA
DR Drive
DYNASERV
Direct-Drive
Brushless
Servo Systems
(LVD and EMC*)
The Dynaserv DR Series provides the user with a high-performance direct-drive servo system with resolver feedback. Each
of the thirteen models includes a direct-drive motor, integral
resolver, microprocessor-based drive and a 10-foot motor-todrive cable.
The DR Series motor is brushless and without gears allowing
for long, maintenance-free operation. The cross roller bearing
design can support up to 4 tons of compression load and 370
ft-lbs of overhung load. The center hole in the motor is up to 6
inches in diameter and can be used to simplify system wiring.
The user can elect to operate the DR Series in either a
position, velocity or torque mode. In the position mode, the
drive accepts step and direction input from any Compumotor
indexer or user-supplied pulse source. Operating in the velocity
mode requires a ±10VDC input and torque mode requires a
±8.5VDC input.
High performance closed loop operation is obtained with a
sophisticated I-PD digital and analog control algorithm. The
analog velocity loop provides high bandwidth for excellent
system response. The digital position loop simplifies position
control and optimizes system accuracy. A built-in test mode
and position/velocity monitors allow for convenient and efficient
tuning.
The DR Drive is fully protected against open and short
circuits, overcurrent, overvoltage and overtemperature. A seven
segment LED indicator provide the user with the status and
diagnostic information from the front panel.
•
•
Brushless direct drive motor with 10 foot cable
20 models available in 4-, 6-, 8- or 10-inch diameters
Resolver feedback
Torques to 370 ft-lbs (500 Nm)
Resolutions to 819,200 steps/rev
Supports 4 tons of compression load
Microprocessor control of I-PD control algorithm
Analog velocity loop/digital position loop
Built-in test mode for easy tuning
Diagnostic LED display
Step and direction input/position control
±10V for velocity control, ±8.5V for torque control
Gain settings can be changed “on the fly”
Configurable position accuracy to reduce system settling
time
Complete system, ready for operation
Also compatible with M2 controller/drive
Accessories
•
•
•
•
•
Features
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
Compumotor Controllers
The Dynaserv is compatible with all Compumotor
controllers
Bases
Mounting bases to simplify mounting to a flat surface (DRB Series only)
Dynamic Braking
Capacitor type or Speed-switching type for each motor
size
Precision Machining
Axial and radial run-out of .01, .02 or .005 mm is available
on most Dynaserv models. Standard axial and radial runout for all motors is 0.1 mm
Mechanical Braking
Most motors can be ordered with mechanical brakes for
power down, or emergency use. Not available with DR1008B and DR-E series
DR5000B and DR5000C Series only: line filters for CE
installations
Interface cables for use with Compumotor's 6K and 6000
Series controllers
* EMC with proper filter and intallation procedures.
172
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DR Drive
DYNASERV
Specifications
Parameter
Value
Repeatability
Accuracy
Max stepping rate
±5 arc-sec, ±10 arc-sec for DR5000B and DR5000C
±30 arc-sec DRA Series
±45 arc-sec, ±90 arc-sec for DR5000B, DRB, DRE and DR5000A Series
1,600,000 steps/sec
Power
Volts (se note)
Range
Current
±50 arc-sec for DR5000C
+10% to -15%
20 amps max
Inputs
Command interface
• Step input
• Direction
Performance
Low going low pulse, 150 nanoseconds minimum pulse width
Logic high = CW rotation
Logic low = CCW rotation
±10V command signal for velocity control, ±8.5V command signal for torque control
Analog input
Outputs
Encoder output
A/B encoder output 400 kHz max
Weight
Operating
Storage
Humidity
Driver
Motor
13.2 lb (6 kg), 24 lb (11 kg) DR5000A
See Table Below
32° to 122° F (0° to 50°C)
32° to 113° F max (0° to 45°C)
-4° to 185° F (-20° to 85°C)
-4° to 185° F (-20° to 85°C)
20 to 90% noncondensing
20 to 85% noncondensing
No corrosive gases. Dust free atmosphere. The Dynaserv is not waterproof, oil proof or dust proof.
Environmental
NOTE: Volts 115VAC 1 phase, all except DR5000A/B; 230VAC 1 phase, all except DR5000A; 200VAC 3 phase, DR5000A
Model
1008B
Model
1015B
Model
1030B
Model
1045B
Model
1060B
Model
1070E
Model
1100E
Model
1130E
Model
1160E
ft-lbs
(Nm)
rps
6
(8)
2.0/2.0
11
(15)
2.0/2.0
22
(30)
1.5/2.0
33
(45)
1.0/2.0
44
(60)
1.0/1.5
52
(70)
1.5/2.0
74
(100)
1.0/1.5
96
(130)
0.5/1.0
118
(160)
0.5/1.0
KVA
oz-in2 x 102
(Kgm2 x 10-3)
lbs
(kg)
0.7
7.9
(15)
507,904
13
(6)
1.0
11
(21)
507,904
20
(9)
1.8
13
(24)
507,904
24
(11)
1.8
14
(26)
507,904
29
(13)
1.8
18
(33)
507,904
35
(16)
2.0
46
(85)
614,400
49
(22)
2.3
55
(100)
614,400
57
(26)
2.5
68
(125)
614,400
70
(32)
2.8
77
(140)
614,400
79
(36)
Maximum static axial load**
• Compression
• Tension
lbs
lbs
6,744
2,248
6,744
2,248
6,744
2,248
6,744
2,248
6,744
2,248
8,992
4,496
8,992
4,496
8,992
4,496
8,992
4,496
Maximum static overhung load**
ft-lb
148
148
148
148
148
295
295
295
295
Peak torque
Rated speed, 115/230VAC
Maximum power consumption
Rotor inertia
Max resolution
Motor weight*
DR Series Motor Data
Model
1100A
Model
1200A
Model
1300A
Model
1400A
74
(100)
148
(200)
221
(300)
295
(400)
1.0/1.0
0.5/1.0
0.25/0.5
0.25/0.5
2.5
3.0
3.2
3.2
109
(200)
156
(285)
186
(340)
219
(400)
819,200
819,200
819,200
819,200
lbs
(kg)
68
(31)
101
46)
125
(57)
150
(68)
Maximum static axial load**
• Compression
• Tension
lbs
lbs
8,992
4,496
8,992
4,496
8,992
4,496
8,992
4,496
Maximumum Static Overhung Load*
ft-lb
295
295
295
295
Peak torque
ft-lbs
(Nm)
Rated speed, 115/230VAC
rps
Maximum power consumption,
115/230VAC
KVA
2
2
oz-in x 10
(Kgm2 x 10-3)
Rotor inertia
Maximum resolution
Motor weight*
**
When designing a system, derate the maximum load to the
values shown below:
Application
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
De-rate
Factor
1/3
1/5
1/10
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173
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compumotor.com
B
DR Series Motor Data
Catalog 8000-4/USA
DR Drive
DYNASERV
Motor Speed-Torque Performance Curves
The speed-torque curves represent peak torque available, continuous torques are approximately 2/3 of the peak value.
DR-A Series – 115V
lb-ft (N-m)
296 (400)
DR-A Series – 230V
lb-ft (N-m)
296 (400)
DR1400A
DR1400A
259 (350)
259 (350)
222 (300)
222 (300)
DR1300A
185 (250)
Torque
Torque
185 (250)
DR1200A
148 (200)
DR1300A
DR1200A
148 (200)
111 (150)
111 (150)
DR1100A
74 (100)
DR1100A
74 (100)
37 (50)
37 (50)
0
0
0
0.5
1.0
1.5
2.0
0
0.5
1.0
Speed-RPS
DR-B Series – 115V
lb-ft (N-m)
45.0 (60)
2.0
1.5
2.0
37.5 (50)
DR1045B
DR1045B
30.0 (40)
Torque
30.0 (40)
Torque
1.5
DR1060B
37.5 (50)
DR1030B
22.5 (30)
15.0 (20)
DR1030B
22.5 (30)
15.0 (20)
DR1015B
DR1015B
7.5 (10)
7.5 (10)
DR1008B
DR1008B
0
0
0
0.5
1.0
1.5
2.0
0
0.5
Speed-RPS
1.0
Speed-RPS
DR-E Series – 115V
lb-ft (N-m)
222 (300)
DR-E Series – 230V
lb-ft (N-m)
222 (300)
185 (250)
185 (250)
148 (200)
Torque
148 (200)
Torque
2.0
DR-B Series – 230V
lb-ft (N-m)
45.0 (60)
DR1060B
DR1160E
111 (150)
DR1130E
74 (100)
1.5
Speed-RPS
DR1130E
74 (100)
DR1100E
37 (50)
DR1070E
0
0
DR1160E
111 (150)
0.5
1.0
1.5
2.0
Speed-RPS
0.5
1.0
Speed-RPS
174
Automation
DR1100E
37 (50)
DR1070E
0
0
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DR Drive
DYNASERV
Specifications
Parameter
Value
Performance
Repeatability
Accuracy
Max stepping rate
Volts
Range
Current
Inputs
(all models)
Command interface
• Analog input
Other inputs
(gain selection,
servo on, etc.)
Encoder output
Other outputs
(in position, alarm, etc.)
Environmental
DR5000C
±10 arc-sec
±50 arc-sec
200VAC, 3 Phase,
50/60 Hz
+10% to -15%
20 Amps
230VAC, 1 Phase,
50/60 Hz
+10% to -15%
20 Amps
115VAC
50/60 Hz
+10% to -15%
20 Amps
Step and direction–Position control
±10VDC velocity control; ±8VDC torque control
low going pulse, 150 nanosecond minimum pulse width
Logic high = CW rotation
Logic low = CCW rotation
±10VDC max
5 to 24 volts pullup
• Step input
• Direction
Outputs
(all models)
DR5000B
±10 arc-sec
±90 arc-sec
1,400,000 steps/sec
Weight
• DR5000A
• DR5000B
• DR5000C
Operating
• Temperature
• Humidity
Storage
• Temperature
• Humidity
Environment
A, B Quadrature signal (400KHz max)
Z Channel–“A”: to 104 pulses/rev–“B”: to 68 pulses/rev
TTL
Driver
24 lbs (11 kg)
13.2 lbs (6 kg)
13.2 lbs (6 kg)
Motor
See Table below
See Table below
See Table below
0-50°C
20-90%–Non-condensing
0–45°C
20–85%–Non-condensing
-20-85°C
20-90%–Non-condensing
No corrosive gases. Dust-free
13.2 ilbs (6 kg)
B
Power
DR5000A
±5 arc-sec
±45 arc-sec
1,600,000 steps/sec
-20–85°C
20–85%–Non-condensing
atmosphere. The Dynaserv is not waterproof, oil proof or dust proof.
See below
DR5000 Series–Motor Data
Peak torque
ft-lbs
(Nm)
Rated speed
rps
Rotor inertia
oz-in2x102
(kgm2)x10-3
Resolution
Steps/rev
Motor weight
lbs
(kg)
Model
5005C
Model
5010C
Model
5015C
Model
5030B
Model
5070B
Model
5300A
Model
5500A
2.8
(3.8)
5.9
(8)
10.3
(14)
22
(30)
52
(70)
221
(300)
369
(500)
6
6
6
4
4
1.5
1.5
3.28
(0.006)
3.83
(0.007)
4.37
(0.008)
4.4
(8)
19.7
(36)
185.9
(340)
251.5
(460)
212,992
212,992
212,992
278,528
278,528
425,984
425984
11.0
(5.0)
13.2
(6.0)
15.4
(7.0)
15.4
(7.0)
38.5
(17.5)
121
(55)
165
(75)
lbs
lbs
1124
674
1124
674
1124
674
6600
2200
6600
2200
8800
4400
8800
4400
Maximum static
overhung load**
ft-lb
15
15
15
148
148
296
296
Maximum power
consumption
KVA
1.0
1.0
1.0
3.6
3.6
5.5
7.5
Maximum static
axial load**
• Compression
• Tension
Application
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
De-rate
Factor
1/3
1/5
1/10
**
When designing a system,
de-rate the maximum load to the
value as shown at the left:
175
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DR Drive
DYNASERV
Motor Speed-Torque Performance Curves
The speed-torque curves represent peak torque available, continuous torques are approximately 2/3 of the peak value.
DR5000A Series-200 VAC
(N-m)
(80)
518
(700)
49
444
(600)
42
(60)
(500)
35
(50)
DR5500A
296
(400)
DR5300A
222
148
74
0
Torque
lb-ft
56
370
0.5
1.0
1.5
Speed (RPS)
(40)
DR5030B
(30)
(300)
21
(200)
14
(20)
(100)
7
(10)
2.5
2.0
(70)
28
0
0
DR5070B
0
1.0
2.0
3.0
Speed (RPS)
4.0
5.0
DR5000C Series
16
DR1015C
14
Torque (N-m)
Torque
DR5000B Series-230 VAC
(N-m)
(800)
lb-ft
592
12
10 DR1010C
8
6
4 DR1005C
2
0
0.0
1.0
2.0
30
4.0
5.0
6.0
Speed (RPS)
110~115V
200~230V
176
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DR Drive
DYNASERV
DR Series Dimensional Drawings
DR-A Series
Dimensions in inches (mm)
6-M8 depth (12)
(eq. divided along
the circumference)
Rotor
Stator
Motor cable*
A
9.92 +0/-0.12
(252 +0/-0.3)
0.20 +— 0.008
(5 +— 0.2)
7.56 +0/-0.002
(192 -0.02/-0.05)
5.91 +0/-0.04
(150 +0/-1.0)
9.06 +— 0.008
(230 +— 0.2)
6-M8 depth (12)
(eq. divided along
the circumference)
0.43 +0.08/-0
(11 +2.0/-0)
6.69 +— 0.008
(170 +— 0.2)
10.39 +0/-0.001
(264 +0/-0.03)
8.46 +0/-0.002
(215 -0.02/-0.06)
120
(3048)
Resolver cable*
Model
A
DR1100A
DR1200A
DR1300A
DR1400A
7.28 ± 0.04
9.84 ± 0.04
11.97 ± 0.04
14.09 ± 0.04
(185 ±
(250 ±
(304 ±
(358 ±
1)
1)
1)
1)
(183 ±
(210 ±
(243 ±
(271 ±
1)
1)
1)
1)
DR-E Series
Dimensions in inches (mm)
6-M8 depth (12)
(eq. divided along
the circumference)
6.85 +— 0.008
(174 +— 0.2)
Rotor
A
0.20 +— 0.008
(5 +— 0.2)
6-M8 depth (12)
(eq. divided
along the
circumference)
Stator
0.63 +0.08/-0
(16 +2.0/-0)
Motor cable
4.09 +— 0.008
(104 +— 0.2)
B
7.48 +0/-0.12
(190 +0/-0.3)
4.72 +0/-0.002
(120 -0.02/-0.05)
2.99 +0/-0.04
(76 +0/-1.0)
8.07 +0/-0.012
(205 +0/-0.3)
6.38 +0/-0.002
(162 -0.02/-0.06)
120
(3048)
Resolver
Model
A
DR1070E
DR1100E
DR1130E
DR1160E
7.20 ± 0.04
8.27 ± 0.04
9.57 ± 0.04
10.67 ± 0.04
DR-B Series
Dimensions in inches (mm)
6-M6 depth (9)
for all but DR1008B
A
6-M5 depth (5)
for DR1008B
(eq. divided along
the circumference)
Rotor
For all
but DR1008B:
0.16 +— 0.008
(4 +— 0.2)
DR1008B only:
0.12 ± 0.008
(3 ± 0.2)
0.24 +0.08/-0
(6 +2.0/-0) for all but DR1008B
0.13 ± 0.02
(3.4 ± 0.5) for DR1008B
Stator
Motor cable
6-M6 depth (12)
(eq. divided along
the circumference)
2.83 +— 0.008
(72 +— 0.2)
5.71 +0/-0.12
(145 +0/-0.3)
2.20 +0/-0.04
(56 +0/-1.0)
3.39 +0/-0.002
(86 -0.02/-0.05)
5.91 +0/-0.012
(150 +0/-0.3)
4.72 +0/-0.002
(120 -0.02/-0.06)
5.12 +— 0.008
(130 +— 0.2)
120
(3048)
Model
A
DR1008B
DR1015B
DR1030B
DR1045B
DR1060B
3.35
4.84
5.94
7.05
8.15
Resolver cable
±
±
±
±
±
0.04
0.04
0.04
0.04
0.04
(85 ± 1)
(123 ± 1)
(151 ± 1)
(179 ± 1)
(207 ± 1)
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177
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DR Drive
DYNASERV
Dimensional Drawings
DR5000A Series
Dimensions in inches (mm)
6-M8 depth (12)
(eq. divided along
the circumference)
Rotor
Stator
Motor cable*
A
9.92 +0/-0.12
(252 +0/-0.3)
0.20 +— 0.008
(5 + 0.2)
7.56 +0/-0.002
(192 -0.02/-0.05)
5.91 +0/-0.04
(150 +0/-1.0)
9.06 +— 0.008
(230 + 0.2)
6-M8 depth (12)
(eq. divided along
the circumference)
0.43 +0.08/-0
(11 +2.0/-0)
6.69 +— 0.008
(170 + 0.2)
10.39 +0/-0.001
(264 +0/-0.03)
8.46 +0/-0.002
(215 -0.02/-0.06)
11.81
(300)
Resolver cable*
Model
A
DR5300A
DR5500A
12.2 ± 0.04 (309 ± 1)
16.4 ± 0.04 (417 ± 1)
Model
A
DR5030B
DR5070B
7.24 ± 0.04 (184 ± 1)
9.45 ± 0.04 (240 ± 1)
Model
A
DR5005C
DR5010C
DR5015C
4.45 ±0.04 (113 ±1)
5.51 ±0.04 (140 ±1)
6.57 ±0.04 (167 ±1)
Note: Motor and resolver cables for DR5000-A Series are 11.81 in (300 mm) in
length.
DR5000B Series
Dimensions in inches (mm)
A
6-M6 depth (9)
0.24 +0.08/-0
(6 +2.0/-0)
Rotor
0.16 ± 0.008
(4 – 0.2)
Stator
Motor cable
6-M6 depth (12)
(eq. divided along
the circumference)
2.83 +— 0.008
(72 + 0.2)
5.71 +0/-0.12
(145 +0/-0.3)
3.39 +0/-0.002
(86 -0.02/-0.05)
2.20 +0/-0.04
(56 +0/-1.0)
5.91 +0/-0.012
(150 +0/-0.3)
4.72 +0/-0.002
(120 -0.02/-0.06)
5.12 +— 0.008
(130 + 0.2)
120
(3048)
Resolver cable
DR5000C Series
0.0
.2
)1
4-M6 0.51 (13) Deep
0.2 +0.04/-0
(5 +1 )
0
122
(3100)
Encoder Cable
178
Automation
(24) 0.94
+/4.21 +0/
-0.01 107 ( 0 )
-0.3
2.36 +0/
-0.02
)
-0.002 60 (
-0.05
1.02 (26) Hole
0
-0.02
2.91 +0/-0.002 (74 -0.06)
)
.2
-0
+/
3.94 +0/-0.01 (100 -0.3 )
4
(8
Stator
0.2
Motor Cable
Rotor
(50
0.12 +/-0.008
(3 +/-0.2)
+/-
A
6-M5 0.28 (7) Deep
0.94 (24)
08
.0
-0
+/
31
3.
08
Dimensions in inches (mm)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DR Drive
DYNASERV
DR Series Pinout Lists
Indexer
50-pin Honda
Motor
Screw Terminal
Signal
1–8
9–12
Servo stiffness input (FC0-FC8)
Position end pulse width input
(POSW1, POSW0)
A+ output
A– output
Servo ready + output
Servo ready – output
Velocity monitor + output
Velocity monitor – output
Direction – input
Direction + input
Integral capacitor reset + input
Integral capacitor reset – input
Servo on – input
Servo on + input
Integral/proportional action input
In position + output
In position – output
B+ output
B– output
TLIM/TFF (option)
AGND
Gain selection inputs – low, medium, high
CPU reset + input
CPU reset – input
Counter overflow + output
Counter overflow – output
Z+ output
Z– output
Step + input
Step – input
Overload + output
Overload – output
Analog input (±10V)
Analog input GND
13
14
15
16
17
18
19
20
21
22
23
24
25-26
27
28
29
30
31
32
33-38
39
40
41
42
43
44
45
46
47
48
49
50
Pin No.
1
2
3
4
Signal
Motor A
Motor B
Motor C
GND
Power
Screw Terminal
Pin No.
1
2
3
4
5
Signal
115
115
115
115
115
or
or
or
or
or
230VAC
230VAC
230VAC
230VAC
230VAC
line-control
neutral-control
line-main
neutral-main
GND
Resolver
Honda Connector
Pin No.
Signal
1
1
2
3
4
5
6
6
7
8
+S0
+S180
-S0
-S180
Shield
FG
+C0
+C180
-C0
-C180
(Brown/White)
(Green/White)
(Brown)
(Green)
(Black)
(Orange/White)
(Blue/White)
(Orange)
(Blue)
DR Series Drive Dimensions
Dimensions in inches (mm)
0.28
(7 ±0.5)
4.33
(110 ±1)
3.54
(90 ±0.05)
11.69
(297 ±1)
Compumotor
DYNASERV
8
POSW
9.84
(250
±1)
9.41
(239
±0.05)
CN1
LINE
(CONT)~
115 VAC
LIM
∫
ON
TEST
OFF
GND
MOTOR
8.46
(215 ±1)
fc
LINE
(MN)~
115 VAC
AC GAIN
VA
DC GAIN
VB
VEL
POSN
AGND
TORQ
VC
GND
TB1
CN2
4.25
(108 ±1)
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179
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Pin No.
Catalog 8000-4/USA
DR Drive
DYNASERV
DR5000 Series Pin-Out Lists
CN-1 Controller Connections
50-Pin Honda
Pin No.
1–8
9–12
13
14
15
16
17
18
19
20
21
22
23
24
25-26
27
28
29
30
31
32
33-38
39
40
41
42
43
44
45
46
47
48
49
50
Power
Screw Terminal
Power
Screw Terminal
DR5000A (200VAC 3φ)
DR5000B (230VAC 1φ)
Signal
Pin No.
Servo stifness input (FC0-FC8)
Position end pulse width input (POSW1, POSW0)
A+ output
A– output
Servo ready + output
Servo ready – output
Velocity monitor + output
Velocity monitor – output
Direction – input
Direction + input
Integral capacitor reset + input
Integral capacitor reset – input
Servo on – input
Servo on + input
Integral/proportional action input
In position + output
In position – output
B+ output
B– output
No connection
No connection
Gain selection inputs – low, medium, high
CPU reset + input
CPU reset – input
Counter overflow + output
Counter overflow – output
Z+ output
Z– output
Step + input
Step – input
Overload + output
Overload – output
Analog input (±10V)
Analog input GND
1
2
3
4
5
6
7
8
9
10
Pin No.
Phase 1 (main)
Phase 2 (main)
Phase 3 (main)
Line (control)
Neutral (control)
GND
Motor A
Motor B
Motor C
GND
Signal
1
2
3
4
5
6
7
8
9
Line (control)
Neutral (control)
Line (main)
Neutral (main)
GND
Motor A
Motor B
Motor C
GND
Resolver
Honda Connector
Pin No.
Signal
1
+S0
(Brown/White)
1
2
3
4
5
6
6
7
8
+S180
-S0
-S180
Shield
FG
+C0
+C180
-C0
-C180
(Green/White)
(Brown)
(Green)
(Black)
(Orange/White)
(Blue/White)
(Orange)
(Blue)
Dimensions in inches (mm)
Dimensions in inches (mm)
9.05
(230)
3.35
(85)
Signal
0.28
(7 ±0.5)
11.89
(302)
3.35
(85)
4.33
(110 ±1)
3.54
(90 ±0.05)
11.69
(297 ±1)
Compumotor
DYNASERV
8
POSW
846
(215)
9.41 ± 0.02
(239 ± 0.7)
9.84
(250
±1)
9.41
(239
±0.05)
9.84 ± 0.04
(250 ± 1.02)
CN1
LINE
(CONT)~
115 VAC
MOTOR
LIM
∫
GND
ON
TEST
OFF
VA
DC GAIN
AC GAIN
VB
VEL
POSN
AGND
TORQ
VC
0.27
(7)
8.46
(215 ±1)
fc
LINE
(MN)~
115 VAC
GND
0.08
(2)
TB1
CN2
8.66
(220)
4.25
(108 ±1)
DR5000 A
DR5000 B
Please refer to the ordering information matrix on page 159
180
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DM Series
DYNASERV
Direct-Drive
Brushless
Servo Systems
The Dynaserv DM Series is a high-performance, direct-drive
servo system with optical encoder feedback. Each DM Model
consists of a brushless direct drive motor, integral encoder,
microprocessor-based drive and a 10-foot motor-to-drive
cable.
The DM Series can be operated in either a position, velocity
or torque mode. In the position mode the drive accepts step
and direction input. Operating in the velocity requires
±10VDC or torque mode requires a ±8VDC input. Dynaserv
systems are compatible with Compumotor indexers and servo
controllers.
The DM Series motor is brushless and without gears,
allowing for long maintenance-free operation. The cross roller
bearing design can support up to 4 tons of compression load
and 295 ft-lbs of overhung load. The center hole in the motor is
up to 2.3 inches in diameter and can be used to simplify
system wiring.
The drive is fully protected against open and short circuits,
overcurrent, overvoltage and overtemperature. A seven
segment LED indicator provides the user with status and
diagnostic information from the front panel.
High performance closed loop operation is obtained with a
sophisticated I-PD digital and analog control algorithm. The
analog velocity loop provides high bandwidth for excellent
system response. The digital position loop simplifies position
convenient control and optimizes system accuracy. A built-in
test mode and position/velocity monitors allow for convenient
and efficient tuning.
•
•
•
•
•
•
•
•
•
•
•
•
•
Accessories
•
•
•
•
Features
•
•
•
•
•
•
Brushless direct drive motor with 10 foot cable
9 models available in 4-, 6- or 10-inch diameters
Incremental encoder feedback
Torques to 150 ft-lbs (200 Nm)
Resolutions to 1,024,000 steps/rev
Supports 4 tons of compression load
DM1004 has axial and radial run-out of 0.01 mm
Microprocessor control of I-PD control algorithm
Analog velocity loop/digital position loop
Built-in test mode for easy tuning
Diagnostic LED display
Step and direction input/position control
±10V input/velocity control
±8.5V input/torque mode
Gain settings can be changed “on the fly”
Can operate in Class 10 clean room applications with
proper preparation
Configurable position accuracy to reduce system
settling time
Complete system, ready for operation
Compatible with Dynaserv M2 controller/drive
•
•
Compumotor Controllers
The Dynaserv is compatible with all Compumotor
controllers.
Dynamic Braking
Capacitor type or Speed-switching type for each
motor size.
Precision Machining
Axial and radial run-out of .01, .02 or .005 mm is
available on most Dynaserv models. Standard axial
and radial run-out for all motors is 0.1mm.
Mechanical Braking
Most motors can be ordered with mechanical brakes
for power down, or emergency use.
Line filters for CE installations.*
Interface cables for use with Compumotor's 6K
and 6000 Series controllers.
* EMC with proper filter and intallation procedures.
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181
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
(LVD and EMC*)
Catalog 8000-4/USA
DM Series
DYNASERV
DM Series – Motor Data
Model
1015B
Model
1030B
Model
1045B
Model
1050A
Model
1100A
Model
1150A
Model
1200A
Peak torque
ft-lbs
(Nm)
11
(15)
22
(30)
33
(45)
37
(50)
74
(100)
111
(150)
148
(200)
Rated speed
• rps
115VAC
230VAC
2.0
2.0
2.0
2.0
1.0
2.0
1.0
1.0
1.0
1.0
0.5
1.0
0.5
1.0
Rotor inertia
oz-in2 x 102
(Kgm2) x 10-3
6.6
(12)
8.2
(15)
10.4
(19)
52.5
(96)
65.1
(119)
77.6
(142)
91.3
(167)
655,360
655,360
655,360
1,024,000
1,024,000
1,024,000
1,024,000
lbs
(kg)
12
(5.5)
17
(7.5)
21
(9.5)
32
(14.5)
42
(19)
53
(24)
64
(29)
Maximum static axial load**
• Compression
• Tension
lbs
lbs
6,600
2,200
6,600
2,200
6,600
2,200
8,800
4,400
8,800
4,400
8,800
4,400
8,800
4,400
Max. static overhung load**
ft-lb
148
148
148
296
296
296
296
Max. Power Consumption
KVA
1.6
2.0
2.0
2.4
2.7
3.0
3.0
Maximum steps/rev
Motor weight*
* Drive weight is 13.2 lbs (6 kgs)
** When designing a system, de-rate the maximum load to the values shown at
right:
De-rate
Factor
Application
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
1/3
1/5
1/10
DM1004 Motor Data Specifications
DM1004B
DM1004C
Peak torque
ft-lbs
(N-m)
3
(4)
3
(4)
Rated speed
• rps
115VAC
230VAC
2.5
2.5
2.5
2.5
Rotor inertia
oz-in2 x 102
(Kgm2) x 10-3
3.01
(5.5)
1.37
(2.5)
Maximum step
s/rev
655,360
655,360
Motor weight*
lbs
(kg)
6.6
(3)
6.6
(3)
440 (200)
154 (70)
770 (350)
770 (350)
20 (2.7)
24.4 (3.3)
0.3
0.3
Maximum static axial load**
• Compression
• Tension
lbs (kg)
lbs (kg)
Maximum static overhung load**
ft-lb (kg-m)
Maximum power consumption
KVA
Application
* Drive weight is 4 lbs (1.8 kgs)
** When designing a system, de-rate the maximum load to the values specified
at right:
182
Automation
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
De-rate
Factor
1/3
1/5
1/10
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DM Series
DYNASERV
DM Series – Specifications
Parameter
Value
Performance
Repeatability
Accuracy
Max stepping rate
±2 arc-sec; DM1004: ±5 arc-sec
±25 arc-sec; ±60 arc-sec DM1004 (std); ±20 arc-sec (optional)
1,600,000 steps/sec
Power
Volts
Range
Current
115VAC, 1-phase or 230VAC, 1-phase, 50/60Hz
+10% to -15%
20 amps max
Inputs
Command interface
Step input
Direction
Low going low pulse, 150 nanoseconds minimum pulse width
Logic high = CW rotation
Logic low = CCW rotation
±10V command signal
Analog input
Encoder output
A/B encoder output 400 kHz max
Weight
Operating
Storage
Humidity
Driver
Motor
13.2 lb (6 kg), DM1004 4 lb (1.8 kg)
See page 95
32° to 122° F (0° to 50°C)
32° to 113° F max (0° to 45°C)
-4° to 185° F (-20° to 85°C)
-4° to 185° F (-20° to 85°C)
20 to 90% noncondensing
20 to 85% noncondensing
No corrosive gases. Dust-free atmosphere. The Dynaserv is not water proof, oil proof or dust proof.
Environmental
B
Outputs
Motor Speed-Torque Performance Curves
The speed-torque curves represent peak torque available, continuous torques are approximately two-thirds of the peak value.
DMG2/DMM2-A Series — 115 VAC
lb-ft (N-m)
222 (300)
185 (250)
111 (150)
74 (100)
37 (50)
185 (250)
DM1200A
DM1150A
DM1100A
DM1150A
111 (150)
DM1100A
74 (100)
DM1050A
DM1050A
37 (50)
0
0
0
0.5
1.0
Speed-RPS
1.5
2.0
0
DMG2/DMM2-B Series — 115 VAC
lb-ft (N-m)
42 (60)
DM1045B
28 (40)
Torque
DM1030B
21 (30)
14 (20)
46
(66)
37
(53)
28
(40)
19
(27)
9
(13)
0
0.5
1.0
Speed-RPS
1.5
1.0
Speed-RPS
1.5
2.0
DM-B Series — 230 VAC
DM1045B
DM1030B
DM1015B
7 (10)
0
0.5
lb-ft (N-m)
56 (80)
35 (50)
Torque
DM1200A
148 (200)
Torque
Torque
148 (200)
DM-A Series — 230 VAC
lb-ft (N-m)
222 (300)
DM1015B
0
2.0
0
0.63
1.25
1.88
2.5
Speed-RPS
Please refer to the ordering information matrix on page 159
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183
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DM Series
DYNASERV
DM Series Motor Dimensions
DM-A Series
Dimensions in inches (mm)
6 M6 depth (15)
A
6 M8 depth (10)
0.20
(5)
1.89
(48)
1.89
(48)
0.39
(10)
Stator
10.394 ±0.004
(264 ±0.1)
7.8740 -0.0008/
-0.002
(200 -0.02/-0.05)
9.685 ±0.008
(246 ±0.2)
6.692±0.008
(170 ±0.2)
2.283 +0.02/-0
(58 +0.5/-0)
Model
9.0557 0.0008/
-0.002
(230 -0.02/
-0.06)
DM1050A
DM1100A
DM1150A
DM1200A
1.04
(26.5)
1.18
(30)
A
4.45 ±
5.43 ±
6.42 ±
7.40 ±
0.04
0.04
0.04
0.04
(113
(138
(163
(188
±
±
±
±
1)
1)
1)
1)
120
(3048)
Rotor
DM-B Series
Dimensions in inches (mm)
Stator
6 M6 depth (8)
A
6 M6 depth (8)
5.748 ±0.008
(146 ±0.2)
0.12
(3)
0.43
(11)
5.3543-0.0008/
0.002
(136 -0.02/
-0.05)
6.299
±0.004
(160 ±0.1)
1.10
(28)
1.10
(28)
4.094 ±0.008
(104 ±0.2)
4.5669 -0.0008/-0.002
(116 -0.02/-0.05)
Model
0.37
(9.3)
.984 +0.02/-0
(25 +0.5/-0)
1.04
(26.5)
1.04
(26.5)
A
DM1015B 3.62 ± 0.04 (92 ± 1)
DM1030B 4.65 ± 0.04 (118 ± 1)
DM1045B 5.63 ± 0.04 (143 ± 1)
120
(3048)
Rotor
DM Series Drive Dimensions
Dimensions in inches (mm)
0.28
(7 ±0.5)
4.33
(110 ±1)
3.54
(90 ±0.05)
11.69
(297 ±1)
Compumotor
DYNASERV
8
POSW
Please refer to the
ordering information
matrix
9.84
(250
±1)
9.41
(239
±0.05)
CN1
LINE
(CONT)~
115 VAC
MOTOR
8.46
(215 ±1)
fc
LINE
(MN)~
115 VAC
LIM
∫
GND
ON
TEST
OFF
VA
DC GAIN
AC GAIN
VB
VEL
POSN
AGND
TORQ
VC
GND
TB1
CN2
4.25
(108 ±1)
184
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DM Series
DYNASERV
DM1004B & DM1004C Motor Dimensions
DM1004B
Dimensions in inches (mm)
6.3
(160)
5.51
(140)
0.39 (10)
0.39 (10)
1.77
(45)
0.12
(3)
4 - 0.28 (7) Dia. Hole
6 - M4 Thread
depth 0.24 (6)
5.75 +
- 0.008
(146 +
- 0.2)
6.3
(160)
- 0.001
5.35 - 0.002
- 0.02)
(136 - 0.06)
5.51
(140)
6.22
(158)
2 - 0.2
(5)
0.98 (25)
Dia.
11.8
(300)
2 - 1.18 (30)
2 - M4 Thread Through
Motor Cable
0.295
(7.5)
Encoder Cable
1.38 (35)
DM1004C
Dimensions in inches (mm)
3.03 +
- 0.019
(77 +
- 0.5)
6 - M4 Thread
depth 0.24 (6)
5.04 +
- 0.008
(128 +
- 0.2)
0.55 (14)
0.39
(10)
0.12
(3)
B
6 - 0.18 (4.5) Dia. Hole
0.32 (8) Dia. C'sink
Depth 0.2 (5)
- 0.001
3.54 - 0.002
- 0.02)
(90 - 0.06)
4.57 (116)
0.98 (25)
Dia.
Dia.
4.09 +
- 0.008
(104 +
- 0.2)
5.51
(140)
Dia.
Motor Cable
Encoder Cable
Encoder Cable
30°
10°
DM1004B & DM1004C Drive Dimensions
Speed-Torque Curve
Dimensions in inches (mm)
The speed/torque curves represent peak torque available;
continuous torques are approximately 1/2 of the peak value.
2.76
(70)
1.97
(50)
1.38
(35)
DMG2/DMM2-1004 Series
Torque
lb-ft N-m
3.70 5
9.84
(250)
9.41
(239)
8.46
(215)
3.00
4
2.20
3
1.50
2
0.74
1
0
0
0.5
1.0
1.5
2.0
2.5
3.0
Speed-RPS
0.28
(7)
0.67
(17)
5.91
(150)
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
185
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DM Series
DYNASERV
DM Series Pinout Lists
Indexer
50-pin Honda
Pin No.
Signal
1–8
9–12
Servo stiffness input (FC0-FC8)
Position end pulse width input
(POSW1, POSW0)
A+ output
A– output
Servo ready + output
Servo ready – output
Velocity monitor + output
Velocity monitor – output
Direction – input
Direction + input
Integral capacitor reset + input
Integral capacitor reset – input
Servo on - input
Servo on + input
Integral/proportional action input
In position + output
In position – output
B+ output
B– output
TLIM/TFF (option)
AGND
Gain selection inputs – low, medium, high
CPU reset + input
CPU reset – input
Counter overflow + output
Counter overflow – output
Z+ output
Z– output
Step + input
Step – input
Overload + output
Overload – output
Analog input (±10V)
Analog input GND
13
14
15
16
17
18
19
20
21
22
23
24
25-26
27
28
29
30
31
32
33-38
39
40
41
42
43
44
45
46
47
48
49
50
Power–120 or 230VAC
Screw Terminal
Pin No.
1
2
3
4
5
115 or 230 line-control
115 or 230 neutral-control
115 or 230 line-main
115 or 230 neutral-main
GND
Motor
Screw Terminal
Pin No.
1
2
3
4
Signal
Motor A
Motor B
Motor C
GND
Encoder
16-pin Honda
Pin No.
1
2
3
4
5
6
7
8
9
10
11
186
Automation
Signal
Signal
Red
Black
Blue
Blue/White
Brown
Brown/White
Green
Green/White
Orange
Orange/White
Shield
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Linearserv
LINEARSERV
High-Precision,
Direct-Drive Linear
Servo Systems
The Linearserv is a direct drive linear actuator servo system.
Each complete system consists of a brushless linear servo
motor, microprocessor-based servo drive with integrated power
supply, precision linear guide with rugged square rail bearings
and an optical linear encoder for servo feedback.
The primary benefit of the Linearserv system is the simplicity
of the design. The Linearserv provides precise linear motion
without belts and pulleys, gearboxes, leadscrews or other
rotary-to-linear conversion devices that introduce inaccuracies
and system complexities.
The performance difference between the LM1000 and
LM5000 Series are maximum force, positional accuracy,
maximum speed, encoder resolution and repeatability.
B
(EMC and LVD) pending
LM1000 Series
Linearserv Drive Features
Three motor sizes available:
–
LM1050 provides 50 N of maximum linear force
–
LM1100 provides 100 N of maximum linear force
–
LM1300 provides 300 N of maximum linear force
• Linear stroke lengths from 50 mm to 1,500 mm
• Standard speeds up to 0.83 m/s
• Positional repeatability of ±0.5 µm
• Positional accuracy of 10 µm
• Encoder resolution of 0.5 µm
• Ultra precision version improves repeatability and resolution by a factor of 5
• High rigidity models are available for increased load and
moment capabilities
•
LM5000 Series
•
•
•
•
•
•
Two input power range versions
–
100–115VAC or
–
200–230VAC
Compatible with all Compumotor controllers
–
Step-and-direction input for position mode
–
±10VDC analog input for velocity mode
–
±8VDC analog input for force mode
Seven segment LED for drive status and system
diagnostics
Internal mechanical resonance filter
Can operate in Class 10 clean room applications with
proper preparation
Smooth linear motion at slow speeds
Ability to operate in position, velocity or force control mode
•
•
•
•
•
•
•
•
Three motor sizes available:
–
LM5040 provides 40 N of maximum linear force
–
LM5090 provides 90 N of maximum linear force
–
LM5270 provides 270 N of maximum linear force
Linear stroke lengths from 50 mm to 1,500 mm
Standard speeds up to 2 m/s
Positional repeatability of ±1.0 µm
Positional accuracy of 50 +(50/1,000) * Ls[µm]
(Ls = stroke length in mm)
Encoder resolution of 1.0 µm
High rigidity models are available for increased load and
moment capabilities
Find Your Local Factory Authorized Distributor at www.compumotor.com or Call 1-800-358-9070.
187
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
LINEARSERV
Linearserv
LM1000 Series Motor Specifications
LM1000 Series Motor Data
LM1050
LM1100
LM1300
Performance
Maximum force
lb
N
11.25
50
22.5
100
67.5
300
Positional accuracyB
in x 10-4
µm
3.9C
10C
3.9C
10C
3.9C
10C
Maximum speed
in/s
m/s
32 (6)A
0.83 (0.16)A
32 (6)A
0.83 (0.16)A
32 (6)A
0.83 (0.16)A
Encoder resolution
in x 10-5/pulse
µm/pulse
1.95 (0.39)A
0.5 (±0.1)A
1.95 (0.39)A
0.5 (±0.1)A
1.95 (0.39)A
0.5 (±0.1)A
Repeatability
in x 10-5
µm
±1.95 (±0.39)A
±0.5 (±0.1)A
±1.95 (±0.39)A
±0.5 (±0.1)A
±1.95 (±0.39)A
±0.5 (±0.1)A
Parallelism
in x 10-5
µm
39
10
39
10
39
10
Max load*
lb
N
45
200
45
200
225
1,000
Rolling moment
ft-lb
N-m
3.69
5.0
5.16
7.0
45.73
62.0
Pitching moment
ft-lb
N-m
5.16
7.0
5.16
7.0
45.73
62.0
Yaw moment
ft-lb
N-m
lb
kg
5.16
7.0
2.2
1.0
5.16
7.0
3.1
1.4
45.73
62.0
11.0
5.0
Rail weight
lb/in
kg/m
0.73
13
0.84
15
1.40
25
Z-channel
pulse/in
pulse/mm
1/0.0806
1/2.048
1/0.0806
1/2.048
1/0.0806
1/2.048
Stroke length
in
mm
1.9–59
50–1,500
1.9–59
50–1,500
1.9–59
50–1,500
Life
km
[2,000/(200÷W/4)]3 x 50
W: Load (N)
[2,000/(200÷W/4)]3 x 50
W: Load (N)
[8,330/(600÷W/4)]3 x 50
W: Load (N)
Max transportable moment loads*
Slider weight
Notes:
A
B
C
*
Shown the specification of ±0.1 (µm) version, which can be requested through Custom Products.
Shown the value at 22°C (coefficient of linear expansion 8 x 10-6/°C)
Shown here is the positional accuracy for Ls ≤ 700 mm (27.5 in), positional accuracy for Ls ≥ 800 mm (31.5 in) = 50 + (50/1,000) * Ls [µm]
English units are provided for convenience.
When designing a system, de-rate the maximum loads to the values specified.
Linear Series Standard Product Configuration
End Plate
MOTOR
DRIVER
Slider
Base
Application
Encoder Cover
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
LED
Encoder
Up
Direction
Scale
De-rate
Factor
1/3
1/5
1/10
Linear Guide
PDA
Down
Direction
HEAD AMPLIFIER
188
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Linearserv
LINEARSERV
LM5000 Series Motor Specifications
LM5000 Series Motor Data
LM5040
LM5090
LM5270
Performance
Maximum force
lb
N
9.0
40
20.2
90
60.7
270
Positional accuracyB
in x 10-4
µm
19.5 + (0.0195) * LsC
50 + (50/1,000) * LsA
19.5 + (0.0195) * LsC
50 + (50/1,000) * LsA
19.5 + (0.0195) * LsC
50 + (50/1,000) * LsA
Maximum speed
in/s
m/s
78
2.0
78
2.0
78
2.0
Encoder resolution
in x 10-5/pulse
µm/pulse
3.9
1.0
3.9
1.0
3.9
1.0
Repeatability
in x 10-5
µm
±3.9
±1
±3.9
±1
±3.9
±1
Parallelism
in x 10-5
µm
39
10
39
10
39
10
Max load*
lb
N
45
200
45
200
225
1,000
Rolling moment
ft-lb
N-m
3.69
5.0
5.16
7.0
45.73
62.0
Pitching moment
ft-lb
N-m
5.16
7.0
5.16
7.0
45.73
62.0
Yaw moment
ft-lb
N-m
lb
kg
5.16
7.0
2.2
1.0
5.16
7.0
3.1
1.4
45.73
62.0
11.0
5.0
Rail weight
lb/in
kg/m
0.73
13
0.84
15
1.40
25
Z-channel
pulse/in
pulse/mm
1/0.161
1/4.096
1/0.161
1/4.096
1/0.161
1/4.096
Stroke length
in
mm
1.9–59
50–1,500
1.9–59
50–1,500
1.9–59
50–1,500
Life
km
[2,000/(200÷W/4)]3 x 50
W: Load (N)
[2,000/(200÷W/4)]3 x 50
W: Load (N)
[8,330/(600÷W/4)]3 x 50
W: Load (N)
Slider weight
A
Notes:
B
C
*
Ls = stroke length in mm
Shown the value at 22°C (Coefficient of linear expansion 8 x 10-6/°C)
Ls = stroke length in inches
English units are provided for convenience.
When designing a system, de-rate the maximum loads to the values specified.
Linear Series Standard Product Configuration
End Plate
MOTOR
DRIVER
Slider
Base
Application
Encoder Cover
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
LED
Encoder
Up
Direction
Scale
De-rate
Factor
1/3
1/5
1/10
Linear Guide
PDA
Down
Direction
HEAD AMPLIFIER
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Compumotor Division
compumotor.com
B
Max transportable
moment loads*
Catalog 8000-4/USA
LINEARSERV
Linearserv
Driver Specifications
LM1050/LM5040
Input Signal
Command Interface
Position mode
LM1100/LM5090
LM1300/LM5270
Step Input: Low going, low pulse, 150 nanoseconds minimum pulse width,
1.6 MHz max (LM1000) or 2.0 MHz max (LM5000)
Direction Input: Logic high = UP direction; Logic low = DOWN direction
Analog Input: ±10VDC command signal
Analog Input: ±8VDC command signal
Velocity mode
Force mode
Output Signal
Speed signal
Encoder signal
Alarm signal
Monitor
Power source
Maximum power consumption
Weight
+6V (UP direction); -6V (DOWN direction)
Track A/B (4,000 kHz max.), Z-channel signal: 1 pulse/2.048 mm (LM1000)
or 1 pulse/4.096 mm (LM5000)
Over current, over voltage, over temperature of heat sink; Under voltage, encoder abnormal, CPU abnormal
2.5 Hz step response output (test mode)
100–115VAC or 200–230VAC. +10–15%, 50/60 kHz
LM1000 Series—300VA; LM5000 Series—450VA
4 lbs 1.8 kg
Environmental Specifications
Motor
Driver
Note
Operation Temperature
0–45°C
0–50°C
Operation Humidity
20–85% RH
20–90% RH
Storage Temperature
-20–85°C
-20–85°C
Storage Humidity
20–85% RH
Environment
No condensing
20–90% RH
No condensing
No corrosive gases; dust-free atmosphere
LM1050/LM5040 Motor Dimensions
Dimensions in inches (mm)
1.81 (46)
0.83 (21)
From
slider
side suf.
1.34
(34)
Encoder
4 - M6 Thread,
3.0
0.39 (10) depth 2.2 (76)
(55)
for load
5.4
attached
(136)
0.81 (20.5) from
base side suf.
0.20 (5)
0.59 (15)
0.26 (6.5)
1.97
(50)
Connector 4 & 12
terminal / AMP Co.
Ls (Stroke length)
3.0 (76)
5.12 (130)
Ø0.18 (4.5) Holes for base
fix, Ø0.31 (8) c'sink,
0.31 (8) depth
Stopper
5–M3 Depth 0.2 (5)
1.38 (35)
1.38
(35)
1.97 (50) Interval Length x N
L (Overall length of motor) L= Ls + 6.69 (170)
190
Automation
1.77 (45)
1.85 (47)
0.91
(23)
0.20 (5)
0.59
(15)
L
Ls
MODEL
in
mm
LM1050-005
LM1050-010
LM1050-015
LM1050-020
LM1050-030
LM1050-040
LM1050-050
LM1050-060
LM1050-070
LM1050-080
LM1050-090
LM1050-100
LM1050-110
LM1050-120
LM1050-130
LM1050-140
LM1050-150
8.66
10.63
12.60
14.57
18.50
22.44
26.38
30.31
34.25
38.19
42.13
46.06
50.00
53.94
57.87
61.81
65.75
220
270
320
370
470
570
670
770
870
970
1070
1170
1270
1370
1470
1570
1670
in
1.97
3.94
5.91
7.87
11.81
15.75
19.69
23.62
27.56
31.50
35.43
39.37
43.31
47.24
51.18
55.12
59.06
mm
50
100
150
200
300
400
500
600
700
800
900
1000
1100
1200
1300
1400
1500
N
No. of Holes
5
6
8
10
12
14
16
18
20
22
24
26
28
30
32
2x2
2x4
2x6
2x7
2x9
2 x 11
2 x 13
2 x 15
2 x 17
2 x 19
2 x 21
2 x 23
2 x 25
2 x 27
2 x 29
2 x 31
2 x 33
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Linearserv
LINEARSERV
Linearserv Dimensional Drawings
LM1100/LM5090 Motor Dimensions
Dimensions in inches (mm)
1.81 (46)
2.17
(55)
Encoder
4 - M6 Thread,
3.82
0.39 (10) depth
(97)
for load
3.0
6.18
attached
(76)
(157)
0.81 (20.5) from
base side suf.
Connector 4 & 12
terminal / AMP Co.
1.97
(50)
Ls (Stroke length)
0.20 (5)
0.59 (15)
3.0 (76)
5.12 (130)
Ø0.18 (4.5) Holes for base
fix, Ø0.31 (8) c'sink,
0.31 (8) depth
0.26 (6.5)
1.38 (35)
L
MODEL
LM1100-005
LM1100-010
LM1100-015
LM1100-020
LM1100-030
LM1100-040
LM1100-050
LM1100-060
LM1100-070
LM1100-080
LM1100-090
LM1100-100
LM1100-110
LM1100-120
LM1100-130
LM1100-140
LM1100-150
Stopper
5–M3 Depth 0.2 (5)
1.97 (50) Interval Length x N
L (Overall length of motor) L= Ls + 6.69 (170)
1.77 (45)
1.85 (47)
0.91
(23)
0.20 (5)
0.59
(15)
1.38 (35)
Ls
in
mm
8.66
10.63
12.60
14.57
18.50
22.44
26.38
30.31
34.25
38.19
42.13
46.06
50.00
53.94
57.87
61.81
65.75
220
270
320
370
470
570
670
770
870
970
1070
1170
1270
1370
1470
1570
1670
in
mm
1.97
3.94
5.91
7.87
11.81
15.75
19.69
23.62
27.56
31.50
35.43
39.37
43.31
47.24
51.18
55.12
59.06
50
100
150
200
300
400
500
600
700
800
900
1000
1100
1200
1300
1400
1500
N
No. of Holes
5
6
8
10
12
14
16
18
20
22
24
26
28
30
32
2x2
2x4
2x6
2x7
2x9
2 x 11
2 x 13
2 x 15
2 x 17
2 x 19
2 x 21
2 x 23
2 x 25
2 x 27
2 x 29
2 x 31
2 x 33
LM1300/LM5270 Motor Dimensions
Dimensions in inches (mm)
1.90 (48.2)
3.54
(90)
Encoder
1.38 (35)
From
slider
side suf.
Stopper
4 - M8 Thread,
0.39 (10) depth
for load
attached
0.98 (25) from
base side suf.
0.20 (5)
0.59 (15)
3.94
(100)
Connector 4 & 12
terminal / AMP Co.
4.92 (125)
7.48 (190)
Ls (Stroke length)
Ø0.28 (7) Holes for base fix
Ø0.43 (11) c'sink, 0.35 (9) depth
0.20 (5)
2.48 (63)
2.56 (65)
0.91
(23)
0.59 (15)
L
0.39 (10)
9–M3 Depth 0.2 (5)
2.56 (65)1
4.92
(125)
6.30
(160)
8.74
(222)
3.94 (100) Interval Length x N
L (Overall length of motor) L= Ls + 9.06 (230)
2.56 (65)1
Note:1 Dimensions for LM1300-005 and LM1300-015 are 1.57 (40) instead of 2.56 (65).
MODEL
in
LM1300-005
LM1300-010
LM1300-015
LM1300-020
LM1300-030
LM1300-040
LM1300-050
LM1300-060
LM1300-070
LM1300-080
LM1300-090
LM1300-100
LM1300-110
LM1300-120
LM1300-130
LM1300-140
LM1300-150
11.02
12.99
14.96
16.93
20.87
24.80
28.74
32.68
36.61
40.55
44.49
48.43
52.36
58.30
60.24
64.17
68.11
Ls
mm
280
330
380
430
530
630
730
830
930
1030
1130
1230
1330
1430
1530
1630
1730
in
1.97
3.94
5.91
7.87
11.81
15.75
19.69
23.62
27.56
31.50
35.43
39.37
43.31
47.24
51.18
55.12
59.06
mm
50
100
150
200
300
400
500
600
700
800
900
1000
1100
1200
1300
1400
1500
N
No. of Holes
3
3
4
5
6
7
8
9
10
11
12
13
14
15
16
2x2
2x2
2x4
2x4
2x5
2x6
2x7
2x8
2x9
2 x 10
2 x 11
2 x 12
2 x 13
2 x 14
2 x 15
2 x 16
2 x 17
Find Your Local Factory Authorized Distributor at www.compumotor.com or Call 1-800-358-9070.
191
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
0.83 (21)
From
slider
side suf.
Catalog 8000-4/USA
LINEARSERV
Linearserv
Linearserv Speed-Force Performance Curves
lb
(N)
lb
27.0 (120)
LM1100 Series
22.5 (100)
Force
54.0 (240)
13.5 (60)
LM1050 Series
40.5 (180)
9.0 (40)
27.0 (120)
4.5 (20)
13.5 (60)
0
LM1300 Series
67.5 (300)
18.0 (80)
Force
(N)
81.0 (360)
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0
0.8
0
0.1
0.2
0.3
lb
0.4
0.5
0.6
0.7
0.8
Slider Velocity (m/s)
Slider Velocity (m/s)
(N)
67.5 (300)
110 - 115 VAC
200 - 230 VAC
56.3 (250)
LM5270 Series
Head Amplifier
Force
45.0 (200)
Dimensions in inches (mm)
33.8 (150)
0.28 (7)
22.5 (100)
LM5090 Series
11.3 (50)
Ø0.18
(4.5) x 2
LM5040 Series
0
110 - 115 VAC
0
0.25
0.50
0.75
1.00
1.25
1.50
1.75
200 - 230 VAC
2.00
Slider Velocity (m/s)
8.11 7.56
(206) (192)
The speed-force curves represent peak force available;
continuous forces are approximately 2/3 of the peak force
value.
Drive Dimensions
Dimensions in inches (mm)
0.28 (7)
2.24
(57)
1.18
(30)
Cable Option #1
2.76 (70)
1.97 (50)
1 3 m (10 ft) Motor Cable
9.84
(250)
9.41
(239)
2 1.5 m (5 ft) Head-Amp Cable
8.46
(215)
0.67
(17)
0.28 (7)
5.91 (150)
3 3 m (10 ft) Encoder Cable
192
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Choosing a Step Motor
How to choose a step motor
There have been a few changes in the step motor catalog
curves since catalog 8000-3. We have added the full
stepping curve, changed our thermal model, and re-rated the
holding torque of each motor. Lets go through each one:
is lower – using a 75% duty cycle (7.5 seconds on and 2.5
seconds off). The current is set at either the maximum current
the motor is electrically rated for (saturation) or the current
needed to bring the case temperature up to 100°C. These
tests are performed at room temperature (25°C). Under
certain circumstances the current will need to be reduced in
order to maintain a case temperature of 100°C. Below is a
sample Power vs. RPS heat curve. This curve is for the
VS21B motor.
Full stepping curves
Although full stepping has its difficulties with stalling and
resonance, it will produce more torque, especially in the lower
speed applications. This is not to say it will outperform
microstepping, as resonance points in the motor can be hard
to overcome. For these reasons Compumotor does not
recommend full stepping. Most, if not all, step motor
companies use the full stepping curves in their literature, even
though most applications require microstepping. In order to
allow side by side comparisons we have added the full
stepping curve to the catalog. This is the blue dotted line in
the curve.
How Compumotor sets motor current
Compumotor always tests its motors as a drive-and-motor
system. Each drive can heat the motor to a different degree,
and we have found this is the only way to accurately depict the
true performance of the system. Each drive and motor
combination Compumotor offers has been tested using the
following criteria.
Every stepping motor will run hotter when spinning than at
rest. Furthermore, each motor has a speed at which it
creates the most heat. This speed is both motor and drive
dependant. Compumotor has determined this speed for each
motor and drive combination, and uses it to set the thermal
model. Each motor is run at this speed or 20RPS – whichever
Holding Torque
Compumotor has rated its holding torque in past catalogs
as shaft torque at 1RPS, microstepping. The holding torque
listed in this catalog is now at 0 RPS, and in full stepping
mode. This is a universal rating across all step motor
manufacturers, and can be used to more accurately compare
motors between different manufacturers.
194
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT Stepper Drives
GEMINI
The Gemini GT
Digital Stepper Drive
Active DampingTM, Electronic ViscosityTM
and ABS DampingTM
The Gemini GT follows in the footsteps of Compumotor’s ZETA
drive family and offers Active DampingTM (patented) and
Electronic ViscosityTM (patented). The Gemini GT goes one
step further with ABS DampingTM (patented). This damping
feature is for speed ranges from 0 to 0.1 revs/sec. This “nofuss” feature requires no user set up and dramatically reduces
settling time.
Encoderless Stall DetectTM
Encoderless Stall DetectTM allows detection of a motor stall
without adding an encoder to an application. Stall conditions
result from inequality of commanded velocity to actual velocity
at the motor shaft, regardless of physical reason. The user will
be alerted to a stall condition via LED, digital output, or via
query over the communication port. Stall sensitivity can be
adjusted with a single parameter.
Features
Performance
•
•
Two power ranges for up to 8 Amps of continuous current
Step and direction, CW/CCW, +/- 10 VDC analog, and
encoder tracking modes available
Active DampingTM, Electronic ViscocityTM, and ABS
DampingTM
Encoderless Stall DetectTM
Simplified configuration
Variable resolution up to 128,000 steps/rev
•
•
•
•
Protection
•
Short circuit protection – phase-to-phase and phase-toground
Brownout protection – if AC drops below 85 VAC
Over temperature – shutdown occurs at ambient 131°F
(55°C)
•
•
Physical
•
A wide selection of stepper motors are available from
Compumotor including the OS, TS, VS and ES Series
120V input power
Diagnostic LEDs for drive status, firmware download, and
optional keep alive mode
•
•
Gemini Family Features
•
24V Keep Alive (not required) – keeps logic alive if AC
power is removed
Error Log – records 10 most recent errors with time stamp
Approvals: UL Recognition, cUL, CE (LVD), and CE (EMC)
Configurable via RS232/485 using Compumotor’s Motion
PlannerTM on a PC or Pocket Motion PlannerTM on a
Windows CETM-based Palm PC
•
•
•
When do I need to use servo motor technology? Applications with . . .
✓
✓
✓
✓
✓
Speeds over 50 revs/sec
Dynamic load conditions
Very high accelerations
195
Automation
Mechanical resonance
Immediate feedback requirements
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
The Gemini GT is the digital stepper drive member of the
Gemini Family. The Gemini GT is easily configurable and
programmable via RS232/485 using Compumotor’s Motion
PlannerTM on a PC or Pocket Motion PlannerTM on a Window’s
CETM-based palm PC. The Gemini GT is an alternative to a
digital servo drive. With breakthrough techniques such as
Encoderless Stall DetectTM and ABS dampingTM (patented), the
Gemini GT provides servo like performance with the lower
motor price of a stepper system. With the same connectivity,
configurations, and family feature set as the Gemini GV, the
Gemini GT allows for an easy upgrade path to the Gemini GV
digital servo drive.
Catalog 8000-4/USA
GT6 Stepper Drives
GEMINI
The Gemini GT6 Digital
Stepper Drive with Basic
Controller and Fieldbus
Options
The Gemini GT6 is a standalone, compact, digital stepper drive
and basic motion controller in one complete package. The
Gemini GT6 incorporates all of the GT digital stepper drive
features such as Encoderless Stall DetectTM and ABS
DampingTM (patented) with the flexibility of a simple, yet
powerful motion controller.
The Gemini GT6 is easily configurable and programmable via
RS232/485 using Compumotor’s Motion PlannerTM on a PC or
Pocket Motion PlannerTM on a Window’s CETM-based palm PC.
The Gemini GT6 also offers connectivity to several field buses
including Profibus and DeviceNet.
Similar to the digital stepper drive, the Gemini GT6 provides
servo performance for the package price of a stepper system.
It also allows the flexibility of an upgrade path to the Gemini
GV6, due to its equivalent connectivity, programmability, and
family feature set. For applications requiring stepper motor
controls and basic motion control functionality, the Gemini GT6
is today’s industry technology leader.
Features
•
•
•
•
•
•
•
•
•
Daisy chain up to 99 units
8 programmable inputs and 6 programmable outputs
Protection
•
•
•
Short-circuit protection – phase-to-phase and phase-toground
Brownout protection – if AC drops below 85 VAC
Over temperature – shutdown occurs at 131°F (55°C)
Physical
•
•
•
A wide selection of stepper motors are available from
Compumotor including the OS, RS, TS, VS and ES Series
120V input power
Diagnostic LEDs for drive status, firmware download, and
optional keep alive mode
Connectivity
Performance
•
•
Performance, continued
Provides 5 or 8 Amps of continuous current
Active DampingTM, Electronic ViscocityTM, and ABS
DampingTM
Encoderless Stall DetectTM
Simplified configuration
Variable resolution up to 128,000 steps/rev
Standalone controller and drive in one small package
Full ASCII connection capability
Program Storage: 32 programs or 190 lines of program
code
Control features such as registration, motion profiles,
S-curve velocity profiling and conditional statements
•
•
•
Gemini Family Features
•
•
•
•
196
Automation
RS232/485 serial connectivity (ASCII)
Profibus DP (optional)
DeviceNet (optional)
24V Keep Alive (not required) – keeps logic alive if AC
power is removed
Error Log – records 10 most recent errors with time stamp
Approvals: UL Recognition, cUL, CE (LVD), and CE (EMC)
Configurable/Programmable via RS232/485 using
Compumotor’s Motion PlannerTM on a PC or pocket
Motion PlannerTM on a Windows CETM-based Palm PC
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT6K Stepper Drives
GEMINI
The Gemini GT6K Digital
Servo Drive with FullFeature Controller
Features
Protection
•
•
•
Physical
•
•
•
•
•
•
•
•
•
•
•
Combines the powerful features of the 6K Controller with
the Gemini GT digital microstepper drive for a complete
standalone stepper solution in one small package
Full ASCII communication capability and Ethernet communication
Control features such as following, registration,
multitasking, PLC scan, electronic cam profiling, S-curve
profiling, scaling, high-level math functionality and more
Program storage: 300KB standard (battery backed)
Daisy chaining of up to 99 units
Simplified configuration and tuning
8 programmable inputs and 6 programmable outputs
(expandable up to 256 I/O points)
A wide selection of stepper motors are available from
Compumotor including the OS, TS, VS and ES Series
120V input power
Diagnostic LEDs for drive status, firmware download and
24VDC control power active
Connectivity
Performance
•
Short-circuit protection – phase-to-phase and phase-toground
Brownout protection – if AC drops below 85 VAC
Over temperature – shutdown occurs at ambient 131°F
(55°C)
•
•
•
Two serial communications ports: one RS232 port (3wire), one RS232/RS485 port (2- or 4-wire)
Ethernet communication port (TCP/IP, 10 Mbps twisted
pair
Embedded Ethernet Client for use with ABTM PLCs, OPTO
22TM SNAP I/O, DVTTM Vision Systems, etc.
Master Encoder port for reading external encoder input
signals
Expandable I/O (up to 256 discrete I/O points and/or 192
Ethernet I/O points)
Gemini Family Features
•
•
•
•
24V Keep Alive (24VDC supply required) – keeps logic
alive if AC power is removed
Error Log—records 10 most recent errors with time stamp
Approvals: UL Recognition, cUL, CE (LVD), and CE (EMC)
Configurable/Programmable via RS232/485 using
Compumotor’s Motion PlannerTM
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
197
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Compumotor's new premier microstepping drive/controller, the
Gemini GT6K is the most powerful addition to the Gemini
stepper family lineup. This full-feature, standalone drive/
controller offers a complete motion control solution in one
economical, compact package. The GT6K comes complete
with the same features, connectivity and front-end software
tools as the Gemini GT and Gemini GT6. In addition to offering
many of the drive features of the Gemini GT and control
features of the Gemini GT6, the GT6K incorporates the flexibility
and control functionality of Compumotor's 6K Controller to
allow highly advanced motion control and sequencing capabilities for unrivaled flexibility in many distributed-control applications. The GT6K is easily configured/programmed via RS232/
485 using Compumotor’s Windows-based Motion PlannerTM
software package. The GT6K also offers connectivity to any
ASCII-based serial device, including HMI panels and PLC ASCII
modules. Products such as OPTO 22TM SNAP I/O, DVTTM
Vision Systems and ABTM SLC 5/05 PLC platforms can also be
used for data chaining using the GT6K's Ethernet Client
feature.
Catalog 8000-4/USA
GT6K Stepper Drives
GEMINI
Software and Standard Control Features
I/O Capabilities
•
•
•
•
•
•
•
Gemini Family Summary
CE, UL Recognition
•
•
•
•
•
•
•
GV
Onboard I/O: 8 digital inputs (3 programmable limits, 5
programmable), 6 digital outputs, 1 analog input, 2 D/A
monitor outputs, 1 relay output
Software selectable onboard input/output functionality
Expandable I/O of up to 256 additional discrete digital I/O
points, 64 analog I/O points or a combination of both
digital and analog points
Expandable Ethernet I/O of up to 192 additional digital or
analog I/O points using Ethernet Client with OPTO 22™
SNAP modules
Registration input capability
Software selectable I/O high/low active level
5-24VDC selectable input reference voltage
Inputs: selectable as sinking or sourcing; outputs: open
collector (sinking)
GV6
ServoGV6K
GV
RS232/485
CE, UL Recognition
Encoderless Stall Detect
RS232/485
Ether
Encoderless Stall Detect
Profib
usnet
Ether
GEMINI FAMILY FEATURES
•
•
•
•
Complied motion
Floating point, integer and binary variables with high-level
math functionality
Comprehensive program monitoring
300KB memory storage, battery backed
Full-feature 6K Language command set
Complete position-based following and electronic cam
profiling
PLC Scan Mode
Multitasking (up to 10 individual programs simultaneously)
Full scaling functionality
Compatible with platforms such as VisualBasicTM, Visual
C++TM and NI LabVIEWTM
GV6
GT
GV6K
GT6
GT6K
Stepper
GT
GT6
GT6K
DeProfib
viceNet
us
10VviceNet
Command Input
De
Step/Direction,
CW/CCW
± 10V Command
Input Command Input
Encoder
Signal Input
Step/Direction,
CW/CCW Command Input
Onboard
EncoderI/OSignal Input
Onboard I/O
Expandab
Expandable I/O
Registr
ation & Diagnostics
RegistrStatus
System
System Status & Diagnostics
Scaling
Scaling
iab
Variab
ollo
wingles
Following
Multitasking
Multitasking
Compiled Motion
Compiled Motion
Full Functionality
Full Functionality
Limited Functionality
Limited Functionality
198
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT/GT6 Common Specifications
GEMINI
GT/GT6 Common Specifications
Specifications
GT(GT6)-L5
GT(GT6)-L8
95-132 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
95-132 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
170 VDC
20kHz
5 Amps
170 VDC
20kHz
8 Amps
Input Power
Voltage
Phase
Frequency
24V Keep Alive (Optional)
Output Power
Bus Voltage
Switching Frequency
Current (Apk)
Performance
Accuracy
+/-5 arc min (0.0833°) unloaded bi-directional with Compumotor motors
+/- 1 arc min (0.0167°) loaded in addition to unloaded accuracy
+/- 5 arc sec (0.0014°), typical unloaded
Less than 2 arc min (0.0334°) unloaded
User defined integer value between 200 and 128,000 steps
User defined, pure sine, -20% to 10%, continuously variable 3rd harmonic
Repeatability
Hysteresis
Resolution
Waveform
Command Inputs - GT
Position Mode
Velocity Mode
Step and Direction/CW & CCW/Encoder Tracking
12 bit, +/- 10 input voltage
Inputs – GT
Enable, Reset, User Fault
Neg/Pos Limits
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
8 Program., Enable, Reset
1 Analog
B
Inputs – GT6
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
12 bit, +/- 10 VDC input voltage (1 ms update)
Outputs – GT
Fault, At Limit, Stall
Analog Monitors
Step & Direction
Relay
Open collector, 300mA sink capability
+/- 10 V scalable, 8 bit (not to be used as control functions)
Programmable up to 128,000 counts/rev
Normally open, dry contact
Outputs – GT6
6 Programmable
Analog Monitors
Step & Direction
Relay
Open collector, 300mA sink capability
+/- 10 V scalable, 8 bit (not to be used as control functions)
Programmable up to 128,000 counts/rev
Normally open, dry contact
Communications
Type
Baud Rate
Daisy Chain – GT6
Fieldbus - GT6
RS232/RS485 (4-wire), ASCII or 8-bit binary protocol
Fixed at 9600
Up to 99
Profibus (optional), DeviceNet (optional)
Environmental
Temperature
Humidity
Shock/Vibration
Still air: 113°F(45°C), moving air: 122°F (50°C)
0-95%, non-condensing
Shock:15G half-sine @ 11 msec/ vibration: 2G, 10-2000 Hz
Protection
Short Circuit
Brownout
Over Temperature
Standards
Phase-to-phase, phase-to-ground
AC drops below 85 VAC
Shutdown fault at 131°F (55°C)
UL, cUL, CE (LVD), CE ( EMC)
Physical
Compumotor motors
Non-Compumotor motors
Inductance
Connectors
Serial
Motor and power
Command and I/O
+24VDC/Relay
See Servo Drive
OS, TS, VS and ES Series motors
4,6,or 8-lead, 2-phase hybrid permanent magnet motor, 1.8°
0.5mH minimum; 5 to 50 mH recommended, 100mH max
9-pin D-shell (male)
Barrier screw terminal
50-pin High density Amp Champ - .050 Series II (with screw attachment)
4-pin removable
terminal
section
for the
fullblock
line of Gemini servo drives and
199
Automation
drive/controllers.
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT6K Common Specifications
GEMINI
GT6K Common Specifications
Specifications
GT6K-L5
GT6K-L8
Input Power
Voltage
Phase
Frequency
24V Keep Alive (Required)
Output Power
Bus Voltage
Switching Frequency
Current (Apk)
95-132 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
95-132 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
170 VDC
20kHz
5 Amps
170 VDC
20kHz
8 Amps
Performance
Accuracy
+/- 5 arc min (0.0833°) unloaded bi-directional with Compumotor motors
+/- 1 arc min (0.0167°) loaded in addition to unloaded accuracy
+/- 5 arc sec (0.0014°), typical unloaded
Less than 2 arc min (0.0334°) unloaded
User defined integer value between 200 and 128,000 steps
User defined, pure sine, -20% to 10%, continuously variable 3rd harmonic
Repeatability
Hysteresis
Resolution
Waveform
Inputs – Onboard
8 Program., Enable, Reset
1 Analog
Inputs – Expansion (optional)
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
12 bit, +/- 10VDC input voltage (2 ms update)
Serial:Up to 256 digital inputs (2 ms update)
Up to 64 analog inputs (+/- 10VDC input voltage)
Ethernet: Up to 192 digital or analog Ethernet inputs via Ethernet Client with OPTO 22™ SNAP I/O module
Outputs – Onboard
6 Programmable
Analog Monitors
Step & Direction
Relay
Open collector, 300mA sink capability
+/- 10 V scalable, 8 bit (not to be used as control functions)
Programmable up to 128,000 counts/rev
Normally open, dry contact
Outputs – Expansion (optional)
Serial:Up to 256 digital outputs (2 ms update)
Up to 64 12-bit analog outputs (+/- 10VDC input voltage)
Ethernet: Up to 192 digital or analog Ethernet outputs via Ethernet Client or OPTO 22™ SNAP I/O module
Communications
Serial
Baud Rate
Daisy Chain – GT6
Ethernet
Protocols Supported
RS232/RS485 (4-wire), ASCII
Selectable up to 115200
Up to 99
Type: 10BaseT (10 Mbps twisted pair)
TCP/IP and UDP, Modbus/TCP, AB Ethernet and ASCII over Ethernet
Environmental
Temperature
Humidity
Shock/Vibration
Still air: 113°F(45°C), moving air: 122°F (50°C)
0-95%, non-condensing
Shock:15G half-sine @ 11 msec/ vibration: 2G, 10-2000 Hz
Protection
Short Circuit
Brownout
Over Temperature
Standards
Phase-to-phase, phase-to-ground
AC drops below 85 VAC
Shutdown fault at 131°F (55°C)
UL, cUL, CE (LVD), CE ( EMC)
Physical
Compumotor motors
Non-Compumotor motors
Inductance
Connectors
Serial (Com1/Com2)
Ethernet
Motor and Power
Command, Onboard I/O
Feedback
Master Encoder
Expandable I/O
+24VDC/Relay
OS, TS, VS and ES Series motors
4,6,or 8-lead, 2-phase hybrid permanent magnet motor, 1.8°
0.5mH minimum; 5 to 50 mH recommended, 100mH max
9-pin D-shell (male)
RJ45 connector for 10 Base-T
Barrier screw terminal
50-pin High density Amp Champ - .050 Series II (with screw attachment)
26-pin High density Amp Champ - .050 Series II (with screw attachment)
9-pin D shell (female)
15-pin D shell (female)
4-pin removable terminal block
200
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Gemini Connections
GEMINI
Gemini GT and GT6 Connections and LEDs
LEDs
RS232/485
Green/Red Yellow/Green
RS-485 Connections
Rx+
Tx+ Gnd
(RD B)
(TD B)
1
2
3
4
5
6
7
8
9
RS-232 Connections
Rx Tx
Gnd
1
Male
Pins
2
3
4
5
6
7
8
9
LED Color:
Left
Off
Red (flash)
Green (flash)
Red
Green
Green
Red
Right
Yellow
Off
Yellow (flash)
Grn
Grn (flash)
Yellow/Green (flash)
Off
Green
Off
Indicated State*
Initialization
Awaiting flash download
Programming flash memory
Keep alive mode
Incoming steps (variable rate)
Autorun mode
Drive not enabled
Drive faulted
Drive ready
Rx- Tx(RD A) (TD A)
See Servo
• + 24VDC - provides logic keep alive to the
drive
• Relay – 5A at 24 VDC or 120 VAC
• Relay opens when drive is disabled/faulted
Section
RS-232/485
24VDC/Relay (not required)
Gemini GT
+24V DC
24V RTN
RELAY COM
+24V DC
COMPUMOTOR
24V RTN
STEPPER
RELAY COM
A+
RELAY N.O.
DRIVE I/O
MOTOR
A—
B+
B—
Motor Output Connections
Terminals: #8 (M4)
Mating Terminals: spade fork, 0.325” max
width
For Gemini GT6 I/O
information, please refer
to Gemini GT6 Hardware
Installation Guide
N/C
N
L1
MOTOR FEEDBACK
•
120V
•
reserved
reserved
reserved
Output Ground
Output 4
Output 3
Output Ground
Output 2
Output Ground
reserved
Input Ground
reserved
reserved
reserved
Input Ground
reserved
reserved
reserved
Input Ground
Input 3
Input Ground
Input 2
Input 1
CNTRL-P
VINref
50
49
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Analog Ground
–10V Vel Cmd
–10V Vel Cmd+
Analog Output B
Analog Output A
Digital Ground
reserved
reserved
Direction— Out
Direction+ Out
Step— Out
Step+ Out
Reserved
Reserved
Dir-/CCW-/BX—
Dir+/CW+/BX+
Step-/CCW-/AX—
Step+/CW+/AX+
Digital Ground
Digital Ground
Reserved
Reserved
Reset
Digital Ground
Enable
GT-L5/8
Gemini GT6
Motor Feedback
Connector
Not available in the
Gemini GT or GT6
AC Input Connections
•
•
Terminals: #8 (M4)
Mating Terminals: spade fork, 0.325” max
width
For Gemini GT6 I/O
information, please refer
to Gemini GT6 Hardware
Installation Guide
Output Ground
Output 6
Output 5
Output Ground
Output 4
Output 3
Output Ground
Output 2
Output Ground
Output 1
Input Ground
Input 8
Input 7
Input 6
Input Ground
Input 5
Input 4
Pullup-Inputs 4,5,6,7
Input Ground
Input 3
Input Ground
Input 2
Input 1
Pullup-Inputs 1,2,3
VINref
50
49
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Analog Ground
–10V Input
–10V Input+
Analog Output B
Analog Output A
Digital Ground
reserved
reserved
Direction— Out
Direction+ Out
Step— Out
Step+ Out
Reserved
Reserved
Dir-/CCW-/BX—
Dir+/CW+/BX+
Step-/CCW-/AX—
Step+/CW+/AX+
Digital Ground
Digital Ground
Reserved
Reserved
Reset
Digital Ground
Enable
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
201
Automation
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Compumotor Division
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B
RELAY N.O.
Catalog 8000-4/USA
Gemini Dimensions
GEMINI
Gemini GT6 with Profibus Option
Profibus LED Indicators
LED
FB1
FB2
FB3
FB4
Steady Flash Function
Status
-Off
Green
Off
Red
Off
-FBS bit #4= 0
FBS bit #4= 1
FBS bit #4= 1
FBS bit #4= 0
--
--
Not used
Module is not online
Module is online
Module is not offline
Module is offline
No diagnostics present
1 flash/second - FBSIZE setting does not
match network configuration
4 flashes/second - hardware failure
Red
Red
GV6
GT6
Gemini
Servo
---
Profibus connector
Profibus Connector Pin Out
Pin
Housing
1
2
3
4
5
6
7
8
9
Name
Function
Shield
Not connected
Not connected
B-Line
RTS
GND BUS
+5V BUS
Not connected
A-Line
Not connected
Protective earth
--Positive Rx/TxD
Request to send*
Isolated GND*
Isolated +5V*
-Negative Rx/TxD
--
Termination switch
Hardware address settings
LEDs
Profibus Baud Rate
The GT6 will automatically detect the baud rate of the Profibus network.
For a complete list of supported baud rates, see the CMTRØ9ØE.GSD
file, which accompanies the Gemini product.
Gemini GT6 with DeviceNet Option
DeviceNet LED Indicators
LED Steady Flash Function
Status
FB1
FB2
-Off
Green
Red
FB3
Off
Green
Red
FB4
--
--FBS bit #4= 1
FBS bit #5= 1
FBS bit #6= 1
FBS bit #7= 1
-FBS bit #8= 1
FBS bit #9= 1
FBS bit #10= 1
FBS bit #11= 1
--
--
Green
Red
Green
Red
--
Not used
Not powered/not online
Network link is OK
Network critical link failure
1 flash/second - network link not connected
1 flash/second - network connection timeout
No power
Module device operational
Unrecoverable fault
1 flash/second - module in standby
1 flash/second - module minor fault
Not used
DeviceNet connector
Hardware address settings
DeviceNet Connector Pin Out
Pin
Name
Function
1
2
3
4
5
VCAN_L
SHIELD
CAN_H
V+
DC Return
CANBUS LOW
Protective earth
CANBUS HIGH
+24 VDC Power*
LEDs
* 30mA in standby and 100mA in rush
DeviceNet Baud Rate
To configure baud rate via hardware, dip switches are provided to set
a baud rate of 125, 250 or 500kb. Setting the dip switches to 0xFF
(all ON) enables software configuration of baud rate.
Baud rate (Bit/sec)
BD1
125k
250k
500k
Reserved
OFF
OFF
ON
ON
BD2
The Profibus or DeviceNet
User Guide
for complete specifications
OFF
ON
OFF
ON
202
Automation
See Also:
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Gemini Connections
GEMINI
RS-232/485 Connector – COM1
RS-232 Connector – COM2
Connect an RP240, or use this port for RS-232.
Download OS through this port only.
Ethernet and COM2 can both be active at the same time.
To configure drive parameters, connect a PC to this port.
Use Motion Planner for drive configuration.
Enabling Ethernet will disable the COM1 port.
RS-485 Connections
Rx+
Tx+ Gnd
(RD B)
(TD B)
1
2
3
4
5
6
7
8
9
RS-232 Connections
Rx Tx
Gnd
1
Male
Pins
2
3
4
5
6
7
8
9
GT6K
Digital Controller/Drive
RS-232 Connections
Rx Tx
Gnd
1
2
3
6
7
4
5
8
9
Male
Pins
+5VDC
Rx- Tx(RD A) (TD A)
GT6K
Expansion I/O Connector
Connect as many as eight EVM32-II I/O modules in series,
for up to 256 additional I/O points.
EXPANSION I/O
+24V DC
+24V DC
24V RTN
RELAY COM
24V RTN
RELAY N.O.
Relay rating: 5A at 24VDC or RELAY COM
120VAC.
RELAY N.O.
50 Pin DRIVE I/O Connector
COMPUMOTOR
If drive is faulted or disabled,
relay will open. (Typical use:
control of motor brake.)
SERVO
VBUS+
VBUS–
A–
L1
B+
B+
B–
B–
MASTER ENCODER
L2/N
A–
MOTOR FEEDBACK
A+
GV-U3/6/12
Earth
Motor Cable
Output Ground 50
Output 6 49
Output 5 48
Output Ground 47
Output 4 46
Output 3 45
Output Ground 44
Output 2 43
Output Ground 42
Output 1 41
Input/Limit Ground 40
Input 3 39
(Trig B) Input 2 38
(Trig A) Input 1 37
Input/Limit Ground 36
(Master Trig) Input 5 35
Input 4 34
CNTRL-P: Inputs 1 — 5 33
Input/Limit Ground 32
(Home) Limit 3 31
Input/Limit Ground 30
(Neg) Limit 2 29
(Pos) Limit 1 28
CNTRL-P: Lim 1 — 3 27
VINref 26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Analog Ground
Analog Input—
Analog Input+
Analog Output B
Analog Output A
Digital Ground
Reserved
Reserved
Dir— Out
Dir+ Out
Step— Out
Step+ Out
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Digital Ground
Digital Ground
Reserved
Reserved
Reset
Digital Ground
Enable
GT6K
AC Input Connections
Fuses
26 Pin MOTOR FEEDBACK Connector
N/C
N
95 — 132VAC
L1
GT6K-L5/L8
at 120VAC
Protective Circuits
Short Circuit Protection
Inrush Current Protection
Drive Overtemperature Protection
Motor Overtemperature Protection
Undervoltage Protection
Overvoltage Protection
Current Foldback
Regeneration Protection
Environmental Specifications
Operating Temperature
Storage Temperature:
Humidity:
Still Air:
45¡C (113¡F)
Moving Air: 50¡C (122¡F)
-40¡C — 85¡C(-40¡F — 185¡F)
0 — 95%, non-condensing
LEDs
Green/Red Yellow/Green
LED Color:
Left
Red
Red
Grn
Grn
Red
Right
Grn
Yel
Grn (flash)
Yel/Grn (flash)
Off
Off
Grn
Yel
Off
Indicated State
+24VDC only
AC only
Motion in progress
Autorun mode
Drive not enabled; or
Drive faulted
Initializing
Drive ready
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Reserved
Reserved
Reserved
Encoder Z—
Encoder Z+
Encoder B—
Encoder B+
Encoder A—
Encoder A+
Encoder Ground
Encoder Ground
Encoder +5V
Encoder +5V
Ethernet Connector
RJ-45 connector for 10Base-T (10Mbps twisted pair) TCP/IP
protocol. Default address is 192.168.10.30. Green LED on =
Connection OK; Yellow LED on = Transmitting
Master Encoder Connector
Connect an encoder for Following. Not for servo feedback or
stepper stall detect.
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
203
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
MOTOR DRIVE
WIRES TERMINALS
W
ETHERNET
Motor Output Connections
V
DRIVE I/O
WARNING: Hazardous voltage may exist for up to
30 seconds after power is removed.
U
MOTOR
When drive is enabled, it
holds relay closed.
A+
RS-232
RS-232/485
+24VDC/Relay Connector
Required +24VDC input.
19.2 — 28.8 VDC,
500 mA maximum.
Gemini
Servo
Catalog 8000-4/USA
Gemini Dimensions
GEMINI
Gemini Dimensional Drawings
GT/GT6 Dimensions in inches (mm)
W
2.75
(70)
FH
6.00
(153.0)
3x clearance
for #8 or M4
mounting screws
1.38
(35)
5.40
(138.0)
Product
W
Width
IN (mm)
FH
FIN Height
IN (mm)
L5
3.13 (79.4)
0.38 (9.5)
L8
3.75 (95.3)
1.00 (25.4)
8.0
(203.2)
7.75
(196.9)
7.0
(177.8)
1.00
(25.4 )
0.88
(22.2)
GT6K/GT6-PB/GT6-DN Dimensions in inches (mm)
OW
3.50
(88.9)
FH
6.0
(153.0)
Product
3x clearance
for #8 or M4
mounting screws
1.38
(35)
OW
Overall
Width
FH
Fin
Height
IN (mm)
IN (mm)
5.40
(138.0)
L5
4.50 (114.3) 0.38 (9.5)
L8
1.00 (25.4)
0.38 (9.5)
8.0
(203.2)
204
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Gemini Ordering
GEMINI
Gemini Ordering Nomenclature
GT
-
-
Control Level:
(blank) - drive only
6 - basic drive/controller
6K - full-feature drive/controller
Input
Voltage (VAC)
Option:
PB (Profibus - GT6 only)
DN (DeviceNet - GT6 only)
(blank) no fieldbus
Bus
Voltage (VDC)
Continuous
Current (Apk)
120
170
5
120
170
8
B
Stepper
L5
Power Levels L8
(Example: GT6-L5-PB)
Compatible Stepper Motors
•
•
•
•
VS Series (in NEMA 17, 23 and 34 frame sizes)
OS Series (in NEMA 23 frame sizes)
ES Series (in NEMA 23 and 34 frame sizes)
TS Series (in NEMA 34 and 42 frame sizes)
Motor Cabling Options
•
•
•
•
Flying lead option
10' cable option
10' CE(EMC&LVD) cable option (on selected motors)
NPS pipe thread option (on selected motors)
See Also:
The Gemini Family of
Digital Servo Drive
Products in the
Servo Section
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
205
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT Ordering
GEMINI
Cables and Accessories
Gemini to
6K Controller
(GT only)
Part Number
Product Description
71-016966-10
71-016987-10
71-018183-10
71-019862-04
71-019863-04
Gemini to 6K Step & Direction command cable, 10', CE(LVD&EMC) (position mode)
Gemini to 6K Analog command cable, 10', CE(LVD&EMC) (velocity mode)
Gemini to 6K Step & Dir or Analog command cable, 10', CE(LVD&EMC) (all modes)
Gemini to 6K Step & Direction command cable, 4', (non-CE) (position mode)
Gemini to 6K Step & Dir or Analog command cable, 4', (non-CE) (all modes)
50-Pin
High Density
(Entire Family)
Part Number
Product Description
GEM-VM50
71-016943-10
71-019861-04
71-019861-10
GC-50
GC-SDA
Gemini 50-pin screw terminal breakout board with 3' cable
10' cable, 50-pin high density to flying leads, CE(LVD&EMC)
4' cable, Gemini 50-pin high density to flying leads (non-CE)
10' cable, Gemini 50-pin high density to flying leads (non-CE)
50-pin Gemini test connector with terminal strips
Gemini connector with 11-pin terminal strips (drive commands only)
26-Pin
HighDensity
(GT6K only)
Part Number
Product Description
GC-26
GFB-KIT
26-pin Gemini test connector with terminal strips
26-pin Gemini connector kit
Additional
Accessories
(Entire Family)
Part Number
Product Description
71-016939-10
10' cable, RS232/485 null modem, CE(LVD&EMC)
206
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT Performance
GEMINI
Stepper Speed-Torque Performance Curves
Gemini with VS motors – 17, 23 and 34 frame
.28
30
.21
20
.14
10
.56
60
.42
Torque (oz-in)
40
80
40
20
.07
0
10
20
30
Speed (RPS)
40
.14
0
0
50
0
10
150
1.05
100
.70
50
.35
0
30
40
Torque (oz-in)
1.40
20
.65
60
.42
30
.21
10
400
2.80
300
2.10
200
1.40
100
.70
0
10
20
Speed (RPS)
30
1000
5.60
600
4.20
400
2.80
200
1.40
0
0
50
40
7.00
800
0
10
20
Speed (RPS)
SERIES
0
50
40
VS32B/Gemini
3.50
0
30
Speed (RPS)
500
0
50
20
30
Torque (Nm)
200
10
90
0
Torque (Nm)
1.75
0
0
50
40
.84
VS31B/Gemini
250
Torque (Nm)
Torque (oz-in)
VS23B/Gemini
20
30
Speed (RPS)
1.05
120
0
Torque (oz-in)
0
.28
150
Torque (Nm)
.35
.70
Torque (Nm)
50
VS22B/Gemini
100
Torque (oz-in)
VS21B/Gemini
.42
Torque (Nm)
Torque (oz-in)
VS13B/Gemini
60
0
50
40
Speed (RPS)
PARALLEL
FULL
B
Gemini with OS motors – 23 frame
.21
20
.14
10
0
10
20
30
Speed (RPS)
40
.28
30
.21
20
.14
0
0
50
.70
80
.56
60
.42
40
.28
20
.14
.07
10
.07
0
40
100
Torque (oz-in)
30
.35
0
10
20
30
Speed (RPS)
40
0
0
50
0
10
20
30
Torque (Nm)
.28
OS21A/OEM750 (Series)
50
Torque (Nm)
40
Torque (oz-in)
OS2HA/OEM750 (Parallel)
.35
Torque (Nm)
Torque (oz-in)
OS2HA/OEM750 (Series)
50
0
50
40
Speed (RPS)
0
10
20
30
40
2.80
2.45
2.10
1.75
1.40
1.05
.70
.35
0
50
Torque (Nm)
Torque (oz-in)
OS22A/OEM750 (Series)
400
350
300
250
200
150
100
50
0
75 VDC
48 VDC
24 VDC
Speed (RPS)
.21
20
.14
10
.07
0
0
10
20
30
Speed (RPS)
40
0
50
80
.56
60
.42
40
.28
20
.14
0
0
10
SERIES
20
30
Speed (RPS)
PARALLEL
40
0
50
Torque (oz-in)
30
.70
250
1.75
200
1.40
150
1.05
100
.70
50
.35
0
0
10
20
30
40
Torque (Nm)
.28
OS22B/Gemini
100
Torque (Nm)
40
Torque (oz-in)
OS21B/Gemini
.35
Torque (Nm)
Torque (oz-in)
OS2HB/Gemini
50
0
50
Speed (RPS)
FULL
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
207
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT Performance
GEMINI
Stepper Speed-Torque Performance Curves
Gemini with TS motors, 34 frame
TS32B/Gemini
3.5
400
2.8
300
2.1
200
1.4
100
.70
0
0
10
20
30
Speed (RPS)
40
1000
7.0
800
5.6
600
4.2
400
2.8
200
1.4
0
0
50
0
10
20
30
Speed (RPS)
40
Torque (oz-in)
500
Torque (oz-in)
4.2
8.4
2000
14.0
1500
10.5
1000
7.0
500
3.5
0
0
50
0
10
20
30
40
Torque (Nm)
600
TS33B/Gemini
1200
Torque (Nm)
4.9
Torque (Nm)
Torque (oz-in)
TS31B/Gemini
700
0
50
Speed (RPS)
Gemini with TS motors, size 42 frame
TS42B/Gemini
3.5
500
0
0
10
20
30
40
3000
21.0
2500
17.5
Torque (oz-in)
24.5
2000
14.0
1500
10.5
1000
7.0
500
3.5
0
50
0
0
10
Speed (RPS)
20
30
40
5000
35.0
4000
28.0
3000
21.0
2000
14.0
1000
7.0
0
0
50
0
10
Speed (RPS)
20
30
40
Torque (Nm)
7.0
1000
TS43B/Gemini
3500
Torque (Nm)
10.5
1500
Torque (Nm)
Torque (oz-in)
14.0
Torque (oz-in)
TS41B/Gemini
2000
0
50
Speed (RPS)
Gemini with ES motors (previously ZETA and S Series motors), 23 frame
ES22B/Gemini
.42
40
.28
20
.14
0
0
10
20
30
Speed (RPS)
40
1.05
150
100
.70
50
.35
0
0
50
0
10
20
30
Speed (RPS)
40
Torque (oz-in)
60
Torque (oz-in)
.56
1.40
250
1.75
200
1.40
150
1.05
100
.70
50
.35
0
.000
50
0
10
20
30
40
Torque (Nm)
80
ES23B/Gemini
200
Torque (Nm)
.70
Torque (Nm)
Torque (oz-in)
ES21B/Gemini
100
0
50
Speed (RPS)
Gemini with ES motors (previously ZETA and S Series motors), 34 frame
ES32B/Gemini
.56
40
.28
0
0
10
20
30
40
Speed (RPS)
0
50
Torque (oz-in)
80
4.20
2.80
500
3.50
400
2.80
300
2.10
200
1.40
100
.70
2.10
300
200
1.40
100
.70
0
0
10
20
30
40
Speed (RPS)
SERIES
PARALLEL
208
Automation
600
0
50
0
0
10
20
30
40
0
50
Speed (RPS)
FULL
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Torque (Nm)
.84
120
400
3.50
Torque (Nm)
1.12
160
ES33B/Gemini
500
Torque (Nm)
Torque (oz-in)
1.40
Torque (oz-in)
ES31B/Gemini
200
Catalog 8000-4/USA
GT Stepper Drives
GEMINI
OS & VS Series Stepper
Motor Specifications
Size 17, 23 & 34 Frame Sizes
Size 23 Frame
Size 34 Frame
OS2HB
OS21B
OS22B
VS21B
VS22B
VS23B
VS31B
VS32B
oz-in
(Nm)
61
(0.4)
127
(0.9)
235
(1.7)
99
(0.7)
170
(1.2)
267.5
(1.9)
559
(3.9)
1211
(8.6)
Rotor inertia
oz-in2
(kg-cm2)
0.39
(0.07)
0.66
(0.12)
1.39
(0.25)
0.66
(0.12)
1.64
(0.3)
2.62
(0.48)
7.65
(1.4)
14.8
(2.7)
Drive Current
(Apk)(Arms)
Series
Parallel
1.7 (1.2)
3.4 (2.4)
1.8 (1.3)
3.6 (2.6)
2.4 (1.7)
4.8 (3.4)
1.8 (1.3)
3.6 (2.6)
1.7 (1.2)
3.4 (2.4)
1.4 (1.0)
2.8 (2.0)
3.0 (2.1)
6.0 (4.2)
3.0 (2.1)
6.0 (4.2)
Phase Inductance
(mH)
Series
Parallel
8.6
2.2
12
3
16.6
4.2
5
(1.25)
12.0
(3.0)
15.4
(3.85)
15.8
3.95
25.0
6.25
Drive Bus Voltage
(VDC)
170
170
170
170
170
170
170
170
Detent Torque
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
2.7
(0.02)
3.3
(0.02)
6.0
(0.04)
14.0
(0.1)
28.0
(0.2)
lb
(kg)
13
(5.9)
13
(5.9)
13
(5.9)
17.6
(8)
17.6
(8)
17.6
(8)
35.3
(16)
35.3
(16)
lb
(kg)
20
(9.1)
20
(9.1)
20
(9.1)
15.0
(6.8)
15.0
(6.8)
15.0
(6.8)
30.9
(14)
30.9
(14)
End Play
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.0032
(0.080)
0.0032
(0.080)
Radial Play
(Per 0.5 lb load)
in
(mm)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.0008
(0.020)
0.0008
(0.020)
Motor Weight
lb
(kg)
1
(0.5)
1.5
(0.7)
2.5
(1.1)
1.03
(0.47)
1.54
(0.7)
2.2
(1.0)
3.86
(1.75)
6.18
(2.8)
Certifications
UL recognized
CE (LVD)
CE
(EMC & LVD)*
Pending
Yes
Pending
Yes
Pending
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Static torque
Bearings Information
Thrust Load
Radial Load
*
To comply with EMC and low-noise (CISPR22/EN55022 Class A or FCC Class A emissions) standards, the following items are required:
• Gemini GT or GT6 Drives
• CE(LVD) motor for LVD, Compumotor recommends a terminal board (NPS) motor construction for easier EMC installation
• C10(CH10) motor accessory (LVD/EMC cable kit)
• Mains filter as indicated in the User Guide
Discover how easily Gemini fits into your next motion control
application by calling 1-800-358-9070. Or visit us on the Web at
www.compumotor.com to find a local factory authorized
Automation Technology Center (ATC) near you.
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
209
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Size 23 Frame
Parameters
Catalog 8000-4/USA
GT6 Stepper Drives
GEMINI
T Series Stepper Motor Specifications
(Size 34 Frame & 42 Frame)
Size 34 Frame
TS31B
TS32B
Size 42 Frame
TS33B
TS41B
TS42B
TS43B
Static torque**
oz-in (N-m)
455 (3.19)
647 (4.53)
1525 (10.68)
1332 (9.32)
2515 (17.61)
3479 (24.35)
Rotor inertia
oz-in2 (kg-cm2)
7.80 (1.43)
14.67 (2.68)
21.89 (4.01)
30.22 (5.53)
59.68 (10.92)
88.51 (16.20)
Drive Current
(Apk)(Arms)**
Series
Parallel
3.3 (2.3)
6.7 (4.7)
3.1 (2.2)
6.2 (4.4)
5.6 (4.0)
12.0 (8.5)
6.4 (4.5)
12.0 (8.5)
6.7 (4.7)
12.0 (8.5)
6.9 (4.9)
12.0 (8.5)
Drive Bus Voltage
(VDC)
170
170
170
170
170
170
Phase Inductance
(mH)***
Series
Parallel
10.3
2.6
10.3
2.6
13.6
3.4
15.8
3.9
22.0
5.5
30.7
7.7
Detent Torque
oz-in (Nm)
18 (0.13)
36 (0.25)
54 (0.38)
42 (0.30)
84 (0.59)
106 (0.75)
Thrust Load
lb (kg)
305 (139)
305 (139)
305 (139)
404 (184)
404 (184)
404 (184)
Radial Load
lb (kg)
65 (30)
65 (30)
110 (50)
125 (57)
110 (50)
110 (50)
End Play (Reversing load equals 1 lb)
in (mm)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
Radial Play (Per 0.5 lb load)
in (mm)
0.0008 (0.020)
0.0008 (0.020) 0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020)
Motor Weight
lb (kg)
5.0 (2.3)
8.4 (3.8)
11.9 (5.4)
11.0 (5.0)
18.4 (8.4)
25.7 (11.7)
Certifications
UL recognized
CE (LVD)
CE (EMC & LVD)*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Bearings Information
(NPS) motor construction for easier EMC installation
• C10(CH10) motor accessory (LVD/EMC cable kit)
• Mains Filter as indicated in the User Guide
* To comply with EMC and low-noise (CISPR22/EN55022 Class A or FCC Class
A emissions) standards, the following items are required:
• Gemini GT or GT6 Drive
• CE(LVD) motor for LVD. Compumotor recommends a terminal board
**
***
E Series Stepper Motor
Specifications
(Size 23 Frame & 34 Frame)
Static torque
oz-in (N-m)
Rotor inertia
oz-in2 (kg-cm2)
Phase Inductance
Series
Size 23 Frame
Size 34 Frame
ES21B
ES22B
ES23B
ES31B
ES32B
ES33B
(ZETA57-51)
(ZETA57-83)
(ZETA57-102)
(ZETA83-62)
(ZETA83-93)
(ZETA83-135)
65 (0.46)
125 (0.71)
145 (0.89)
145 (1.14)
300 (2.14)
380 (2.80)
0.546 (9.998)
1.1 (20.1)
1.69 (30.9)
3.47 (63.4)
6.76 (124)
10.47 (191)
mH (small signal*)
17.37
18.5
17
10
10.5
9.2
mH (small signal*)
4.34
4.62
4.25
2.5
2.62
2.3
lb (kg)
25 (11.3)
25 (11.3)
25 (11.3)
50 (22.6)
50 (22.6)
50 (22.6)
Radial Load
(Reverse load equal to 1 lb)
End Play
lb (kg)
15 (6.8)
15 (6.8)
15 (6.8)
25 (11.3)
25 (11.3)
25 (11.3)
in (mm)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
Radial Play (Per 0.5 lb load)
in (cm)
0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020) 0.0008 (0.020)
Net Weight
Motor + Cable + Connector
lb (kg)
1.6 (0.7)
2.4 (1.1)
3.2 (1.5)
3.8 (1.7)
5.1 (2.3)
8.3 (3.8)
Motor Cable**
Wire Size
AWG (mm )
24 (0.25)
24 (0.25)
24 (0.25)
22 (0.34)
22 (0.34)
22 (0.34)
Parallel
Bearings Information
Thrust Load
*
**
Values shown in speed-torque curves
Small signal values
2
Small Signal Inductance is found by using an inductance bridge or meter.
All Motors Cable length = 10 feet (3m).
210
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT Dimensions
GEMINI
Stepper Motor Dimensions
Size 23 Frame, O Series
Dimensions in inches (mm)
0.200 (5.08) dia (4)
on 2.625 (66.68) BC
0.2500(6.350)
0.2495(6.337)
Shaft Dia
13.5
(343) 0.25
Min. (6.4)
Flexible boot
may be bent as
shown. Nominal
height 1.0 (25.4).
1.0
(25.4)
1.06 (26.9)
45°
1.86
(47.2)
0.20 (5.08)
1.502 (38.15)
1.498 (38.05)
0.81(20.6)
2.4
(62 4
.0)
0.055 (1.40)
A
Frame Size 23
Model
OS2HA (OEM57-40)
OS21A (OEM57-51)
OS22A (OEM57-83)
Dimensions in inches (millimeters)
A
1.60 (40.6)
2.06 (52.3)
3.10 (78.7)
B
2.25
(57.2)
A +/- 0.04 [1]
For servo motor information, please turn to that section of the catalog.
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
211
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT Dimensions
GEMINI
Stepper Motor Dimensional Drawings
Size 34 Frame, T Series
Dimensions in inches (mm)
4x ∅ .218 (5.54) thru
equally spaced on a
∅ 3.875 (98.43) B.C.
3.38
(85.85)
.875 – .010
(22.225 – .254)
1.43 +
- 0.04
(36.32 +
- 1.02)
1
+ 0.0000
- 0.0005
+ 0.000)
(9.53
- 0.013)
fl0.3750
0.002 (0.051)
(2 x 45¡)
C
+.0000
-.0020
1.95
(49.53)
MAX.
Indicated dimension
applies from end of
extension to face of
rear end bell (cover
and gasket removed)
1
+.0000
∅ A -.0005
B
+ 000
-.017
.002 (0.051)
∅ 2.875 – .002
(73.025 – .051)
.06 (1.52)
-A-
1/2 NPS TAP
WITH .56 I.D.
INSULATING BUSHING
.33 (8.382)
L2
.003 (0.077)
A
1.25
(31.75)
Model
TS31B—nnNPS
TS32B—nnNPS
TS33B—nnNPS
Lmax
L2
4.44 (112.78) 3.70 (93.98)
5.96 (151.38) 5.22 (132.59)
7.48 (189.99) 6.74 (171.20)
3.88
(98.6)
L MAX.
.003 (0.077)
A
0.5000 (12.70)
0.5000 (12.70)
0.6250 (15.88)
Double Shaft
Configuration
A
B
C
.555 (14.097) .1250 (3.175)
.555 (14.097) .1250 (3.175)
.705 (17.907) .1875 (4.763)
1.63
(41.4)
2.5
(63.5)
EC Encoder
Configuration
Size 42 Frame, T Series
Dimensions in inches (mm)
4x ∅ .328 (8.331) thru
equally spaced on a
∅ 4.950 (125.73) B.C.
4.325
(109.855)
1.57 +- 0.04
(39.88 +- 1.02)
1.375 – .010
(34.925) – .254
1
+ 0.0000
fl0.5000 0.0005
+ 0.000)
(12.7 0.013)
0.002 (0.051)
(2 x 45¡)
+.0000
.1875 -.0020
+.0000)
(4.7625 -.0508)
2.23
(56.642)
MAX.
+.0000
∅ .7500 -.0005
+0.000)
(19.050 -0.013)
1
.002 (0.051)
-A.830 +.000
-.017
(+.000)
(21.08)
(-.432)
.06 (1.52)
.48 (12.192)
A
Double Shaft
Configuration
1/2 NPS TAP
WITH .56 I.D.
INSULATING BUSHING
L2
∅ 2.186 – .002
(55.524 – .051)
.003 (0.077)
Indicated dimension
applies from end of
extension to face of
rear end bell (cover
and gasket removed)
L MAX.
2.19
(55.63)
.003 (0.077)
4.80
(121.9)
A
Model
Lmax
L2
TS41B—nn NPS 5.20 (132.08) 4.46(113.28)
TS42B—nn NPS 7.22 (183.39) 6.48(164.59)
TS43B—nn NPS 9.23 (234.44) 8.49 (215.65)
1.63
(41.4)
2.5
(63.5)
EC Encoder
Configuration
For servo motor information, please turn to that section of the catalog.
212
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT Dimensions
GEMINI
Stepper Motor Dimensional Drawings
Size 23 Frame, E Series (also known as ZETA Series)
Dimensions in inches (mm)
0.215 (5.461) dia (4)
0.195 (4.953)
on 2.625 (66.67) BC
120 (305) 8 wire
shielded
0.83 (21.08)
0.73 (18.54)
A
0.82 (20.83)
0.72 (18.29)
60
0.063 (1.60)
2.27 1.856
(57.66) (47.14)
max
0.2500 (6.35)
0.2495 (6.34)
Shaft Dia (2)
0.19 (4.83)
1.502 (38.15)
1.498 (38.05)
1.118
(28.40) dia
A
2.0 (50.23)
3.1 (75.23)
4.0 (101.6)
B
Model
ES21B (ZETA 57-51)
ES22B (ZETA 57-83)
ES23B (ZETA 57-102)
#6-32 UNC-2B Thd
x 0.25 (6.50) DP
(3) Equally Spaced
on 1.865 (47.37) BC
Size 34 Frame, E Series (also known as ZETA Series)
Dimensions in inches (mm)
3.40
(86.36)
Max Casting Size
3.25
(82.55)
max
120 (305)
8 wire
shielded
A
1.23
1.15
(31.24)
(29.21)
0.063
(1.60)
1.21
1.17
(30.70)
(29.72)
30
#6-32 UNC-2B Thd
x 0.25 (6.50)DP
(4) Equally Spaced
on 2.952 (74.98)BC
2.730 (69.34)
2.750 (69.85)
2.877 (73.07) dia
2.873 (72.97)
0.228 (5.79) dia (4)
0.218 (5.54)
on 3.875 (98.42) BC
0.19
(4.83)
0.3750 (9.52)
0.3745 (9.51)
Shaft Dia (2)
0.750 (19.05) dia
x 0.050 (1.27)Deep
Bore Min
Model
A
ES31B (ZETA 83-62) 2.5 (62.0)
ES32B (ZETA 83-93) 3.7 (93.98)
ES33B (ZETA 83-135) 5.2 (129.0)
For servo motor information, please turn to that section of the catalog.
Gemini Offers Greater Flexibility and More Reliability Than Ever Before. Call 1-800-358-9070 Today.
213
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
E-AC
E SERIES
Low Cost, Small Package,
120VAC Microstepping
Drive
Compumotor's new E-AC is a low-cost, high-performance,
high-reliability microstepping drive in a small package. The
design of the E-AC is based on the design of our proven Zeta
and OEM750 microstepping drives. It provides up to 3.5 Amps
of current to the motor and accepts 120VAC direct-online
power only. All step motors are subject to mid-range instability
or oscillations. The E-AC incorporates an anti-resonance
circuitry that aggressively and effectively suppresses these
oscillations, thus taking advantage of the full capabilities of the
step motor.
Protection
•
•
•
•
Physical
•
•
Features
Performance
•
•
•
•
•
•
•
Designed for use with motor inductance of 0.5 mH - 80
mH
3-state current control allows the drive and motor to run
cooler and more efficiently than 2-state drives
Selectable resolution up to 50,800 steps/rev
Auto standby reduces motor current (and heating) at rest
Provides 0.02 Amps to 3.5 Amps (peak)
95 - 132VAC power supply input
Four predefined current waveforms to optimize smoothness
•
•
•
•
•
214
Automation
Optically isolated step and direction inputs
Short circuit protection – phase-to-phase and phase-toground
Auto-run feature to verify proper system operation
Over temperature circuitry protects the drive from thermal
damage
Status/fault LED indicators to confirm proper operation
ASIC and surface-mount technologies minimize product
footprint, overall package size and increase product
reliability
Optically isolated fault output for embedded applications
Simplified, 2-screw mounting
Overall dimensions: 2.25 x 4.3 x 1.9 in. (133 x 109 x 48
mm)
Certified as UL-recognized component
Approvals: CE (LVD), and CE (EMC)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
E-AC
E SERIES
E-AC Specifications
Parameter
Value
Power Input
AC
95 - 132 VAC @ single phase 50/60 Hz
Accuracy
±5 arc min (0.0833°) typical.
Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different
absolute accuracy.
±1 arc min (0.0167°) typical/per each frictional load equal to 1% rated torque.
Loaded-in addition to unloaded accuracy.
±5 arc sec (0.0014°) typical.
Unloaded-one revolution returning to start point from same direction.
Less than 2 arc min (0.0334°) unloaded-bidirectional.
16 selectable choices: 200, 400, 1000, 2000, 5000, 10000, 12800, 18000, 20000, 21600,
25000, 25400, 25600, 36000, 50000, 50800
Selectable. Allows waveform shaping for optimum smoothness or relative accuracy. Pure sine;
-4%, -6%, -8%, 3rd harmonic.
Performance
Repeatability
Hysteresis
Resolution
Waveform
Type
Number of Phases
Output Current
Standby Current Reduction
Nominal Chopping Frequency
Max Stepping Rate
Step Input
Direction Input
Fault Output
Protective
Circuts
Short Circuit*
Overtemperature*
20 kHz fixed frequency, variable duty cycle pulse width modulated (PWM )
Current Controlled, bipolar chopper
2
0.02–3.5 Amps peaks of Sine
50% of selected motor current
20 kHz
2 MHz max pulse rate; 50 rps max speed
High-going pulse, 200 nsec min width; max pulse rate is 2 MHz; User-supplied driver for the step
and direction inputs should be capable of providing a minimum of 6.5 mA to maximum of 15 mA
Logic High = positive (CW) rotation—3.5–5.0V
Logic Low = negative (CCW) rotation—0–0.4V
User-supplied driver for the step and direction inputs should be capable of providing a minimum
of 6.5 mA to a maximum of 15 mA. The direction input must be stable for at least 200 µsec before
the drive receives the first pulse
Open-Collector/Emitter, Vce = 70 VDC, Vce sat = 0.3 VDC, Ic = 40 mA (max)
Maximum dissipation = 40 mW
Conducting = normal operation
Non conduction = drive fault
Phase-to-phase, phase-to-ground
If AC supply drops below 85VAC
The drive will fault if heat plate exceeds 55°C
Environmental
Drive Temp
Humidity
Max allowable ambient temperature is 122°F (50°C). Fan cooling may be required if airflow is
restricted.
0 to 95%, Non-condensing
Physical
Drive Dimensions
Weight
5.35 x 4.34 x 1.89in (135 x 110 x 48 mm)
1.2 lbs
Motor
Type
Number of Leads
Inductance Range
Two-phase hybrid permanent magnet, 1.8°
4, 6, or 8
0.5 minimum; 5 to 50 mH recommended range; 100 mH max
* Drive shuts down in conditions listed. Power must be cycled or drive reset to resume operations.
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
215
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Amplifier
Catalog 8000-4/USA
E-DC
E SERIES
Lower-Cost DC Power
Input Microstepping Drive
Compumotor’s new E-DC microstepping drive is designed for
a 48VDC input power requirement and provides current up to
4.8 Amps peak of current to the motor.
Features
Performance
•
•
•
•
•
•
•
•
Designed for use with motor inductance range of
0.2 mH–80 mH
Three-state current control allows the drive and motor to
run cooler and more efficiently than two-state drives
Selectable resolution up to 50,800 steps/rev
Auto standby reduces motor current (and heating) at rest
Provides 0.2 Amps to 4.8 Amps (peak)
Single 24-48 VDC power supply input
Compatible with a variety of motors
Six predefined current waveforms to optimize
smoothness
Physical
•
•
•
•
•
•
•
Protection
•
•
•
•
•
Optically isolated step and direction inputs
Short circuit protected—phase-to-phase, and phase-toground
Power dump circuitry to protect drive from regeneration
caused by large inertial loads
Self-test feature to verify proper system operation
Overtemperature circuitry protects the drive from thermal
damage
•
•
•
•
216
Automation
Status/fault LED indicators to confirm proper operation
ASIC and surface mount technologies minimize product
footprint, overall package size, and increase product
reliability
Removable snap-on molded cover for convenient configuration and protection against contaminants
Optically isolated fault output for embedded applications
Heat plate design allows thermal dissipation through a
suitable heat dissipating mounting surface
Simplified, two-screw mounting
Right-angle screw terminal allows side-to-side mounting or
Eurorack compatibility
Overall dimensions 5.0 x 3.6 x 1.6 in. (127 x 91 x 41 mm)
Convenient configuration DIP switches
Certified as UL-recognized component
CE (LVD & EMC)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Specifications
E SERIES
E-DC Drive Specifications
Parameter
Value
Power Input
DC
24–48 VDC @ 2.0 Arms (motor dependent)
Accuracy
±5 arc min (0.0833°) typical.
Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different
absolute accuracy.
±1 arc min (0.0167°) typical/per each frictional load equal to 1% rated torque.
Loaded-in addition to unloaded accuracy.
±5 arc sec (0.0014°) typical.
Unloaded-one revolution returning to start point from same direction.
Less than 2 arc min (0.0334°) unloaded-bidirectional.
16 selectable choices: 200, 400, 1000, 2000, 5000, 10000, 12800, 18000, 20000, 21600,
25000, 25400, 25600, 36000, 50000, 50800
Selectable. Allows waveform shaping for optimum smoothness or relative accuracy. Pure sine;
-4%, -6%, -8%, -10% 3rd harmonic.
Performance
Repeatability
Hysteresis
Resolution
Waveform
Type
Number of Phases
Output Current
Drive Supply Voltage
Standby Current Reduction
Nominal Chopping Frequency
Max Stepping Rate
Step Input
Direction Input
Fault Output
Protective
Circuts
20 kHz fixed frequency, variable duty cycle pulse width modulated (PWM )
Current Controlled, bipolar chopper
2
0.2–4.8 amps current per phase peak (selectable)
24–48 VDC (dependent on external power supply)
25%, 50%, or 75% of selected motor current
20 kHz
2 MHz max pulse rate; 50 rps max speed
High-going pulse, 200 nsec min width; max pulse rate is 2 MHz; User-supplied driver for the step
and direction inputs should be capable of providing a minimum of 6.5 mA to maximum of 15 mA
Logic High = positive (CW) rotation—3.5–5.0V
Logic Low = negative (CCW) rotation—0–0.4V
User-supplied driver for the step and direction inputs should be capable of providing a minimum
of 6.5 mA to a maximum of 15 mA. The direction input must be stable for at least 200 µsec before
the drive receives the first pulse
Open-Collector/Emitter, Vce = 70 VDC, Vce sat = 0.3 VDC, Ic = 10 mA (max)
Maximum dissipation = 55 mW
Conducting = normal operation
Non conduction = drive fault
Short Circuit*
Undervoltage
Overtemperature*
Phase-to-phase, phase-to-ground
If DC supply drops below 24 VDC
The drive will fault if heat plate exceeds 55°C
Drive Temp
Humidity
Max allowable ambient temperature is 122°F (50°C). Fan cooling may be required if airflow is
restricted. Max allowable heatplate temperature is 55°C.
0 to 95%, Non-condensing
Physical
Drive Dimensions
Weight
5.0 x 3.6 x 1.6 in (127 x 91 x 41 mm)
12 oz
Motor
Type
Number of Leads
Inductance Range
Two-phase hybrid permanent magnet, 1.8°
4, 6, or 8
0.2 mH–80 mH
Environmental
* Drive shuts down in conditions listed. Power must be cycled or drive reset to resume operations.
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
217
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Amplifier
Catalog 8000-4/USA
Dimensions
E SERIES
E Series Connections
Internal Connections
8
2
Inputs & Outputs
464Ω
6
3
HCPL-2601
+5V
5
464Ω
243Ω
Step Input
ILQ2
1
Direction Input
E Series Screw-Terminal
+5V
+5V
243Ω
2
11
14
5
15
6
12
8
7
10
16
Remote Input
17
681Ω
Fault Output
Gear Shift Input
15
9
11
1 (Top)
2
3
4
5
6
7
8 (Bottom)
LINE
NEUTRAL
GND
MOTOR GND
A+
AB+
B-
+5V
4N35
16
23
Signal
9
ILQ2
21
Pin No
464Ω
1
2
+5V
ILQ2
10kΩ
ILQ2
681Ω
25 Pin
D-Connector
E-AC Dimensions
4
3
BS170
14
13 HPCL-2631
E-DC Drive Dimensions
218
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Specifications
E SERIES
OS Series
Motor Specifications
Size 23 Frame
E-DC
Parameters
E-AC
OS2HA
OS21A
OS22A
OS2HB
OS21B
OS22B
Static torque
oz-in
(Nm)
49.1
(0.35)
114
(0.81)
186
(1.31)
61.35
(0.43)
126.5
(0.84)
238
(1.68)
Rotor inertia
oz-in2
(kg-cm2)
0.39
(0.07)
0.66
(0.12)
1.39
(0.25)
0.39
(0.07)
0.66
(0.12)
1.39
(0.25)
Drive Current
Apk (Arms)
Series
Parallel
3.0 (2.12)
NA
4.8 (3.39)
NA
4.8 (3.39)
NA
1.76 (1.24)
3.25 (2.30)
1.88 (1.33)
3.5 (2.47)
2.38 (1.68)
3.5 (2.47)
Phase Inductance
(mH)
Series
Parallel
1.7
NA
1.8
NA
2.8
NA
8.6
2.2
12
3
16.6
4.2
Detent Torque
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
Thrust Load
lb
(kg)
13
(5.9)
13
(5.9)
13
(5.9)
13
(5.9)
13
(5.9)
13
(5.9)
Radial Load
lb
(kg)
20
(9.1)
20
(9.1)
20
(9.1)
20
(9.1)
20
(9.1)
20
(9.1)
End Play
(Reversing load
equal to 1 lb)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
Radial Play
(Per 0.5 lb load)
in
(mm)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
Motor Weight
lb
(kg)
1
(0.5)
1.5
(0.7)
2.5
(1.1)
1
(0.5)
1.5
(0.7)
2.5
(1.1)
Certifications
UL recognized
CE (LVD)
CE (EMC & LVD)
Pending
Yes
No
Pending
Yes
No
Pending
Yes
No
Pending
Yes
No
Pending
Yes
No
Pending
Yes
No
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
219
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Bearings
Information
Catalog 8000-4/USA
Specifications
E SERIES
VS Series
Motor Specifications
Size 17, 23 and 34 Frame
Size 17 Frame
Parameters
Size 23 Frame
Size 34 Frame
VS12B
VS13B
VS21B
VS22B
VS23B
VS31B
VS32B
Static torque - E-AC
oz-in
(Nm)
55.27
(0.39)
72.8
(0.51)
115.5
(0.82)
194.5
(1.37)
334.5
(2.36)
551.8
(3.90)
1269.67
(8.97)
Static torque - E-DC
oz-in
(Nm)
58
(0.41)
81
(0.57)
115
(0.81)
156
(1.10)
330
(2.33)
442
(3.12)
664
(4.69)
Rotor inertia
oz-in2
(kg-cm2)
0.3
(0.054)
0.37
(0.068)
0.66
(0.12)
1.64
(0.3)
2.62
(0.48)
7.65
(1.4)
14.8
(2.7)
Drive Current
Apk (Arms) - E-AC
Series
Parallel
1.0 (0.71)
2.0 (1.42)
1.01(0.71)
2.02 (1.43)
2.26 (1.6)
3.5 (2.47)
2.01 (1.42)
3.5 (2.47)
2.01 (1.42)
3.5 (2.47)
3.0 (2.12)
3.5 (2.47)
3.13 (2.21)
3.5 (2.47)
Drive Current
Apk (Arms) - E-DC
Series
Parallel
NA
3.0 (2.12)
NA
3.0 (2.12)
NA
4.8 (3.39)
NA
4.0 (2.83)
NA
4.8 (3.39)
NA
4.8 (3.39)
NA
4.8 (3.39)
Phase Inductance
(mH)
Series
Parallel
12.8
(3.2)
11.2
(2.8)
5
(1.25)
12
(3.0)
15.4
(3.85)
15.8
(3.95)
25.0
(6.25)
Detent Torque
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
8.8
(0.06)
18.0
(0.13)
27.0
(0.19)
50
(0.35)
Thrust Load
lb
(kg)
11.0
(5)
11.0
(5)
17.6
(8)
17.6
(8)
17.6
(8)
35.3
(16)
35.3
(16)
Radial Load
lb
(kg)
7.7
(3.5)
7.7
(3.5)
15.0
(6.8)
15.0
(6.8)
15.0
(6.8)
30.9
(14)
30.9
(14)
End Play
(with 2.2 lbs axial
load)
in
(mm)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.0032
(0.080)
0.0032
(0.080)
Radial Play (with
1.1 lb radial load)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.0008
(0.020)
0.0008
(0.020)
Motor Weight
lb
(kg)
0.55
(0.25)
0.77
(0.35)
1.03
(0.47)
1.54
(0.7)
2.2
(1.0)
3.86
(1.75)
6.18
(2.8)
Certifications
UL recognized
No
No
No
No
No
No
No
Bearings
Information
220
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Speed-Torque Curves
E SERIES
Motor Speed-Torque Performance Curves
E-AC with OS and VS Series motors, 17, 23 and 34 frame
200
1.40
80
.56
160
1.12
60
.42
120
.84
40
.28
80
.56
20
.14
40
.28
30
40
0
10
20
SERIES
.21
20
.14
10
.07
0
0
10
.28
30
.21
20
.14
10
Torque (oz-in)
40
.07
0
40
PARALLEL
.56
70
.49
60
.42
50
.35
40
.28
30
.21
20
.14
10
.07
10
VS22B/E-AC
20
30
Speed (RPM)
40
100
.70
80
.56
60
.42
40
.28
20
.14
0
0
50
0
10
40
0
50
VS31B/E-AC
2.10
600
4.2
250
1.75
500
3.5
200
1.40
400
2.8
150
1.05
300
2.1
100
.70
200
1.4
50
.35
100
.70
.35
50
0
0
10
20
30
40
0
50
0
0
10
Speed (RPM)
20
30
40
Speed (RPM)
0
50
0
0
10
20
30
40
0
50
Speed (RPM)
VS32B/E-AC
7.01
800
5.60
600
4.20
400
2.80
200
1.40
0
0
10
20
30
40
0
50
Torque (Nm)
Torque (oz-in)
1000
SERIES
PARALLEL
FULL
Speed (RPM)
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
221
Automation
Parker Hannifin Corporation
Compumotor Division
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Torque (Nm)
Torque (oz-in)
30
300
Torque (Nm)
.70
100
Torque (Nm)
1.05
150
20
Speed (RPM)
VS23B/E-AC
1.40
200
0
50
VS21B/E-AC
80
0
40
FULL
0
0
50
30
Torque (Nm)
.35
20
Speed (RPS)
Torque (Nm)
50
20
30
Speed (RPM)
.28
30
VS13B/E-AC
.42
Torque (Nm)
Torque (oz-in)
VS12B/E-AC
60
10
40
.35
40
Speed (RPS)
Speed (RPS)
0
30
.42
50
B
20
0
50
Torque (oz-in)
10
0
0
50
Torque (oz-in)
0
Torque (oz-in)
Torque (oz-in)
.70
60
Torque (Nm)
100
Torque (Nm)
1.68
Torque (Nm)
240
0
Torque (oz-in)
OS2HB/E-AC
.84
Torque (oz-in)
OS22B/E-AC
OS21B/E-AC
120
Catalog 8000-4/USA
Speed-Torque Curves
E SERIES
Motor Speed-Torque Performance Curves
E-DC Drive with OS and VS Series motors, 17, 23 and 34 frame
20
.14
10
.07
0
20
30
40
.56
60
.42
40
.28
20
.14
0
0
10
Speed (RPS)
20
30
Speed (RPS)
24V
VS12B/E-DC
.21
20
.14
10
.07
0
40
Torque (oz-in)
30
.56
70
.49
60
.42
50
.35
40
.28
30
.21
20
.14
10
.07
0
0
10
10
.70
80
.56
60
.42
40
.28
20
.14
0
40
0
50
Torque (oz-in)
100
20
30
Speed (RPM)
40
40
0
50
0
50
80
70
60
50
40
30
20
10
0
0
10
20
30
40
.56
.49
.42
.35
.28
.21
.14
.07
0
50
Speed (RPM)
VS31B/E-DC
300
2.10
350
2.45
250
1.75
300
2.10
250
1.75
200
1.40
150
1.05
100
.70
50
.35
200
1.40
150
1.05
100
.70
50
.35
0
0
Speed (RPM)
20
30
Speed (RPS)
10
20
30
Speed (RPM)
40
0
50
0
0
10
20
30
40
0
50
Speed (RPM)
4.20
500
3.50
400
2.80
300
2.10
200
1.40
100
.70
0
0
10
20
30
40
Torque (Nm)
Torque (oz-in)
VS32B/E-DC
600
0
50
Speed (RPM)
24V
48V
222
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Torque (Nm)
Torque (oz-in)
0
Torque (Nm)
.84
Torque (Nm)
120
30
.35
VS23B/E-DC
.98
20
50
VS21B/E-DC
80
VS22B/E-DC
10
.70
48V
0
0
50
140
0
100
Torque (Nm)
.28
20
30
Speed (RPM)
1.05
0
50
Torque (Nm)
40
Torque (Nm)
Torque (oz-in)
.35
10
150
VS13B/E-DC
50
0
40
1.40
Torque (oz-in)
10
0
50
80
200
Torque (oz-in)
0
Torque (oz-in)
Torque (oz-in)
.21
.70
Torque (Nm)
.28
30
OS22A/E-DC
100
Torque (Nm)
40
Torque (Nm)
.35
Torque (oz-in)
OS21A/E-DC
OS2HA/E-DC
50
Catalog 8000-4/USA
Dimensions
E SERIES
Dimensional Drawings
VS Series Motors, Size 17 Frame
B
Size 23 Frame
Size 34 Frame
A +/- 0.04 [1]
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
223
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
ZETA Drives
ZETA
Compumotor’s
ZETA Microstepping
Drive Family
These microstepping drives are stand-alone, packaged
microstepping drives that incorporate breakthrough techniques
know as Active DampingTM (patented) and Electronic
ViscosityTM (patent pending).
The ZETA family of drives come in 4 different power versions:
ZETA4, ZETA4-240, ZETA8 and ZETA12.
Designed for reliability, the ZETA drive family offers premier
quality and performance while being easy to use and apply. The
ZETA drive family meets the need for global solutions:
• CE (LVD), CE(LVD and EMC) or low-noise applications
• UL Recognized
• 120VAC and 240VAC versions
The ZETA4, ZETA8, and ZETA12 operate at 120VAC and
provide 4A, 8A, and 12A respectively.
The ZETA4-240, ZETA8, and ZETA12 comply with the Low
Voltage [LVD (EN61010)] and Electromagnetic Compatibility
[EMC (CISPR22/EN55022 Class B)] directives making it an
excellent choice for machines built in or shipped to the
European community. By designing the drive to meet the EMC
Class B’s rigid standards, the ZETA4-240, ZETA8, and ZETA12
also meets North America’s FCC Class B emissions test
making it the solution for low-noise applications. The ZETA4240, ZETA8, and ZETA12 have also received UL approval.
The ZETA4-240 can be used for low- and high-power
applications. For low-power applications, the ZETA 4-240
operates at 120VAC to provide the same performance as the
ZETA4. For high-power applications, the ZETA4-240 runs off
240VAC to provide the same performance of an 8 AMP drive
operating at 120 VAC.
Features
Performance
• Standard step-and-direction input or CW/CCW input
• Torque from 43 oz-in (0.30 N-m) to 3480 oz-in
(24.4 N-m)
Performance (continued)
• Active DampingTM benefits:
– Damping ratios of up to 0.5
– Higher acceleration than conventional step systems
– Decrease motor vibration
– Increase shaft power
– Higher performance
• Electronic ViscosityTM benefits:
– Reduce settling time
– Increase slow speed smoothness (reduce velocity
ripple)
– Reduce audible noise
Protection Circuit
•
•
•
•
Physical
• A wide selection of motors is available for both 120 VAC
and 240 VAC operation
• Drive status indicators: power, step input, over temperature
and motor fault
• 120VAC (170VDC bus voltage) for ZETA4, ZETA4-240,
ZETA8, and ZETA12
• 240VAC (340VDC bus voltage) for ZETA4-240
• Removable connectors for easy installation
• Selectable damping for optimized performance
• Optional EMC drive kit and EMC Cable kit consisting of AC
mains filter and cabling to allow complete EMC or low noise
system compliance for ZETA4-240, ZETA8, and ZETA 12.
224
Automation
Motor short circuits (phase-to-phase and phase-to-ground)
Overtemperature
Undervoltage
Power dump (dissipates excess energy caused by load
regeneration)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
ZETA Drives
ZETA
Specifications – ZETA4, ZETA8, ZETA12, and ZETA4-240
Power
AC Power Input
Motor Current (Apk)
Bus Voltage
Performance
Accuracy
Repeatability
Hysteresis
Resolution
Waveform
Value
ZETA4
ZETA8
ZETA12
---- 95-132VAC Single Phase, 50/60Hz ---0-4 Amps
0-8 Amps
0-12 Amps
---------------- 170 VDC nominal ----------------
ZETA4-240
95-264VAC Single Phase, 50/60Hz
0-4 Amps
@120VAC: 170VDC nominal,
@240VAC: 340VDC nominal
±5 arc min (0.0833°) typical.
Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different
absolute accuracy.
±1 arc min (0.0167°)
Loaded-in addition to unloaded accuracy, per each frictional load equal to 1% rated torque.
±5 arc sec (0.0014°) typical.
Unloaded-one revolution returning to start point from same direction.
Less than 2 arc min (0.0334°) unloaded-bidirectional.
16 selectable choices: 200, 400, 1000, 2000, 5000, 10000, 12800, 18000, 20000, 21600, 25000,
25400, 25600, 36000, 50000, 50800
Selectable. Allows waveform shaping for optimum smoothness or relative accuracy. Pure sine;
-4%, -6%, -10% 3rd harmonic.
Motors
Type
Breakdown Voltage (HIPOT)
Number of Leads
Accuracy Grade
Inductance
2-phase hybrid permanent magnet, 1.8 degree.
1,150VDC @ 120VAC input; 1,900VDC @ 240VAC input
4, 6 or 8
3%
0.5 mH minimum; 5 to 50 mH recommended range; 100 mH max
Amplifiers
Type
20 kHz fixed frequency, variable duty cycle PWM (pulse width modulated). Current controlled, bipolar
type.MOSFETconstruction.
2
Number of Phases
Protection*
• Short Circuit
• Brownout
• Over-temperature
Auto Standby
CW/CCW Input
Shutdown Input
Reset Input
Fault Output
Phase-to-phase, phase-to-ground.
If AC supply drops below 85VAC.
Over-temperature shutdown fault at 113°F (50°C)
If selected, motor current ramps to 50% of preset value if no step pulses are received for 1 second.
Current levels are resumed upon receipt of next step pulse.
This feature (used primarily for testing and verification of correct wiring) rotates the motor at
approximately 1 rps in the negative (CCW) direction.
High-going pulse, 200 nsec min. width; max. pulse rate is 2 MHz.
Logic High = positive (CW) rotation. Logic Low = negative (CCW) rotation.
Direction input may change polarity, coincident with first step pulse.
Dip switch selectable. High-going pulse, 200 nsec min width; max pulse rate is 2 MHz.
Logic High = amplifier disable. Logic Low = normal operation.
Logic High = drive held in reset. Logic Low = normal operation.
Conducting = normal operation. Not Conducting = drive fault
Environmental
Operating drive
Storage drive
Motor
Humidity
32°F to 113°F (0°C to 45°C) Fan cooling may be required if airflow restricted.
-40°F to 185°F (-30°C to 85°C)
212°F (100°C) maximum motor case temperature. Actual temperature rise is duty-cycle dependent.
0-95%, non-condensing
Certifications
UL Recognized
CE (LVD)
CE(LVD & EMC)
(EMC for CISPR22/
EN55022 Class B)**
Automatic Test Function
Step Input
Direction Input
ZETA4, ZETA4-240, ZETA8, ZETA12
ZETA4, ZETA4-240, ZETA8, ZETA12
ZETA4-420, ZETA8, ZETA12 provided the following items are used and installed properly:
• CE(LVD) motor. Compumotor recommends a terminal board (NPS) motor construction for easier
installation
• C10 (C10H) motor cable accessory (LVD/EMC cable kit)
• ZETA EMC KIT
Low Noise
ZETA4-240, ZETA8, ZETA12 provided the following items are used and installed properly:
(FCC Class B)**
• CE(LVD) motor. Compumotor recommends a terminal board (NPS) motor construction for easier
installation
• C10 (C10H) motor cable accessory (LVD/EMC cable kit)
• ZETA EMC KIT
*
Drive shuts down in conditions listed
** System compliance
ZETA Series: True Innovation In Microstepping Technology. Call 1-800-358-9070 Today.
225
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Parameter
Catalog 8000-4/USA
ZETA Drive/Controllers
ZETA
Packaged
Drive/Controller Systems
Compumotor’s ZETA6000 Series products are stand-alone,
single-axis drive/controller systems. The ZETA6000 Series
products come in 4 different power versions: ZETA6104,
ZETA6104-240, ZETA6108 and ZETA6112. These ZETA6000
products pack all the power and reliability of the 6000 family of
controllers and ZETA drives into one convenient package. All of
the I/O points, RS-232C/RS485 control, operator interface
options, and following capabilities for single-axis applications
are included. The following package can perform phase shifts,
electronic gearbox, and flying cutoff functionality with ease.
The ZETA6000 Series package was made for easy and
reliable installation. The connections are on removable screw
terminals and a standard 50-pin header allowing simple
installation and cable routing without having to cut off and
reattach a connector.
The ZETA6000 Series is designed to solve single-axis
applications cleanly, completely, and for a low cost. For
multiple-axis applications, up to 99 ZETA6000 Series can be
daisy chained (32 ZETA6000 Series can be multi-dropped
using RS-485) to work together.
In order to speed your application development, the
ZETA6000 Series comes standard with Motion ArchitectTM, a
Microsoft® WindowsTM-based development package. Motion
ArchitectTM contains many tools which allow you to easily create
and implement motion programs. The ZETA6000 Series is also
compatible with the DDE6000 Server software package.
The ZETA6000 Series uses the 6000 Series command
language. This popular language is powerful enough to
implement complex motion control applications and simple
enough to not overwhelm the novice programmer. The
ZETA6000 Series is your single-axis solution.
Features
Performance
•
•
•
One axis package drive/controller
Active DampingTM benefits:
– Damping ratios of up to 0.5
– Higher acceleration than conventional step systems
– Decrease motor vibration
– Increase shaft power
– Higher performance
Electronic ViscosityTM benefits:
– Reduce settling time
– Increase slower speed smoothness (reduce velocity
ripple)
– Reduce audible noise
Protection Circuit
•
•
•
•
Motor short circuits (phase-to-phase and phase-toground)
Overtemperature of internal drives and power supply
Overvoltage (protects against overvoltage from
regeneration)
Power dump (dissipates excess voltage caused by load
regeneration)
I/O
•
•
•
226
Automation
Encoder channel configurable as hardware up/down
counter
Incremental encoder input
Home and end-of-travel limit inputs
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
ZETA Drive/Controllers
ZETA
Features (continued)
•
•
•
Two fast (trigger) inputs for position capture, registration,
etc.
16 programmable inputs (Opto-22 compatible)
8 programmable outputs (Opto-22 compatible)
One auxiliary programmable output
Optional Software
•
Language
•
•
•
•
•
•
•
150,000 bytes of non-volatile memory for storing programs
and paths
Interrupts program execution on error conditions
Encoder and motor position capture (using the trigger
inputs)
Registration (using the trigger inputs)
Selectable damping (programmable) to optimize
performance for changing loads
Variable storage, conditional branching and math capability
Program debug tools – single-step and trace modes,
breakpoints, error messages and simulation of I/O
Software Provided
•
•
Motion ArchitectTM, Microsoft® WindowsTM-based application development software
Dynamic Link Library (DLL) provided for use with
Microsoft® WindowsTM and Microsoft® WindowsTM NT
software development kits
Dynamic Data Exchange (DDE) server available allowing
data exchange between different WindowsTM software
applications
Interface Capabilities
•
•
•
•
Direct interface to RP240 Remote Operator Panel
Operates stand-alone or interfaces to PCs, PLCs, and
thumbwheels
One RS-232C communication port
One RS232C/485 configurable port
Physical
•
•
•
•
•
Stand-alone drive/controller package
Status/fault LEDs to confirm proper operation (four
diagnostic LEDs)
Removable connectors for easy installation
120VAC (170VDC bus voltage) for ZETA6104,
ZETA6104-240, ZETA6108, ZETA6112
240VAC (340VDC bus voltage) for ZETA6104-240
B
•
Specifications – ZETA6104, ZETA6108, ZETA6112, and ZETA6104-240
Parameter
Value
AC Power Input
ZETA6104
ZETA6108
ZETA6112
----------- 95-132VAC Single Phase, 50/60Hz -----------
Bus Voltage
0-4Amps
0-8 Amps
0-12 Amps
---------------------- 170 VDC nominal ----------------------
Performance
Position range
Velocity range
Acceleration range
Motion Algorithm Update Rate
±2,147,483,648 steps
1 to 2,000,000 steps/sec
1 to 24,999,975 steps/sec2
2 ms
RS-232C Interface
Connections
Max number of daisy chained
Address settings
Communication parameters
3-wire (Rx, Tx, and GND) connection to the COM1 and/or COM2 connectors.
Up to 99 units
Selectable
9,600 baud (auto-baud option); 8 data bits, 1 stop bit, no parity bit, full duplex.
RS-485 Interface
Connections
Max number of multi-dropped
Address settings
Communication parameters
2-wire or 4-wire (Rx+, Rx-, Tx+, Tx-) connection to the COM2 connector (COM2 needs to be
configured to RS-485 Interface).
Up to 99 units
Selectable (see optional DIP switch setting and ADDR command).
9,600 baud, 8 data bits, 1 stop bit, no parity bit, half duplex.
Short Circuit
Brownout
Over-temperature
Phase-to-phase, phase-to-ground
AC supply drops below 85VAC
Over-temperature shutdown fault at 113°F (55°C)
Power
Motor Curent (Apk)
Protection
ZETA6104-240
95-264VAC Single Phase,
50/60Hz
0-4 Amps
@120VAC: 170VDC nominal,
@240VAC: 340VDC nominal
Additional Specifications Continued on Following Page
ZETA Series: True Innovation In Microstepping Technology. Call 1-800-358-9070 Today.
227
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
ZETA Drive/Controllers
ZETA
Specifications – ZETA6104, ZETA6108, ZETA6112, and ZETA6104-240 (Continued)
Parameter
Value
Inputs
(see also I/O
pinouts & circuit)
HOM, POS, NEG, TRG-A
TRG-B, P-CUT
Encoder
16 General Purpose
Programmable
Outputs
All outputs are optically isolated from the microprocessor (not from the other outputs).
9 Programmable
(includes OUT-A)
+5V Output
Environmental
Operating drive
Storage drive
Motor
Humidity
Diagnostic LEDs
Certification
Powered by voltage applied to V_I/O terminal (switching levels: ≤ 1/3 of V_I/O voltage = low, ≥
2/3 of V_I/O voltage = high). V_I/O can handle 5–24V with max current of 100 mA. Internal 6.8
KΩ pull-ups to AUX-P terminal—connect AUX-P to power source (+5V terminal or an external
5–24V supply) to source current or connect AUX-P to power source (+5V terminal or an external
5–24V supply) to source current or connect AUX-P to GND to sink current; AUX-P can handle
0–24V with max current of 50 mA. Voltage range for these inputs is 0–24V.
Differential comparator accepts two-phase quadrature incremental encoders with differential
(recommended) or single-ended outputs. Max voltage = 5VDC. Switching levels (TTL-compatible);
Low ≤0.4V, High ≥ 2.4V. Maximum frequency = 1.6 MHz. Minimum time between transitions = 625 ns.
HCMOS compatible* with internal 6.8 KΩ pull-up to IN-P terminal—connect IN-P to power (+5V
pin #49 or an external 5-24V supply) to source current or connect IN-P to GND to sink current;
IN-P can handle 0-24V with max current of 100 mA. Voltage range = 0–24V.
Open collector output with 4.7 kΩ pull-ups. Can be pulled up by connecting OUT-P to power
source (+5V terminal or an external 5-24V supply); OUT-P can handle 0-24V with max current
of 50 mA. Outputs will sink up to 300 mA or source up to 5 mA at 5-24VDC. 8 general purpose
outputs on the Programmable I/O connector, OUT-A on the I/O connector.
Internally supplied +5VDC. +5V terminals are available on the COM2, ENCODER and
I/O connectors. Load limit (total load for all I/O connections) is 0.5A.
32°F to 113°F (0°C to 45°C) Fan cooling may be required if airflow restricted.
-40°F to 185°F (-30°C to 85°C)
212°F (100°C) maximum motor case temperature. Actual temperature rise is duty-cycle
dependent.
0-95%, non-condensing
Power/drive on, step pulses, drive over-temperature, and motor short circuit
UL Recognized
CE (LVD)
*
ZETA6104, ZETA6104-240, ZETA6108, ZETA6112
ZETA6104, ZETA6104-240, ZETA6108, ZETA6112
HCMOS-compatible switching voltage levels: low ≤ 1.0V, high ≥ 3.25V; TTL-compatible switching voltage levels:
low ≤ 0.4V; high ≥ 2.4V
228
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Performance Curves
ZETA
Speed-Torque Curves (@120VAC)
ZETA with VS Motors
VS13B/ZETA4
10
.07
0
0
10
20
30
Speed (RPS)
40
20
.14
.21
20
10
0
0
10
20
30
Speed (RPS)
40
0
0
50
0
10
50
Torque (oz-in)
.35
1.75
200
1.40
150
1.05
100
.70
50
0
40
0
50
.35
0
0
10
20
Speed (RPS)
30
40
0
50
40
500
3.50
400
2.80
300
2.10
200
1.40
100
.70
0
50
0
0
10
Speed (RPS)
20
30
40
Torque (Nm)
.70
250
Torque (Nm)
100
20
30
Speed (RPS)
VS31B/ZETA4
2.10
Torque (Nm)
Torque (oz-in)
.28
.07
30
0
50
1.05
30
40
.28
VS23B/ZETA4
150
20
.42
.14
40
1.40
10
.56
60
.35
VS22B/ZETA4
200
0
.70
80
50
Torque (oz-in)
Torque (oz-in)
.14
.84
100
.42
Torque (Nm)
20
VS21B/ZETA4
120
60
Torque (Nm)
.21
30
Torque (Nm)
.28
40
Torque (oz-in)
.35
Torque (oz-in)
VS12B/ZETA4
50
0
50
Speed (RPS)
7.01
800
5.60
600
4.20
400
2.80
200
1.40
0
0
10
20
30
40
For ZETA Series Motor
Specifications and
dimensions, please
refer to the E Series
Motor Specifications
located in the Gemini
Section.
Torque (Nm)
Torque (oz-in)
1000
B
VS32B/ZETA4 (series)
ZETA8 (parallel)
SERIES
0
50
PARALLEL
FULL
Speed (RPS)
ZETA with OS Motors
.56
60
.42
.14
40
.28
.07
20
.14
.28
30
.21
20
10
0
10
20
30
Speed (RPS)
40
0
50
Torque (oz-in)
80
40
0
0
10
20
30
Speed (RPS)
SERIES
PARALLEL
40
0
50
250
1.75
200
1.26
150
1.05
100
.70
50
.35
0
0
10
20
30
40
0
50
Speed (RPS)
FULL
ZETA Series: True Innovation In Microstepping Technology. Call 1-800-358-9070 Today.
229
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Torque (Nm)
.70
.35
Torque (Nm)
100
50
0
OS22B/ZETA4
.84
Torque (oz-in)
OS21B/ZETA4
120
.42
Torque (Nm)
Torque (oz-in)
OS2HB/ZETA4
60
Catalog 8000-4/USA
Performance Curves
ZETA
Speed-Torque Curves (@120VAC) (cont'd)
ZETA with ES Motors
ES22B/ZETA
.42
40
.28
20
150
1.05
100
.70
50
.35
.14
0
10
20
30
Speed (RPS)
0
10
20
30
Speed (RPS)
ES31B/ZETA
1.40
150
1.05
100
.70
50
.35
0
10
20
.70
50
.35
40
ES33B/ZETA
3.50
600
4.20
2.80
500
3.50
400
2.80
300
2.10
200
1.40
2.10
300
200
1.40
100
.70
0
10
20
30
100
40
.70
0
0
50
0
Speed (RPS)
40
Speed (RPS)
400
0
50
0
30
Torque (oz-in)
100
30
Torque (Nm)
1.05
150
0
50
0
Torque (Nm)
1.40
200
20
40
500
Torque (Nm)
Torque (oz-in)
1.75
10
1.75
200
ES32B/ZETA
250
0
250
0
50
0
0
50
40
Torque (oz-in)
0
Torque (oz-in)
60
Torque (oz-in)
.56
1.40
Torque (Nm)
80
ES23B/ZETA
200
Torque (Nm)
.70
Torque (Nm)
Torque (oz-in)
ES21B/ZETA
100
0
10
20
Speed (RPS)
30
0
50
40
Speed (RPS)
ZETA with RS Motors
SERIES
RS31C/ZETA4-240
RS32C/ZETA4-240
RS33C/ZETA4-240
1.99
400
2.84
560
3.98
210
1.49
300
2.13
420
2.98
140
0.99
200
1.42
280
1.99
70
0.48
100
0.71
140
0.99
0
20
10
30
40
0
50
0
0
10
20
30
40
50
Torque (oz-in)
4.97
280
Torque (oz-in)
700
0
0
0
20
10
Speed-RPS
Speed-RPS
PARALLEL
0
50
40
Speed-RPS
SERIES
RE42C/ZETA4-240
RS42C/ZETA4-240
30
Torque (Nm)
3.55
Torque (Nm)
500
0
RS43C/ZETA4-240
1800
12.8
1120
7.95
1600
11.4
1140
8.09
840
5.96
1080
7.67
560
1.77
720
5.11
280
1.99
360
2.56
0
0
10
20
30
40
50
0
1200
8.52
800
5.68
400
2.84
0
Speed-RPS
0
8
16
24
32
40
0
Torque (oz-in)
14.2
Torque (oz-in)
2000
0
0
0
10
Speed-RPS
PARALLEL
20
30
Speed-RPS
40
50
SERIES
Parallel connected motors are limited to 50% duty cycle when operated above 5 rps. For greater than 50% duty cycle above 5 rps,
connection must be made to the motor in series. Fan cooling the motor will increase duty cycles above 5 rps.
Viscous damper is not required to achieve speed-torque curves.
Note: ±10% torque variance due to motor tolerance
230
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Torque (Nm)
9.94
Torque (Nm)
1400
Torque (Nm)
Torque (oz-in)
FULL
2.48
Torque (Nm)
Torque (oz-in)
350
PARALLEL
Catalog 8000-4/USA
Performance Curves
ZETA
Speed-Torque Curves (@120VAC) (cont'd)
ZETA with TS Motors
TS32B/ZETA
4.2
500
3.5
400
2.8
300
2.1
200
1.4
100
.70
0
10
20
30
Speed (RPS)
40
7.0
800
5.6
600
4.2
400
2.8
200
1.4
0
50
0
0
10
TS41B/ZETA
7.0
500
3.5
0
0
10
7.0
500
3.5
0
40
0
50
24.5
3000
21.2
2500
17.5
2000
14.1
1500
10.5
1000
7.0
500
3.5
0
10
30
40
0
50
40
Speed (RPS)
0
50
5000
35.3
4000
28.2
3000
21.2
2000
14.1
1000
7.0
0
0
10
20
30
40
0
50
Speed (RPS)
B
Speed (RPS)
20
30
TS43B/ZETA
3500
0
20
Speed (RPS)
Torque (oz-in)
1000
30
1000
Torque (Nm)
10.5
20
10.5
0
50
Torque (Nm)
1500
Torque (Nm)
Torque (oz-in)
14.1
10
40
1500
TS42B/ZETA
2000
0
20
30
Speed (RPS)
14.1
Torque (oz-in)
0
1000
2000
Torque (oz-in)
600
Torque (oz-in)
4.9
8.4
Torque (Nm)
700
TS33B/ZETA
1200
Torque (Nm)
5.6
Torque (Nm)
Torque (oz-in)
TS31B/ZETA
800
SERIES
PARALLEL
FULL
ZETA Series: True Innovation In Microstepping Technology. Call 1-800-358-9070 Today.
231
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Motor Specifications
ZETA
ES Series Stepper
Motor Specifications
Size 23 & 34 Frame Sizes
Size 23 Frame
Parameters
Size 34 Frame
ES21B
ES22B
ES23B
ES31B
ES32B
ES33B
Static torque
oz-in
(N-m)
65
(0.46)
100
(0.71)
125
(0.89)
160
(1.14)
300
(2.14)
400
(2.80)
Rotor inertia
oz-in2
2
–6
(kg-m x 10 )
0.546
(9.998)
1.1
(20.1 )
1.69
(30.9)
3.47
(63.4)
6.76
(124)
10.47
(191)
Drive Current
Series
Parallel
1.76 (1.24)
3.5 (2.47)
2.01 (1.42)
4.0 (2.83)
2.63 (1.86)
5.16 (3.65)
2.76 (1.95)
5.42 (3.83)
3.63 (2.57)
7.23 (5.11)
4.0 (2.83)
8.0 (5.66)
Series
Parallel
17.37
4.34
18.5
4.62
17
4.25
10
2.5
10.5
2.62
9.2
2.3
lb
(kg)
lb
(kg)
in
(cm)
25
(11.3)
15
(6.8)
0.005
(0.013)
25
(11.3)
15
(6.8)
0.005
(0.013)
25
(11.3)
15
(6.8)
0.005
(0.013)
50
(22.6)
25
(11.3)
0.005
(0.013)
50
(22.6)
25
(11.3)
0.005
(0.013)
50
(22.6)
25
(11.3)
0.005
(0.013)
in
(cm)
0.0008
(0.002)
0.0008
(0.002)
0.0008
(0.002)
0.0008
(0.002)
0.0008
(0.002)
0.0008
(0.002)
lb
(kg)
1.6
(0.7)
2.4
(1.1)
3.2
(1.5)
3.8
(1.7)
5.1
(2.3)
8.3
(3.8)
AWG
2
(mm )
24
(0.25)
24
(0.25)
24
(0.25)
22
(0.34)
22
(0.34)
22
(0.34)
Apk (Arms)
Phase Inductance
Bearings
Thrust load
Radial load
End play
Reversing load
Equal to 1 lb
Radial play
Per 0.5 lb load
Weight (net)
Motor+Cable
+Connector
Motor Cable
Wire size
All motors: Cable length = 10 feet (3 m); attached connector is prewired for series current.
232
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Motor Specifications
ZETA
OS & VS Series Stepper
Motor Specifications
Size 17, 23 & 34 Frame Sizes
Size 17 Frame
OS2HB OS21B OS22B
Size 23 Frame
Size 34 Frame
VS12B
VS13B
VS21B
VS22B
VS23B
VS31B
VS32B
Static torque
oz-in
(Nm)
61
(0.4)
127
(0.9)
238
(1.7)
57
(0.4)
73
(0.5)
116
(0.8)
195
(1.4)
335
(2.4)
552
(3.9)
1270
(9.0)
Rotor inertia
oz-in2
(kg-cm2)
0.39
(0.07)
0.66
(0.12)
1.39
(0.25)
0.3
(0.054)
0.37
(0.068)
0.66
(0.12)
1.64
(0.3)
2.62
(0.48)
7.65
(1.4)
14.8
(2.7)
Drive Current
Apk (Arms)
Series
Parallel
1.0 (0.7)
2.0 (1.4)
1.0 (0.7)
2.0 (1.4)
2.3 (1.6)
4.6 (3.2)
2.0 (1.4)
4.0 (2.8)
2.0 (1.4)
4.0 (2.8)
3.0 (2.1)
6.0 (4.2)
3.1 (2.2)
6.2 (4.4)
Phase Inductance
(mH)
Series
Parallel
8.6
2.2
12
3
16.6
4.2
3.2
(0.85)
2.8
(0.7)
5
(1.25)
12.0
(3.0)
15.4
(3.85)
15.8
NA
25.0
NA
Drive Bus Voltage
(VDC)
170
170
170
170
170
170
170
170
170
170
Detent Torque
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
2.7
(0.02)
3.0
(0.02)
2.7
(0.02)
3.3
(0.02)
6.0
(0.04)
14.0
(0.1)
28.0
(0.2)
lb
(kg)
13
(5.9)
13
(5.9)
13
(5.9)
11
(5)
11
(5)
17.6
(8)
17.6
(8)
17.6
(8)
35.3
(16)
35.3
(16)
lb
(kg)
20
(9.1)
20
(9.1)
20
(9.1)
7.7
(3.5)
7.7
(3.5)
15.0
(6.8)
15.0
(6.8)
15.0
(6.8)
30.9
(14)
30.9
(14)
End Play
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.0032
(0.080)
0.0032
(0.080)
Radial Play
(Per 0.5 lb load)
in
(mm)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.0008
(0.020)
0.0008
(0.020)
Motor Weight
lb
(kg)
1
(0.5)
1.5
(0.7)
2.5
(1.1)
0.55
(0.25)
0.77
(0.35)
1.03
(0.47)
1.54
(0.7)
2.2
(1.0)
3.86
(1.75)
6.18
(2.8)
Certifications
UL recognized
CE (LVD)
CE
(EMC & LVD)*
Pending
Yes
Pending
Yes
Pending
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Bearings Information
Thrust Load
Radial Load
1.8 (1.3) 1.9 (1.3) 2.4 (1.7)
3.6 (2.6) 3.8 (2.6) 4.8 (3.4)
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233
Automation
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B
Size 23 Frame
Parameters
Catalog 8000-4/USA
Motor Specifications
ZETA
Motor Specifications - 170 VDC Motor
Size 23 Frame
Parameters
OS2HB
OS21B
OS22B
Static torque**
oz-in
(Nm)
43
(0.30)
82
(0.58)
155
(1.09)
Rotor inertia
oz-in2
(kg-cm2)
0.39
(0.07)
0.66
(0.12)
1.39
(0.25)
Drive Current
(Apk)(Arms)**
Series
Parallel
1.5 (1.0)
3.0 (2.1)
1.8 (1.3)
4.0 (2.8)
2.2 (1.5)
4.0 (2.8)
Phase Inductance
(mH)***
Series
Parallel
8.6
2.2
12
3
16.6
4.2
Drive Bus Voltage
(VDC)
170
170
170
Detent Torque
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
Thrust Load
lb
(kg)
13
(5.9)
13
(5.9)
13
(5.9)
Radial Load
lb
(kg)
20
(9.1)
20
(9.1)
20
(9.1)
End Play
(Reversing load
equal to 1 lb)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
Radial Play
(Per 0.5 lb load)
in
(mm)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
Motor Weight
lb
(kg)
1
(0.5)
1.5
(0.7)
2.5
(1.1)
Pending
Yes
No
Pending
Yes
No
Pending
Yes
No
Bearings
Information
Certifications
UL recognized
CE (LVD)
CE (EMC & LVD)*
For ZETA Series Motor Specifications and dimensions,
please refer to the
E Series Motor Specifications located in the Gemini Section.
Motor Specifications - 170 VDC Motor
Size 34 Frame
Parameters
Size 42 Frame
TS31B
TS32B
TS33B
TS41B
TS42B
TS43B
Static torque**
oz-in
(N-m)
455
(3.19)
647
(4.53)
1525
(10.68)
1332
(9.32)
2515
(17.61)
3479
(24.35)
Rotor inertia
oz-in2 2
(kg-cm )
7.80
(1.43)
14.67
(2.68)
21.89
(4.01)
30.22
(5.53)
59.68
(10.92)
88.51
(16.20)
Drive Current
(Apk)(Arms)**
Series
Parallel
3.3 (2.3)
6.7 (4.7)
3.1 (2.2)
6.2 (4.4)
5.6 (4.0)
12.0 (8.5)
6.4 (4.5)
12.0 (8.5)
6.7 (4.7)
12.0 (8.5)
6.9 (4.9)
12.0 (8.5)
Drive Bus Voltage
(VDC)
170
170
170
170
170
170
Phase Inductance
(mH)***
Series
Parallel
10.3
2.6
10.3
2.6
13.6
3.4
15.8
3.9
22.0
5.5
30.7
7.7
Detent Torque
oz-in
(Nm)
18
(0.13)
36
(0.25)
54
(0.38)
42
(0.30)
84
(0.59)
106
(0.75)
234
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Motor Specifications
ZETA
Motor Specifications - 170 VDC Motor (cont'd)
Size 34 Frame
Parameters
Size 42 Frame
TS31B
TS32B
TS33B
TS41B
TS42B
TS43B
Bearings Information
Thrust Load
lb
(kg)
305
(139)
305
(139)
305
(139)
404
(184)
404
(184)
404
(184)
Radial Load
lb
(kg)
65
(30)
65
(30)
110
(50)
125
(57)
110
(50)
110
(50)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
in
(mm)
0.0008
(0.020)
0.0008
(0.020)
0.0008
(0.020)
0.0008
(0.020)
0.0008
(0.020)
0.0008
(0.020)
End Play
(Reversing load equal to 1 lb)
Radial Play (Per 0.5 lb load)
Motor Weight
lb
(kg)
5.0
(2.3)
8.4
(3.8)
11.9
(5.4)
11.0
(5.0)
18.4
(8.4)
25.7
(11.7)
Certifications
UL recognized
CE (LVD)
CE (EMC & LVD)*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
340 VDC Motors
For ZETA Series Motor Specifications and dimensions, please refer to the
E Series Motor Specifications located in the Gemini Section.
Size 34 Frame
Parameters
B
Motor Specifications - 340VDC Motor
Size 42 Frame
RS31C
RS32C
RS33C
RS42C
RE42C
RS43C
Static torque**
oz-in
(N-m)
171
(1.21)
292
(2.06)
532
(3.76)
1.266
(8.94)
1,959
(13.8)
1,671
(11.8)
Rotor inertia
oz-in2
(kg-cm2)
3.20
(0.59)
6.56
(1.20)
9.65
(1.77)
61.76
(11.30)
61.76
(11.30)
92.64
(16.95)
Drive Current (Apk)(Arms)**
Series
Parallel
2.2 (1.6)
4.0 (2.8)
2.8 (2.0)
4.0 (2.8)
3.5 (2.5)
4.0 (2.8)
3.2 (2.3)
4.0 (2.8)
3.4 (2.4)
4.0 (2.8)
4.0 (2.8)
4.0 (2.8)
Phase Inductance (mH)***
Series
Parallel
17.4
4.4
26.2
6.6
23.3
5.8
65.4
16.4
55.6
13.9
42.9
10.7
Drive Bus Voltage
(VDC)
340
340
340
340
340
340
Detent Torque
oz-in
(N-m)
8.8
0.062
18.0
0.130
27.0
0.190
50.0
(0.350)
81.0
(0.570)
71.0
(0.500)
lb
(kg)
180
(81.6)
180
(81.6)
180
(81.6)
400
(182)
400
(182)
400
(182)
Radial Load
lb
(kg)
35
(15.9)
35
(15.9)
35
(15.9)
140
(63.6)
140
(63.6)
140
(63.6)
End Play
(Reversing load equal to 1 lb)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
Radial Play (Per 0.5 lb load)
in
(mm)
lb
(kg)
0.0008
(0.02)
3.2
(1.5)
0.0008
(0.02)
5.3
(2.4)
0.0008
(0.02)
7.6
(3.5)
0.0008
(0.02)
18.2
(8.3)
0.0008
(0.02)
18.2
(8.3)
0.0008
(0.02)
25.7
(11.7)
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Bearings Information
Thrust Load
Motor Weight
Certifications
UL recognized
CE (LVD)
CE (EMC & LVD)*
* EMC is a system compliance. To comply with EMC and low-noise (C15PR22/EN55022 Class B or FCC Class B emissions) standards, the following items are
required:
• ZETA4-240, ZETA8, or ZETA12 Drive
•
ZETA EMC KIT
•
C10 motor accessory (LVD/EMC cable kit)
• CE(LVD) motor for LVD. Compumotor recommends a terminal board (NPS) motor construction for easier EMC installation
** Values shown in speed-torque curves
*** Small signal values
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235
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Dimensions
ZETA
ZETA Series CE Motor Dimensional Drawings
Size 23 Frame, O Series
Dimensions in inches (mm)
0.200 (5.08) dia (4)
on 2.625 (66.68) BC
0.2500(6.350)
0.2495(6.337)
Shaft Dia
13.5
(343) 0.25
Min. (6.4)
Flexible boot
may be bent as
shown. Nominal
height 1.0 (25.4).
1.0
(25.4)
1.06 (26.9)
45°
1.86
(47.2)
2.25
(57.2)
0.20 (5.08)
0.81(20.6)
1.502 (38.15)
1.498 (38.05)
Model
2.4
(62 4
.0)
0.055 (1.40)
A
A
OS2HA
(OEM57-40)
1.60 (40.6)
OS21A
(OEM57-51)
2.06 (52.3)
OS22A
(OEM57-83)
3.10 (87.7)
Size 34 Frame, R Series
Dimensions in inches (mm)
3.38
(85.85)
0.003 (0.077) -A-
4 x Ø0.218 (5.46) thru
equally spaced on a
Ø3.875 (98.43) B.C.
2 x 45°
1.43 +
- 0.04
1
(36.32 +
- 1.02)
R 1.72
(43.69)
Lmax.
2.02
(51.31)
max.
+ 0.0000
Ø0.3750 - 0.0005
+ 0.000)
(9.53 - 0.013)
0.002 (0.051)
-A-
1.63 2.50
(41.4) (63.5)
1
Ø2.875 +
- 0.002
(73.025 +
- 0.051)
0.003 (0.077) -A-
3.88
(98.6)
+ 0.0000
Ø0.3750 - 0.0005
+ 0.000)
(9.53 - 0.013)
0.002 (0.051)
Removable
insulating bushing
Construction = conduit. Connection
(1/2 NPS TAP) with 0.56 (14.22)
I.D. removable insulating bushing
0.06 (1.52)
0.18 (4.57)
L2
1.25
(31.75)
Standard Front Shaft Configurations
+ 0.000
0.374 - 0.010
+ 0.00)
(9.50 - 0.26)
0.50 +
- 0.02
(12.7 +
- 0.051)
0.75 (19.05)
full depth
Double Shaft
Configuration
EC Encoder
Configuration
Model
0.344
(8.738)
0.0469 +
- 0.0050
(1.191 +
- 0.128)
1.25 (31.75)
Indicated dimension
applies from end of
extension to face of
rear end bell (cover
and gasket removed)
Lmax
L2
RS31■–■■■NPS
RS32■–■■■NPS
3.62 (91.95)
4.77 (121.16)
2.87 (72.9)
4.02 (102.11)
RS33■–■■■NPS
6.05 (153.67)
5.30 (134.62)
1.25 (31.75)
Flat Configuration = F
#303 Woodruff Key Configuration = W
Size 42 Frame, R Series
Dimensions in inches (mm)
4 x Ø0.328 (8.33) thru
equally spaced on a
Ø4.950 (125.73) B.C.
4.28
(108.71)
1.57 +
- 0.04
1
(39.88 +
- 1.02)
R 2.16
(54.86)
+ 0.0000
Ø0.5000 - 0.0005
+ 0.000)
(12.7 - 0.013)
0.002 (0.051)
+ 0.0000
0.1875 - 0.0020
+ 0.051)
(4.763 - 0.051)
2 x 45°
4.80
(121.9)
1.63 2.50
(41.4) (63.5)
2.22
(56.39)
max.
+ 0.0000 ( + 0.000)
Ø A - 0.0005 ( - 0.013)
0.002 (0.051)
-A+ 0.000 ( + 0.000)
C - 0.017 ( - 0.432)
1.375 +
- 0.010
(34.93 +
- 0.26)
L2
B
Ø2.186 +
- 0.002
(55.52 +
- 0.051)
0.003 (0.077) -A-
1.41
(35.81)
1
0.06 (1.52)
0.46 (11.68)
L1 max.
Removable
insulating bushing
Construction = conduit. Connection
(1/2 NPS TAP) with 0.56 (14.22)
I.D. removable insulating bushing
Indicated dimension
applies from end of
extension to face of
rear end bell (cover
and gasket removed)
Double Shaft
Configuration
EC Encoder
Configuration
0.003 (0.077) -A-
0.187
(4.75)
1.25
(31.75)
Model
Lmax
L2
A
B
C
8.04 (204.22)
7.29 (185.17)
0.625 (15.87)
2.19 (55.63)
0.705 (17.91)
RE42■–■■■NPS
8.04 (204.22)
7.29 (185.17)
0.625 (15.87)
2.19 (55.63)
0.705 (17.91)
RS43C–■■■NPS
10.56 (268.23)
9.81 (249.18)
0.75 (19.05)
2.19 (55.63)
0.83 (21.09)
RS42■–■■■NPS
0.187
(4.75)
Detail View
0.705
(17.91)
236
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Dimensions
ZETA
ZETA Series CE Motor Dimensional Drawings
Size 34 Frame, T Series
Dimensions in inches (mm)
4x ∆ .218 (5.54) thru
equally spaced on a
∆ 3.875 (98.43) B.C.
3.38
(85.85)
.875 ± .010
(22.225 ± .254)
1.43 +
- 0.04
(36.32 +
- 1.02)
1
Ø0.3750
(9.53
+ 0.0000
- 0.0005
+ 0.000)
- 0.013)
0.002 (0.051)
(2 x 45°)
C
+.0000
-.0020
1.95
(49.53)
MAX.
1
+.0000
∆ A -.0005
B
+ 000
-.017
.06 (1.52)
.002 (0.051)
∆ 2.875 ± .002
(73.025 ± .051)
-A-
1/2 NPS TAP
WITH .56 I.D.
INSULATING BUSHING
.33 (8.382)
L2
.003 (0.077)
A
1.25
(31.75)
Double Shaft
Configuration
3.88
(98.6)
L MAX.
.003 (0.077)
Indicated dimension
applies from end of
extension to face of
rear end bell (cover
and gasket removed)
A
1.63
(41.4)
2.5
(63.5)
Model
A
B
C
TS31B-■K■NPS
4.44 (112.78)
Lmax
3.70
L2
(93.98)
0.5000 (12.70)
.555 (14.097)
.1250 (3.175)
TS32B-■K■NPS
5.96 (151.38)
5.22 (132.59)
0.5000 (12.70)
.555(14.097)
.1250 (3.175)
TS33B–■K■NPS
7.48 (189.99)
6.74 (171.20)
0.6250 (15.88)
.705 (17.907)
.1875 (4.763)
Size 42 Frame, T Series
Dimensions in inches (mm)
4x ∆ .328 (8.331) thru
equally spaced on a
∆ 4.950 (125.73) B.C.
4.325
(109.855)
1.57 +
- 0.04
(39.88 +
- 1.02)
1.375 ± .010
(34.925) ± .254
1
+ 0.0000
Ø0.5000 0.0005
+ 0.000)
(12.7 0.013)
0.002 (0.051)
(2 x 45°)
+.0000
.1875 -.0020
+.0000)
(4.7625 -.0508)
2.23
(56.642)
MAX.
+.0000
∆ .7500 -.0005
+0.000)
(19.050 -0.013)
1
.002 (0.051)
.830 +.000
-.017
(21.08) (+.000)
(-.432)
-A-
.06 (1.52)
.48 (12.192)
A
Double Shaft
Configuration
1/2 NPS TAP
WITH .56 I.D.
INSULATING BUSHING
L2
∆ 2.186 ± .002
(55.524 ± .051)
.003 (0.077)
Indicated dimension
applies from end of
extension to face of
rear end bell (cover
and gasket removed)
L MAX.
2.19
(55.63)
.003 (0.077)
4.80
(121.9)
A
2.5
(63.5)
1.63
(41.4)
EC Encoder
Configuration
Model
Lmax
L2
5.20 (132.08)
4.46 (113.28)
TS42B-■K■NPS
7.22 (183.39)
6.48 (164.59)
TS43B–■K■NPS
9.23(1234.44)
8.49 (215.65)
TS41B-■K■NPS
ZETA Series: True Innovation In Microstepping Technology. Call 1-800-358-9070 Today.
237
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
EC Encoder
Configuration
Catalog 8000-4/USA
Dimensions
ZETA
ZETA Dimensional Drawings
ZETA4 Dimensions
ZETA4-240, ZETA8, ZETA12 Dimensions
Dimensions in inches (mm)
Dimensions in inches (mm)
3x Ø0.18 (4.6)
(clearance for #8 (M4)
mounting screw)
6.138 (155.9)
5.970 (151.6)
1.000
(25.4)
2.000
(50.8)
'A'
7.07 (180)
6.94 (176)
0.133 (3.3)
0.15
(4)
1.38
(35)
8.80
(224)
Back of flange
unpainted for
grounding
9.50
(241)
8.600
(218.4)
9.75
(248)
8.850
(224.8)
0.88
(22)
0.500
(12.7)
1.000
(25.4)
3x fl0.156
(3.96) (clearance
for #6 screws)
1.00
(25.4)
Unpainted for
grounding
Product
'A'
ZETA8 & ZETA4-240
ZETA12
2.75 (70)
3.75 (96)
ZETA6104 Dimensions
ZETA6104-240, ZETA6108, ZETA6112
Dimensions in inches (mm)
Dimensions in inches (mm)
5.970 (151.6)
3x Ø0.156
(3.96) (clearance
for #6 screws)
3x Ø0.156 (3.96)
(clearance for #6
mounting screw)
0.133
(3.3)
2.930 (74.4)
1.465
(37.2)
'A'
0.150
(3.8)
1.8
(45.7)
6.94 (176)
Back of flange
unpainted for
grounding
8.000
(203.2)
9.5
(241)
8.80
(224)
8.600
(218.4)
9.75
(248)
8.850
(224.8)
1.34
(34.0)
0.965
(24.5)
238
Automation
1.00
(25.4)
1.000
(25.4)
Product
'A'
ZETA6104-240
ZETA6108
ZETA6112
3.69 (93.7)
3.69 (93.7)
4.69 (119.2)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Connections
ZETA
ZETA6000 Series Connection Pin-Out List
(ZETA6104, ZETA6104-240, ZETA6108 & ZETA6112)
Pin No
1
2
3
4
Signal
Pin No
Rx
Tx
Ground
Shield
1
2
3
4
5
6
7
8
9
10
COM2
5-Pin Screw Terminal
Pin No
1
2
3
4
5
Signal
+5VDC (out)/Rx+
Ground/RXRx/Tx+
Tx/TxShield/Ground
Encoder
9-Pin Screw Terminal
Pin No
1
2
3
4
5
6
7
8
9
I/O
10-Pin Screw Terminal
Limits
4-Pin Screw Terminal
Signal
Pin No
Trigger A
Trigger B
Output AGround
Pulse cut-off
+5VDC (out)
Output pull-up
Input pull-up
Auxiliary pull-up
Voltage
Reference
(V_I/O)
1
2
3
4
Signal
Shield
Ground
ZZ+
BB+
AA+
+5VDC (out)
1
2
3
4
5
6
7
8
9
Ground
Home
Neg
Pos
Programmable I/O Pin Outs
50-Pin Screw Terminal
Pin No
1
3
5
7
9
11
13
15
17
19
21
23
25
Motor
9-Pin Screw Terminal
Pin No
Signal
Signal
Interlock
A- Center tap
A+
AEarth
B+
BB- Center tap
Interlock
I/O Connector
Input #16
Input #15
Input #14
Input #13
Input #12
Input #11
Input #10
Input #9
Output #8
Output #7
Output #6
Output #5
Input #8
27
Input #7
29
Input #6
31
Input #5
33
Output #4
35
Output #3
37
Output #2
39
Output #1
41
Input #4
43
Input #3
45
Input #2
47
Input #1
49
+5VDC
Even-numbered pins connected to
common logic ground.
ZETA Drives Connection
(ZETA4, ZETA4-240, ZETA8 & ZETA12)
Internal Connections
681Ω
13
25
12
24
11
Reset+
Reset–
ILD213
23
10
22
9
Fault C
Fault E
21
8
20
7
ILD223
19
681Ω
6
18
5
17
Shutdown–
4
Direction–
Direction+
Step–
Step+
ILD213
16
Shutdown+
3
243Ω
CCW- 15
CCW+
2
CW- 14
CW+
1
243Ω
HCPL2631
HCPL2631
ZETA Series: True Innovation In Microstepping Technology. Call 1-800-358-9070 Today.
239
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
COM1
4-Pin Screw Terminal
Catalog 8000-4/USA
Ordering Information
ZETA
Ordering Information
Drives
Drive/Controller
Drive/Controller
Accessories
(LVD)
Drive/Controller
Software
Part No.
Description
ZETA4
Packaged 4Apk, 170VDC bus microstepping drive
ZETA4-240
@120VAC: Packaged 4Apk, 170VDC bus microstepping drive
@ 240VAC: Packaged 4Apk, 340VDC bus microstepping drive
and
(EMC & LVD)
ZETA8
Packaged 8Apk, 170VDC bus microstepping drive
and
(EMC & LVD)
ZETA12
Packaged 12Apk, 170VDC bus microstepping drive
and
(EMC & LVD)
ZETA6104
ZETA6104-240
Packaged 4Apk, 170VDC bus microstepping indexer/drive
@120VAC: Packaged 4Apk, 170VDC bus microstepping
indexer/drive
@ 240VAC: Packaged 4Apk, 340VDC bus microstepping
indexer/drive
ZETA6108
Packaged 8Apk, 170VDC bus microstepping indexer/drive
ZETA6112
Packaged 12Apk, 170VDC bus microstepping indexer/drive
VM24S
VM50
RP240
RP240-NEMA 4
24V input/output module
50-pin header-to-screw terminal breakout board
Operator interface
NEMA 4 rated operator interface
DDE6000
DDE server for 6000 Series
C10 (C10H)*
LVD/EMC step-motor cable kit (includes 10-ft cable, gland (360º
shield connector), R-clamp, screw, and assembly instructions
LVD/EMC Drive Kit (includes the AC power filter and EMC drive/
indexer cable)
System
ZETA EMC KIT
* C10H is a high-power verson of the C10 cable kit. IT
should be used with motors operating above 10 amps of
current (TS33, TS41, TS42, or TS43 in parallel)
To comply with EMC and low-noise (CISPR 22/EN55022
Class B or FCC Class B emissions) standards, the following
items are required:
• ZETA4-240, ZETA8, or ZETA12 drive
• CE(LVD) motor for LVD. Compumotor recommends a
terminal board (NPS) motor construction for easier EMC
installation
• C10 (C10H) motor accessory (LVD/EMC cable kit)
• ZETA EMC KIT
240
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Ordering Information
ZETA
Motor Ordering Information
O Series (CE(LVD), UL Pending)
The O Series Size 23 Frame motors with A Winding (75VDC) are designed for use with the OEM750 Series, OEM230/330/530
Series, and the SD Series. The O Series Size 23 Frame motors with B Winding (170VDC) are designed for use with ZETA Series,
ZETSA-240 Series (@120VAC), S Series, PD Series.
Series
O (Octagonal)
Type
S=Standard
Frame Size
2=Size 23
No. of
Rotor Stacks
H=Half stacks
1=1 stack
2=2 stacks
Winding Type
Shaft
A=75VDC winding
(Gray painting motors)
B=170VDC winding
(Black painted motors)
S=Single
D=Double
(Double
shaft req d
for all
motors with
encoders)
Motor Construction/
Hookup
Shaft
Modification
N=Standard
smooth
F=Flat
(.02" depth)
(0.5" length)
FLY=Regular construction with flying
(8) leads, 12"
L10= Regular construction with 10’ LVD
cable
O Series Part Number Example:
Encoder Option
Blank=No feedback (no dash
required)
HJ=512 ppr single-ended kit
encoder w/12" flying leads (only
available on A winding motors)
RE=1000 ppr differential kit
encoder w/ line driver & 13"
braided shield cable (w/ FLY only)
RC=1000 ppr differential kit
encoder w/ line driver & 10’ cable
OS2 _ _ - _ _ ____ - ___
OS2HA-SNFLY
OS22B-DNL10-RC
R Series (CE (EMC)*, CE(LVD), UL Recognized)
Series
R (Round)
Type
S=Standard
E=Enhanced
(RE 42 only)
Frame Size
3=Size 34
4=Size 42
Winding Type
No. of
Rotor Stacks C=340VDC winding
(Yellow painted motors)
1=1 stack
(34 Frame Only)
2=2 stacks
3=3 stacks
Shaft
S=Single
D=Double
(Double
shaft req’d
for all
motors w/
encoders)
Shaft
Modification
N=None
(34 Frame only)
K=Straight Key
(Standard on 42
Frame)
F=Flat
(34 Frame only,
0.02" depth,
0.5" length)
R Series Part Number Example:
R _ _ _ _ - _ _ ______ - ____
RS32-SNS10
RE42C-SKNPS
RS42-DKS10-EC
Motor Construction/
Hookup
NPS=End bell/terminal
board via 1/2" NPS Pipe
thread
P10=CE (LVD)/UL, 10’ cable
option for NPS construction,
wired @ motor in Parallel.
Encoder Option
Blank=No feedback
(No Dash Required)
EC=1000 ppr differential
encoder with line driver
and 10’ cable (-E Series)
S10=CE (LVD)/UL, 10’ cable
option for NPS construction,
wired @ motor in Series.
T Series (CE (EMC)*, CE (LVD), UL Recognized)
The T Series Size 34 and Size 42 Frame motors are available in a B Winding (170VDC). These motors are designed for use with
the ZETA Series, ZETA-240 (@120VAC), PD Series, S Series.
Series
T (Torque)
Type
S=Standard
Frame Size
3=Size 34
4=Size 42
No. of
Rotor Stacks
1=1 stack
2=2 stacks
3=3 stacks
Winding Type
B=170VDC winding
(Black painted motors)
Shaft
S=Single
D=Double
(Double
shaft req’d
for all
motors w/
encoders)
Shaft
Modification
K=Straight Key
(Standard on
all T Series
Motors)
Motor Construction/
Hookup
NPS=End bell/terminal
board via 1/2" NPS Pipe
thread, no cable
S10=CE (LVD)/UL, 10’ cable
option for NPS construction,
wired @ motor in Series
Encoder Option
Blank=No feedback
(No Dash Required)
EC=1000 ppr differential
encoder with line driver
and 10-ft cable (-E Series)
P10=CE (LVD)/UL, 10’ cable
option for NPS construction,
wired @ motor in Parallel.
T Series Part Number Example:
TS _ _ B - _ K _ ______ - _____
TS31B-SKNPS
TS43B-DKS10
* For CE(EMC) compliance, refer to the ZETA Installation Guide
ZETA Series: True Innovation In Microstepping Technology. Call 1-800-358-9070 Today.
241
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compumotor.com
B
The R Series Size 34 and Size 42 Frame motors are available in a C Winding (340VDC). Motors with the C Winding are recommended for use with the ZETA240 Series (@240VAC).
Catalog 8000-4/USA
Ordering Information
ZETA
Motor Ordering Information, continued
E Series (also known as ZETA Series)
The E Series Size 23 and Size 34 Frame motors are available in a B Winding (170VDC). These motors are designed for use with Gemini GT-L5,
Gemini GT-L8, the ZETA Series, ZETA4-240 (@120VAC), PD Series, S Series.
Series
E
(Extra Smooth)
Type
S=Standard
No. of
Frame Size
Rotor Stacks
2=Size 23 (2.5")
1= 1 stack
3=Size 34 (3.38")
2= 2 stacks
3= 3 stacks
Shaft
Winding Type
B=170VDC winding
(Black painted motors)
S=Single
D=Double
Double
shaft req d
for all
motors
w/encoders
Shaft
Modification
N=None
(Standard)
F=Flat
(.02" depth)
(0.5" length)
K=Straight Key
(34 Frame Only)
Motor Construction/
Hookup
R10=Regular hookup
w/ 10’ Flying Leads
Encoder Option
Blank=No feedback (no dash
required)
EC=1000 ppr differential line
encoder w/ 10’ cable
E Series Part Number Example
ES _ _ B - _ K _ ______ - _____
ES31B-SKNPS
ES43B-DKS10
V Series (UL Recognized)
The V Series Size 17, Size 23 and Size 34 Frame motors are available in a B Winding (170VDC). These motors are designed for use with the E-AC
drive, the Gemini GT-L5, the Gemini GT-L8, the ZETA Series, the ZETA4-240 (@120VAC), the PD Series and the S Series.
Series
V
Type
S=Standard
Frame Size
1=Size 17
2=Size23
3=Size34
No. of
Rotor Stacks
1=1 stack
2=2 stacks
3=3 stacks
Winding Type
B=170VDC winding
(black painted motors)
Shaft
S=Single
D=Double
Shaft
Modification
N=Standard
(smooth)
F=Flat
(.02" depth)
(.5" length)
Motor Construction/
Hookup
FLY - 12" flying leads
RIO - 10’ cable to flying
leads
V Series Part Number Example
VS _ _ B - _ K _ _ _ - _____
VS13B-DFRIO
242
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM750
OEM
Compact, Low-Cost
Drives
Electronic Damping
All step motors are subject to mid-range instability, also referred
to as parametric oscillations. Several problems are associated
with these oscillations. They can cause the motor to stall, and
thus cause the user to include a margin (typically at least 50%)
of extra torque to overcome the oscillation. The OEM750 Series
incorporates a subset of the patented electronic damping
circuitry developed by Compumotor. This feature suppresses
these oscillations, allowing the torque formerly reserved for
safety margin to be used to do useful work, thus taking
advantage of the full capabilities of the step motor.
• Minimizes stall condition
• Increases usable torque
• Higher accelerations
Current Loop Adjustment
Since the OEM750 Series is capable of operating from 24 to 75
VDC, while operating motors with a wide range of winding
inductances, Compumotor incorporated current loop gain
techniques to optimize motor performance. The loop gain
adjustment is designed to maximize your system’s (drive,
motor,and voltage) performance. Control over the current loop
gain allows customers to take advantage of the motor’s capable
torque and reduces audible noise and excessive heating of the
motor. This gives users more choices when selecting a motor
and the opportunity to pick the best motor for their application.
•
•
•
Optimizes motor performance
Reduces audible noise
Reduces motor heating
Packaging
The OEM750 Series combines ASIC and surface mount
technologies to minimize the product’s footprint, minimize
overall package size, and increase product reliability.
Reliability
At Compumotor, producing reliable, quality products is our
number one priority. Our OEM750 Series is designed with highquality standards and manufactured with state-of-the-art
equipment and production methods. Before any product
reaches our customers, it must pass a rigorous set of hardware
and software tests. Today, Compumotor uses Highly Accelerated Life Testing (HALT) to uncover the product’s vulnerabilities,
in order to produce a robust and reliable product. JIT (Just-InTime) manufacturing and DFM (Design-For-Manufacturability)
methods lend themselves well in creating the necessary
flexibility to readily accommodate your special needs.
See the OEM Servo Drive Products
in the Servo Drive and Drive/Controller
section.
ss
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
243
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Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
With technology enhancements and field experience, Compumotor offers the OEM750 Series, a compact microstepping
drive that provides big performance in a small package.
Catalog 8000-4/USA
OEM
OEM750
Compact, Low-Cost
Drives
Compumotor’s OEM750 microstepping drive is designed with
performance, power, packaging, and reliability in mind —
everything that is necessary to meet your high-volume
microstepping application needs.
Features
Performance
Physical
•
•
•
•
•
•
•
•
•
•
Designed for use with motor inductance range of
0.2 mH–80 mH
Three-state current control allows the drive and motor to
run cooler and more efficiently than two-state drives
Selectable resolution up to 50,800 steps/rev
Auto standby reduces motor current (and heating) at rest
Provides 0.2 Amps to 7.5 Amps (peak)
Single 24-75 VDC power supply input
Compatible with a variety of motors
Six predefined current waveforms to optimize
smoothness
•
•
•
•
•
•
•
•
Protection
•
•
•
Optically isolated step and direction inputs
Short circuit protected—phase-to-phase, and phase-toground
Power dump circuitry to protect drive from regeneration
caused by large inertial loads
Self-test feature to verify proper system operation
Overtemperature circuitry protects the drive from thermal
damage
•
•
•
•
* For compliance, user must follow procedure set in the OEM750 User Guide.
244
Automation
Status/fault LED indicators to confirm proper operation
ASIC and surface-mount technologies minimize product
footprint, overall package size, and increase product
reliability
Removable snap-on molded cover for convenient configuration and protection against contaminants
Optically isolated fault output for embedded applications
Heat plate design allows thermal dissipation through a
suitable heat dissipating mounting surface
Simplified, two-screw mounting
Right-angle screw terminal allows side-to-side mounting or
Eurorack compatibility
Built-in controller version for complete application
solutions—OEM750X
Overall dimensions 5.0 x 3.6 x 1.6 in. (127 x 91 x 41 mm)
Convenient configuration DIP switches
Certified as UL-recognized component
CE (LVD & EMC)*
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM750
OEM
OEM750 Specifications
Parameter
Value
Power Input
DC
24–75 VDC @ 2.0 Arms (motor dependent)
Accuracy
±5 arc min (0.0833°) typical.
Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different
absolute accuracy.
±1 arc min (0.0167°) typical/per each frictional load equal to 1% rated torque.
Loaded-in addition to unloaded accuracy.
±5 arc sec (0.0014°) typical.
Unloaded-one revolution returning to start point from same direction.
Less than 2 arc min (0.0334°) unloaded-bidirectional.
16 selectable choices: 200, 400, 1000, 2000, 5000, 10000, 12800, 18000, 20000, 21600,
25000, 25400, 25600, 36000, 50000, 50800
Selectable. Allows waveform shaping for optimum smoothness or relative accuracy. Pure sine;
-4%, -6%, -8%, -10% 3rd harmonic.
Performance
Repeatability
Hysteresis
Resolution
Waveform
Type
Number of Phases
Output Current
Drive Supply Voltage
Standby Current Reduction
Nominal Chopping Frequency
Max Stepping Rate
Step Input
Direction Input
Fault Output
Protective
Circuts
20 kHz fixed frequency, variable duty cycle pulse width modulated (PWM )
Current Controlled, bipolar chopper
2
0.2–7.5 amps current per phase peak (selectable)
24–75 VDC (dependent on external power supply)
25%, 50%, or 75% of selected motor current
20 kHz
2 MHz max pulse rate; 50 rps max speed
High-going pulse, 200 nsec min width; max pulse rate is 2 MHz; User-supplied driver for the step
and direction inputs should be capable of providing a minimum of 6.5 mA to maximum of 15 mA
Logic High = positive (CW) rotation—3.5–5.0V
Logic Low = negative (CCW) rotation—0–0.4V
User-supplied driver for the step and direction inputs should be capable of providing a minimum
of 6.5 mA to a maximum of 15 mA. The direction input must be stable for at least 200 µsec before
the drive receives the first pulse
Open-Collector/Emitter, Vce = 70 VDC, Vce sat = 0.3 VDC, Ic = 10 mA (max)
Maximum dissipation = 55 mW
Conducting = normal operation
Non conduction = drive fault
Short Circuit*
Undervoltage
Overtemperature*
Phase-to-phase, phase-to-ground
If DC supply drops below 24 VDC
The drive will fault if heat plate exceeds 55°C
Drive Temp
Humidity
Max allowable ambient temperature is 122°F (50°C). Fan cooling may be required if airflow is
restricted. Max allowable heatplate temperature is 55°C.
0 to 95%, Non-condensing
Physical
Drive Dimensions
Weight
5.0 x 3.6 x 1.6 in (127 x 91 x 41 mm)
12 oz
Motor
Type
Number of Leads
Inductance Range
Two-phase hybrid permanent magnet, 1.8°
4, 6, or 8
0.2 mH–80 mH
Environmental
* Drive shuts down in conditions listed. Power must be cycled or drive reset to resume operations.
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
245
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Parker Hannifin Corporation
Compumotor Division
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B
Amplifier
Catalog 8000-4/USA
OEM
OEM750X
Compact, Low-Cost
Microstepping Drives with
Integrated Controller
Compumotor’s OEM750X microstepping drive/controller
combines the power, performance, packaging, and reliability of
the OEM750 with the simple programmability of a built-in, RS232C based controller. The “X” version is a cost-effective,
single-axis control system to meet your high-volume application
needs.
Features
Performance
Protection (continued)
•
•
•
•
•
Power dump circuitry to protect drive from regeneration
caused by large inertial loads
Self-test feature to verify proper system operation
Overtemperature circuitry protects the drive from thermal
damage
Certified as UL-recognized component
CE marked with LVD compliance
All of the high performance found in the OEM750 plus:
• Built-in stand-alone controller
Physical
I/O
•
•
•
•
•
Standard RS-232C serial communications interface
Incremental encoder support for position tracking, stall
detection, and position maintenance
Three sequence select inputs for program initiation by an
external device
End of Travel and Home inputs
Language
•
•
•
Simple Compumotor X Language
Optional 2K bytes of battery-backed RAM to store up to 7
command sequences (-M2 option)
Address selectable for daisy chaining up to 8 units
•
•
•
•
•
•
•
Protection
•
•
ASIC and surface-mount technology minimize product
footprint, overall package size, and increase product
reliability
Removable snap-on molded cover for convenient configuration and protection against contaminants
Optically isolated fault output for imbedded applications
Heat plate design allows thermal dissipation through a
suitable heat dissipating mounting surface
Simplified, two-screw mounting
Right-angle screw terminal allows side-to-side mounting,
or Eurorack compatibility
Overall dimensions 5.0 x 3.6 x 1.6 in.
(127 x 91 x 41 mm)
Convenient configuration DIP switches
Short circuit protected—phase-to-phase, and phase-toground
Status/fault LED indicators to confirm proper operation
246
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM750X
OEM
Parameter
Value
Power Input
DC
24–75 VDC @ 2.0 Arms (motor dependent)
Performance
Accuracy
±5 arc min (0.0833°) typical.
Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different
absolute accuracy.
±1 arc min (0.0167°) typical.
Loaded-in addition to unloaded accuracy, per each frictional load equal to 1% rated torque.
±5 arc sec (0.0014°) typical.
Unloaded-one revolution returning to start point from same direction.
Less than 2 arc min (0.0334°) unloaded-bidirectional.
16 selectable choices: 200, 400, 1000, 2000, 5000, 10000, 12800, 18000, 20000, 21600,
25000, 25400, 25600, 36000, 50000, 50800
Selectable. Allows waveform shaping for optimum smoothness or relative accuracy. Pure sine;
-4%, -6%, -8%, -10% 3rd harmonic.
Repeatability
Hysteresis
Resolution
Waveform
RS-232C Interface
Connection
Parameters
Configurations
3-wire implementation (Tx, Rx, Gnd)
9,600 baud rate, 8 data bits, 1 stop bit, no parity
Up to 8 OEM750X units can be controlled from a single host RS-232C port in a daisy chain configuration
Inputs
Sequence Select Inputs
Trigger Inputs
Limits and Home
Three inputs to be used to select and run motion programs and for interactive machine control; Logic
High = 2.0–5.0V; Logic Low = 0–0.8V
Logic High = 2.0–5.0V; Logic Low = 0–0.8V
Logic High = 2.0–5.0V; Logic Low = 0–0.8V
Encoder
A, B and Z Channel
Max Frequency
Min Pulse Width (Z)
Single-ended, active high; Logic Low = 0–0.8V; Logic High = 2.0–5.0V
160 kHz (pre-quadrature)
500 nsecs
Outputs
2 Programmable Outputs
Fault Output
Logic Low = maximum of 0.44 V (sinks to 24 mA)
Logic high = 5V, Logic low = .8V (output can sink up to 50mA from the load)
Amplifier
Type
Number of Phases
Output Current
Drive Supply Voltage
Standby Current Reduction
Nominal Chopping Frequency
Maximum Stepping Rate
20 kHz fixed frequency, variable duty cycle pulse width modulated (PWM)
Current controlled, bipolar chopper
2
0.2–7.5 amps current per phase peak (selectable)
24–75 VDC (dependent on external power supply)
25%, 50%, or 75% of selected motor current
20 kHz
2 MHz maximum pulse rate; 50 rps maximum speed
Protective Circuits
Short Circuit*
Brownout
Overtemperature*
Phase-to-phase, phase-to-ground
If DC supply drops below 24 VDC
Drive will fault if heat plate exceeds 55°C
Environmental
Drive
Humidity
Max allowable ambient temperature is 122°F (50°C). Fan cooling may be required if airflow is
restricted
Max allowable heatplate temperature is 55°C.
0 to 95%, Non-condensing
Physical
Drive Dimensions
Weight
5.0 x 3.6 x 1.6 in (127 x 91 x 41 mm)
14 oz
Motor
Type
Number of Leads
Inductance Range
Two-phase hybrid permanent magnet, 1.8°
4, 6, or 8
0.2 mH–80 mH
* Drive shuts down in conditions listed. Power must be cycled to resume operations.
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
247
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
OEM750X Specifications
Catalog 8000-4/USA
OEM
OEM750 & OEM750X
Motor Speed-Torque Performance Curves
OEM750/OEM750X with VS Motos, 17 and 23 frame sizes, 75 VDC
VS13B/OEM750
.07
10
0
10
20
30
Speed (RPS)
40
70
.49
60
.42
50
.35
40
.28
30
.21
20
.14
10
.07
0
0
50
0
20
30
Speed (RPS)
40
40
.28
20
.14
0
250
1.75
90
.63
200
1.40
150
1.05
100
.70
50
.35
.42
30
.21
0
40
0
50
Torque (oz-in)
.84
60
0
0
10
Speed (RPS)
20
30
10
20
30
Speed (RPS)
40
.000
50
40
Speed (RPS)
0
50
400
350
300
250
200
150
100
50
0
0
10
20
30
40
2.80
2.45
2.10
1.75
1.40
10.5
.70
.35
0
50
Speed (RPS)
0
10
20
30
40
5.6
4.9
4.2
3.5
2.8
2.1
1.4
.70
0
50
Torque (Nm)
Torque (oz-in)
VS32B/OEM750
800
700
600
500
400
300
200
100
0
Speed (RPS)
75 VDC
48 VDC
24 VDC
PARALLEL
* Parallel connection consideration: For greater than 50% duty cycle above 5 rps, fan cooling the motor may be required.
Note: ±10% torque variance due to motor tolerance.
248
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Parker Hannifin Corporation
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Torque (Nm)
120
30
.42
0
Torque (Nm)
2.10
20
.56
60
VS31B/OEM750
300
10
80
VS23B/OEM750
1.05
0
.70
0
50
150
Torque (Nm)
Torque (oz-in)
VS22B/OEM750
10
100
Torque (oz-in)
0
Torque (oz-in)
.14
20
.56
Torque (Nm)
.21
30
VS21B/OEM750
80
Torque (Nm)
.28
40
Torque (Nm)
Torque (oz-in)
.35
Torque (oz-in)
VS12B/OEM750
50
Catalog 8000-4/USA
OEM750 & OEM750X
OEM
Motor Speed-Torque Performance Curves
OEM750/OEM750X with OS Motors, 23 frame size, 75 VDC
.21
20
.14
10
0
10
20
30
Speed (RPS)
40
.28
30
.21
20
.14
.07
10
.07
0
40
0
0
50
0
10
20
30
Speed (RPS)
40
Torque (oz-in)
30
.35
100
.70
80
.56
60
.42
40
.28
20
.14
0
0
50
0
10
20
30
40
Torque (Nm)
.28
OS21A/OEM750 (Series)
50
Torque (Nm)
40
Torque (oz-in)
OS2HA/OEM750 (Parallel)
.35
Torque (Nm)
Torque (oz-in)
OS2HA/OEM750 (Series)
50
0
50
Speed (RPS)
0
10
20
30
40
2.80
2.45
2.10
1.75
1.40
1.05
.70
.35
0
50
Torque (Nm)
Torque (oz-in)
OS22A/OEM750 (Series)
400
350
300
250
200
150
100
50
0
75 VDC
48 VDC
24 VDC
B
Speed (RPS)
OEM750X with TS Motors
TS32B/OEM750
2.8
300
2.1
200
1.4
100
.70
0
0
10
20
30
Speed (RPS)
40
0
50
Torque (oz-in)
400
1000
7.0
800
5.6
600
4.2
400
2.8
200
1.4
0
0
10
20
30
Speed (RPS)
40
Torque (Nm)
3.5
Torque (Nm)
Torque (oz-in)
TS31B/OEM750
500
0
50
SERIES (75VDC)
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
249
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM
OEM750 & OEM750X
OEM750/OEM750X Motor Dimensional Drawings
Dimensions in inches (mm)
O Series and OEM57 Motors, Size 23 Frame
0.200 (5.08) dia (4)
on 2.625 (66.68) BC
0.2500(6.350)
0.2495(6.337)
Shaft Dia
13.5
(343) 0.25
Min. (6.4)
Flexible boot
may be bent as
shown. Nominal
height 1.0 (25.4).
1.0
(25.4)
1.06 (26.9)
45¡
2.25
(57.2)
1.86
(47.2)
0.20 (5.08)
1.502 (38.15)
1.498 (38.05)
0.81(20.6)
2.4
(62 4
.0)
0.055 (1.40)
A
Frame Size 23
Dimensions in inches (millimeters)
Model
OS2HA (OEM57-40)
OS21A (OEM57-51)
OS22A (OEM57-83)
Lmax A
1.60 (40.7)
2.06 (52.4)
3.10 (78.8)
VS Motors, Size 17 Frame
Size 23 Frame
250
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM750 & OEM750X
OEM
VS Motors, continued
Size 34 Frame
A +/- 0.04 [1]
4x ∅ .218 (5.54) thru
equally spaced on a
∅ 3.875 (98.43) B.C.
3.38
(85.85)
.875 – .010
(22.225 – .254)
1.43 +
- 0.04
(36.32 +
- 1.02)
B
T Series, Size 34 Frame
1
fl0.3750
(9.53
+ 0.0000
- 0.0005
+ 0.000)
- 0.013)
0.002 (0.051)
(2 x 45¡)
C
+.0000
-.0020
1.95
(49.53)
MAX.
1
+.0000
∅ A -.0005
B
+ 000
-.017
.002 (0.051)
∅ 2.875 – .002
(73.025 – .051)
-A-
.06 (1.52)
1/2 NPS TAP
WITH .56 I.D.
INSULATING BUSHING
.33 (8.382)
L2
.003 (0.077)
A
1.25
(31.75)
Model
TS31B—nnNPS
TS32B—nnNPS
TS33B—nnNPS
Lmax
L2
4.44 (112.78) 3.70 (93.98)
5.96 (151.38) 5.22 (132.59)
7.48 (189.99) 6.74 (171.20)
A
0.5000 (12.70)
0.5000 (12.70)
0.6250 (15.88)
B
.555 (14.097)
.555 (14.097)
.705 (17.907)
Double Shaft
Configuration
3.88
(98.6)
L MAX.
.003 (0.077)
Indicated dimension
applies from end of
extension to face of
rear end bell (cover
and gasket removed)
A
C
.1250 (3.175)
.1250 (3.175)
.1875 (4.763)
1.63
(41.4)
2.5
(63.5)
EC Encoder
Configuration
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
251
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM
OEM750 & OEM750X
OS and TS Series
Motor Specifications
Sizes 23 and 34 Frame
Size 23 Frame
Size 34 Frame
OS2HA
OS21A
OS22A
TS31B
TS32B
Static torque
oz-in
(Nm)
37
(0.26)
66
(0.47)
133
(0.94)
455
(3.19)
647
(4.53)
Rotor Inertia
oz-in2
(kg-cm2)
0.386
(0.070)
0.656
(0.119)
1.390
(0.253)
7.80
(1.43)
14.67
(2.68)
Drive Current
Series
Parallel
2.65 (1.9)
5.3 (3.7)
3.3 (2.3)
6.6 (4.7)
3.8 (2.7)
7.5 (5.3)
3.3 (2.3)
6.7 (4.7)
3.1 (2.2)
6.2 (4.4)
Series
Parallel
1.7
0.4
1.8
0.4
2.8
0.7
10.3
2.6
10.3
2.6
oz-in
(Nm)
2.5
(0.018)
4.0
(0.028)
7.0
(0.049)
18.0
(0.30)
36.0
(0.25)
Thrust Load
lb
(kg)
13
(5.9)
13
(5.9)
13
(5.9)
305
(139)
305
(139)
Radial Load
lb
(kg)
20
(9.1)
20
(9.1)
20
(9.1)
65
(30)
65
(30)
End Play
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
in
(mm)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
1
(0.45)
1.5
(0.68)
2.5
(1.14)
5.0
(2.3)
8.4
(3.8)
Pending
Yes
No
Pending
Yes
No
Pending
Yes
No
Yes
Yes
w/C10 kit
Yes
Yes
w/C10 kit
(Apk)(Arms)
Phase Inductance
(mH)
Dentent Torque
Bearings Information
(Reversing Load Equal to 1 lb)
Radial Play
(Per 0.5 lb load)
Motor Weight
lb
(kg)
Certifications
UL recognized
CE (LVD)
CE (EMC)
252
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM750 & OEM750X
OEM
VS Series
Motor Specifications
Size 17, 23 and 34 Frame
Size 17 Frame
Parameters
Size 23 Frame
Size 34 Frame
VS12B
VS13B
VS21B
VS22B
VS23B
VS31B
VS32B
Static torque
oz-in
(Nm)
55.27
(0.39)
72.8
(0.51)
115.5
(0.82)
194.5
(1.37)
334.5
(2.36)
551.8
(3.90)
1269.67
(8.97)
Rotor inertia
oz-in2
(kg-cm2)
0.3
(0.054)
0.37
(0.068)
0.66
(0.12)
1.64
(0.3)
2.62
(0.48)
7.65
(1.4)
14.8
(2.7)
Drive Current
(Apk)(Arms)
Series
Parallel
1 (0.71)
2.0 (1.42)
1.01(0.71)
2.02 (1.43)
2.26 (1.6)
4.52 (3.2)
2.01 (1.42)
4.02 (2.84)
2.01 (1.42)
4.02 (2.84)
3.0 (2.12)
6.0 (4.24)
3.13 (2.21)
3.26 (4.42)
Phase Inductance
(mH)
Series
Parallel
12.8
(3.2)
11.2
(2.8)
5
(1.25)
12
(3.0)
15.4
(3.85)
15.8
(3.95)
25.0
(6.25)
Detent Torque
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
8.8
(0.06)
18.0
(0.13)
27.0
(0.19)
50
(0.35)
Thrust Load
lb
(kg)
11.0
(5)
11.0
(5)
17.6
(8)
17.6
(8)
17.6
(8)
35.3
(16)
35.3
(16)
Radial Load
lb
(kg)
7.7
(3.5)
7.7
(3.5)
15.0
(6.8)
15.0
(6.8)
15.0
(6.8)
30.9
(14)
30.9
(14)
End Play
(with 2.2 lbs axial
load)
in
(mm)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.0032
(0.080)
0.0032
(0.080)
Radial Play (with
1.1 lb radial load)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.0008
(0.020)
0.0008
(0.020)
Motor Weight
lb
(kg)
0.55
(0.25)
0.77
(0.35)
1.03
(0.47)
1.54
(0.7)
2.2
(1.0)
3.86
(1.75)
6.18
(2.8)
No
No
No
No
No
No
No
Certifications
UL recognized
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
253
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Parker Hannifin Corporation
Compumotor Division
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B
Bearings
Information
Catalog 8000-4/USA
OEM
OEM750 & OEM750X
OEM750/OEM750X Dimensional Drawings
0.420
(10.67)
Dimensions in inches (mm)
This surface must be
thermally coupled to a
cold plate in most
applications
2x 0.177 (4.50)
Thru (Clearance
for #8 (M4)
Mounting Screw)
1.625 (41.28)
!
DRI VE
PWR/FLT
REMOTE
REF
CURRENT
DUMP
VDC+
VDCA+
AB+
B-
1.000 (25.40)
7.000 (177.80)
Mounting Clearance
series
V
DRI E
5.000 (127.00)
5500 Business Park Dr.
Rohnert Park, CA 94928
OEM
DRI VE
Compumotor
4.650 (118.11)
0.175 (4.45)
0.812 (20.62)
DRI VE
3.555 (90.30)
3.315 (84.20)
1.000 (25.40)
Exposed aluminum
for electrical
grounding
0.335
(8.51)
2.000 (50.80)
Mtg Clearance
254
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM750 & OEM750X
OEM
OEM750 Drive Connections
Internal Connections
+5V
+5V
243Ω
8
2
Inputs & Outputs
Motor Screw-Terminal
3
+5V
5
HCPL-2601
464Ω
243Ω
Step Input
ILQ2
1
Direction Input
464Ω
6
2
11
14
5
15
6
12
8
7
10
16
Remote Input
681Ω
17
+5V
9
ILQ2
21
Fault Output
9
Gear Shift Input
11
464Ω
4N35
15
Signal
1
2
3
4
5
6
7
8
9
10
REMOTE
REF
CURRENT
DUMP
VDC+
VDCA+
AB+
B-
1
2
16
23
Pin No
+5V
ILQ2
10kΩ
BS170
ILQ2
681Ω
14
4
3
13 HPCL-2631
B
25 Pin
D-Connector
series
Customer
Equipment
Tx
15
Rx
16
Shutdown
CW Limit
3
CCW Limit
4
N.O.
Home
5 17
18
6
Encoder Channel A
Reserved
GND Ref.
19
Encoder Channel Z
7
Output #2
8
20
Trigger Input #1
9 21
22
10
Trigger Input #2
N.C.
Trigger Input #3
N.C.
N.C.
V
DRI E
DRI VE
14
N.C.
!
DRI VE
REMOTE
REF
CURRENT
DUMP
VDC+
VDCA+
AB+
B-
2
N.C.
DRI VE
PWR/FLT
1
Direction Output
Fault Output
Output #1
Encoder Channel B
N.C.
N.C.
Sequence #1
Sequence #2
11 23
12 24
Address Sel. #1
N.C.
Address Sel. #2
N.C.
N.C.
Sequence #3
13 25
Address Sel. #3
N.C.
Motor Screw-Terminal
Slave
Drive
OEM
Step Output
RS-232C
Slave
Drive
OEM750X Drive/Indexer Connections
Pin No
Signal
1
2
3
4
5
6
7
8
9
10
REMOTE
REF
CURRENT
DUMP
VDC+
VDCA+
AB+
B-
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
255
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM
OEM750 & OEM750X
Ordering Information
Drive
and
Part No.
Description
OEM750
0.15–7.5 Apk,
Microstepping
Drive
(LVD)
Option
Part No.
Description
M2-KIT
Memory Upgrade
Kit (2KBytes
Battery-Backed
RAM)
Drive/Controller
and
Part No.
Description
OEM750X
0.15–7.5 Apk,
Microstepping
Drive/Controller
OEM750X-M2
OEM750X w/
2KBytes BatteryBAcked RAM
Upgrade
(LVD)
and
(LVD)
Motor Ordering Information
O Series (CE(LVD), UL Pending)
Series
O (Octagonal)
Type
S=Standard
Frame Size
2=Size 23
No. of
Rotor Stacks
H=Half stacks
1=1 stack
2=2 stacks
Winding Type
Shaft
S=Single
D=Double
(Double
shaft req d
for all
motors with
encoders)
A=75VDC winding
(Gray painting motors)
B=170VDC winding
(Black painted motors)
Shaft
Modification
N=Standard
smooth
F=Flat
(.02" depth)
(0.5" length)
Motor Construction/
Hookup
FLY=Regular construction with flying
(8) leads, 12"
L10= Regular construction with 10’ LVD
cable
Encoder Option
Blank=No feedback (no dash
required)
HJ=512 ppr single-ended kit
encoder w/12" flying leads (only
available on A winding motors)
RE=1000 ppr differential kit
encoder w/ line driver & 13"
braided shield cable (w/ FLY only)
RC=1000 ppr differential kit
encoder w/ line driver & 10’ cable
V Series (UL)
Series
V
Type
S=Standard
Frame Size
1=Size 17
2=Size23
3=Size34
No. of
Rotor Stacks
1=1 stack
2=2 stacks
3=3 stacks
Winding Type
B=170VDC winding
(black painted motors)
Shaft
S=Single
D=Double
Shaft
Modification
N=Standard
(smooth)
F=Flat
(.02" depth)
(.5" length)
Motor Construction/
Hookup
FLY - 12" flying leads
RIO - 10’ cable to flying
leads
T Series (CE(LVD), UL)
Series
T (Torque)
Type
S=Standard
Frame Size
3=Size 34
4=Size 42
No. of
Rotor Stacks
1=1 stack
2=2 stacks
3=3 stacks
Winding Type
B=170VDC winding
(Black painted motors)
Shaft
S=Single
D=Double
(Double
shaft req’d
for all
motors w/
encoders)
Shaft
Modification
K=Straight Key
(Standard on
all T Series
Motors)
Motor Construction/
Hookup
NPS=End bell/terminal
board via 1/2" NPS Pipe
thread, no cable
S10=CE (LVD)/UL, 10’ cable
option for NPS construction,
wired @ motor in Series
Encoder Option
Blank=No feedback
(No Dash Required)
EC=1000 ppr differential
encoder with line driver
and 10-ft cable (-E Series)
P10=CE (LVD)/UL, 10’ cable
option for NPS construction,
wired @ motor in Parallel.
256
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEMZL
OEM
Advanced Microstepping
Technology for High-Volume Applications
OEMZL4/6 Drive Features
Performance
•
•
•
•
•
•
•
•
OEMZL4: 4 Amp @ 120VAC (170 VDC bus voltage)
OEMZL6: 6 Amp @ 120VAC (170 VDC bus voltage)
Standard step-and-direction input or CW/CCW input
Operates with standard 1.8" hybrid step motors
Electronic Viscosity benefits:
•
Reduce settling time
•
Increase slow speed smoothness (reduce velocity
ripple)
•
Reduce audible noise
Anti-resonance eliminates mid-range instability and
provides damping ratios of up to 0.2
CE marked for LVD compliance
UL recognized
Protection Circuit
•
•
•
•
Motor short circuits (phase-to-phase and phase-toground)
Overtemperature of internal devices and power supply
Undervoltage (protects against low AC line or brownout)
Power dump (dissipates excess energy caused by load
regeneration)
Physical
•
•
•
•
120VAC (170VDC bus voltage) operation
Wide selection of available motors
Removable connectors for easy installation
Four diagnostic LEDs to confirm proper operation
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
257
Automation
Parker Hannifin Corporation
Compumotor Division
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B
The OEMZL is a packaged microstepping drive with the needs
of the OEM in mind. The connections are on removable screw
terminals and a standard 25-pin header allowing simple
installation and cable routing without having to cut off and
reattach a connector.
The OEMZL4 microstepping drive incorporates two
advanced damping technologies, Anti-Resonance and
Electronic Viscosity TM. These unique circuits increase the
performance of stepper motors by damping the resonance
and ringing usually seen after quick moves. The OEMZL4
drive is perfect for multi-axis applications and allows control by
any standard step and direction or clockwise/counterclockwise controller.
The OEMZL6104 combines the OEMZL4 drive with the
power and reliability of the 6000 family of controllers into one
convenient package. The OEMZL6104 uses the popular 6000
Series command language. This easy-to-learn language is
powerful enough to implement complex motion control
applications yet simple enough not to overwhelm a novice
programmer. To speed application development, Motion
Architect is compatible with the OEMZL6104 and contains
many tools which make application development and implementation easy. The OEMZL6104 is also compatible with
DDE6000 Server and Motion Builder software packages.
The OEMZL builds upon the reputation and reliability of one
of the best selling, most robust, and highest performing
microstepping drives in Compumotor history. With years of
successful application experience behind it, the OEMZL’s tried
and true design is ideally suited to meet the needs of OEMs
and high-volume users.
Compumotor offers a full breadth of stepper motors carefully
selected to mate with our OEMZL drives. Every motor we
offer meets a series of performance and quality standards. A
full description of the motors we offer is provided on our Web
site (www.compumotor.com). From this site, reference the
OEMZL Product Brochure for motor specifications and
performance curves.
Catalog 8000-4/USA
OEM
OEMZL
OEMZL6104 Microstepping Drive/Controller
OEMZL6104
Drive/Controller —
The OEMZL6104 drive/controller combines the OEMZL drive
with the flexibility of Compumotor's 6000 Series of controllers.
This advanced design makes the OEMZL6104 drive/controller
the highest value single-axis system in the industry.
All The Features of the OEMZL4 Plus:
I/O
•
•
•
•
•
•
Encoder channel configurable as hardware up/down
counter
Incremental encoder input for stall detect, position
maintenance
Home and end-of-travel limit inputs
Two fast (trigger) inputs for position capture, registration,
etc.
16 programmable inputs and 8 programmable outputs
(Opto-22 compatible)
One auxiliary programmable output
Software
•
Language
•
•
•
•
•
•
•
150,000 bytes of non-volitile memory for storing programs
and paths
Interrupts program execution on error conditions
Encoder and motor position capture (using trigger inputs)
Registration (using trigger inputs)
Selectable damping (programmable) to optimize
performance for changing loads
Variable storage, conditional branching and math capability
Program debug tools – single-step and trace modes,
breakpoints, error messages and simulation of I/O
•
•
Motion ArchitectTM, Microsoft WindowsTM-based
application development software
Dynamic Link Library (DLL) provided for use with
Microsoft WindowsTM and Microsoft WindowsTM NT
software development kits
Compatible with Compumotor DDE server
Interface Capabilities
•
•
•
•
Direct interface to RP240 Remote Operator Panel
Operates standalone or interfaces to PCs, PLCs, and
thumbwheels
One RS-232C communications port
One RS-232C/485 communications port
Motion ArchitectTM Makes It Easy
Motion Architect
Terminal Emulator
Download and upload 6000 programs to and from the
controller. Go on-line and determine controller status.
Online User
Guides
•
Test Panel
Create your own test panel to exercise your programs and
check I/O, motion, system status and timers.
•
Context Sensitive Help
6000 Series
Software
Reference
Guide
6000 Series
Programmers
Guide
Access help on 6000 programming commands or how to use
a menu option.
258
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEMZL
OEM
Ordering Information
Drive/Controller
Accessories
Software
Motors
Part No.
Description
OEMZL4
Packaged 4Apk, 170VDC bus microstepping drive
OEMZL6
Packaged 6Apk, 170VDC bus microstepping drive
OEMZL6104
Packaged 4 Apk, 170VDC bus microstepping drive/controller
VM24S
24V input/output module (for use with OEMZL6104)
VM50
50-pin header-to-screw terminal breakout board (for use with OEMZL6104)
DDE6000
DDE server for 6000 Series
See Web site for full description of available motors
OEMZL4/6 Dimensions
OEMZL6104 Dimensions
Dimensions in inches (mm)
Dimensions in inches (mm)
6.138 (155.9)
5.970 (151.6)
0.133
(3.3)
2.930 (74.4)
1.000
(25.4)
2.000
(50.8)
5.970 (151.6)
0.133 (3.3)
3x Ø0.156
(3.96) (clearance
for #6 screws)
8.000
(203.2)
1.465
(37.2)
8.600
(218.4)
8.600
(218.4)
8.850
(224.8)
8.850
(224.8)
0.500
(12.7)
1.000
(25.4)
0.965
(24.5)
3x fl0.156
(3.96) (clearance
for #6 screws)
1.000
(25.4)
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
259
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Drive
Catalog 8000-4/USA
OEM
OEMZL
Stepper Speed-Torque Performance Curves
VS motors – 17, 23 and 34 frame
VS21B/Gemini
.28
30
.21
20
.14
10
.07
0
10
20
30
Speed (RPS)
.56
60
.42
40
.28
20
.14
0
0
50
40
0
10
150
1.05
100
.70
50
.35
0
30
Torque (oz-in)
1.40
20
90
.65
60
.42
30
.21
10
40
400
2.80
300
2.10
200
1.40
100
.70
0
10
20
Speed (RPS)
30
1000
5.60
600
4.20
400
2.80
200
1.40
0
0
50
40
7.00
800
0
10
20
Speed (RPS)
SERIES
PARALLEL
0
50
40
VS32B/Gemini
3.50
0
30
Speed (RPS)
500
0
50
20
30
Torque (Nm)
200
10
.84
0
Torque (Nm)
1.75
0
0
50
40
1.05
120
VS31B/Gemini
250
Torque (Nm)
Torque (oz-in)
VS23B/Gemini
20
30
Speed (RPS)
150
0
Torque (oz-in)
0
80
Torque (oz-in)
40
Torque (oz-in)
.35
.70
Torque (Nm)
50
VS22B/Gemini
100
Torque (Nm)
.42
Torque (Nm)
Torque (oz-in)
VS13B/Gemini
60
0
50
40
Speed (RPS)
FULL
OS motors – 23 frame
.21
20
.14
10
.07
0
0
10
20
30
Speed (RPS)
40
40
.28
30
.21
20
.14
10
.07
0
0
50
0
10
20
30
Speed (RPS)
40
0
50
Torque (oz-in)
30
.35
100
.70
80
.56
60
.42
40
.28
20
.14
0
0
10
20
30
40
Torque (Nm)
.28
OS21A/OEM750 (Series)
50
Torque (Nm)
40
Torque (oz-in)
OS2HA/OEM750 (Parallel)
.35
Torque (Nm)
Torque (oz-in)
OS2HA/OEM750 (Series)
50
0
50
Speed (RPS)
0
10
20
30
40
2.80
2.45
2.10
1.75
1.40
1.05
.70
.35
0
50
Torque (Nm)
Torque (oz-in)
OS22A/OEM750 (Series)
400
350
300
250
200
150
100
50
0
75 VDC
48 VDC
24 VDC
Speed (RPS)
260
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEMZL
OEM
OS & VS Series Stepper
Motor Specifications
Size 17, 23 & 34 Frame Sizes
Size 23 Frame
Size 34 Frame
OS2HB
OS21B
OS22B
VS21B
VS22B
VS23B
VS31B
VS32B
oz-in
(Nm)
61
(0.4)
127
(0.9)
235
(1.7)
99
(0.7)
170
(1.2)
267.5
(1.9)
559
(3.9)
1211
(8.6)
Rotor inertia
oz-in2
(kg-cm2)
0.39
(0.07)
0.66
(0.12)
1.39
(0.25)
0.66
(0.12)
1.64
(0.3)
2.62
(0.48)
7.65
(1.4)
14.8
(2.7)
Drive Current
(Apk)(Arms)
Series
Parallel
1.7 (1.2)
3.4 (2.4)
1.8 (1.3)
3.6 (2.6)
2.4 (1.7)
4.8 (3.4)
1.8 (1.3)
3.6 (2.6)
1.7 (1.2)
3.4 (2.4)
1.4 (1.0)
2.8 (2.0)
3.0 (2.1)
6.0 (4.2)
3.0 (2.1)
6.0 (4.2)
Phase Inductance
(mH)
Series
Parallel
8.6
2.2
12
3
16.6
4.2
5
(1.25)
12.0
(3.0)
15.4
(3.85)
15.8
3.95
25.0
6.25
Drive Bus Voltage
(VDC)
170
170
170
170
170
170
170
170
Detent Torque
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
2.7
(0.02)
3.3
(0.02)
6.0
(0.04)
14.0
(0.1)
28.0
(0.2)
lb
(kg)
13
(5.9)
13
(5.9)
13
(5.9)
17.6
(8)
17.6
(8)
17.6
(8)
35.3
(16)
35.3
(16)
Radial Load
lb
(kg)
20
(9.1)
20
(9.1)
20
(9.1)
15.0
(6.8)
15.0
(6.8)
15.0
(6.8)
30.9
(14)
30.9
(14)
End Play
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.0032
(0.080)
0.0032
(0.080)
Radial Play
(Per 0.5 lb load)
in
(mm)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.0008
(0.020)
0.0008
(0.020)
Motor Weight
lb
(kg)
1
(0.5)
1.5
(0.7)
2.5
(1.1)
1.03
(0.47)
1.54
(0.7)
2.2
(1.0)
3.86
(1.75)
6.18
(2.8)
Certifications
UL recognized
CE (LVD)
CE
(EMC & LVD)*
Pending
Yes
Pending
Yes
Pending
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Static torque
Bearings Information
Thrust Load
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
261
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Size 23 Frame
Parameters
Catalog 8000-4/USA
6K CONTROLLERS
6K Controllers
Universal Motion
Controller—The 6K
Every 6K Controller has a programmable IP address so single
or multiple 6K’s can be easily networked in an Ethernet LAN.
Ethernet devices such as hubs or switches allow multiple
controllers to be linked onto a single LAN.
With the addition of more sophisticated equipment, complex
factory networks incorporating motion control are possible,
allowing easier troubleshooting and wider access to the
controller.
Flexibility and Expandability
Expansion I/O allows the 6K to expand with your application.
The EVM32 expansion I/O module allows easy configuration
of digital I/O, analog I/O, and relay points in addition to the
already extensive amount of standard 6K I/O.
Programmability
Universal Connectivity
The 6K is truly universal, providing industry standard
+/- 10V or step-and-direction output, it is capable of controlling
any combination of steppers and servos from 1 to 8 axes.
With its Ethernet capability, the 6K offers a flexible
communication scheme compatible with hundreds of Ethernet
devices on the market. From HMIs and PLCs to industrial I/O
and vision systems, the 6K can connect to them all. Ethernet is
a vendor neutral industry accepted communication protocol
and it is very inexpensive to implement. The addition of fieldbus
options (6K Profibus-DP and 6K DeviceNet) offer connectivity to
PLCs and PCs using industry standard protocols and
hardware.
Motion Architect, Servo Tuner and CompuCAM are registered trademarks of
Parker Hannifin Corporation, Compumotor Division
Microsoft Windows is a registered trademark of Microsoft Corporation
Networking
The 6K is built on the solid platform of Compumotor’s 6000
Programming Language. With powerful features such as cam
following, multitasking, PLC Scan Mode, PLS (Programmble
Limit Switch) functionality, contouring, and teach mode, the 6K
can handle the most demanding of applications. Yet program
development time is greatly reduced with wizards, which uses a
simple graphical environment to build the program structure,
making the 6K easier then ever.
Motion Toolbox is a registered trademark of Snider Integration Group
LabvVIEW is a registered trademark of National Instruments Corporation
All others are trademarks of their respective companies
Discover How The 6K Motion Controller Can Solve Your Next Application. Call 1-800-358-9070 Today.
263
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Compumotor’s revolutionary 6K Controller is an embedded
motion controller or stand-alone motion controller built into one
convenient package. The 6K is a multi-axis motion controller
capable of solving basic to complex motion control applications
including: pick-and-place, packaging, following, cam profiling
and hundreds of others. The 6K utilizes Ethernet
communications to allow high speed connections to many
different products such as PLCs, HMIs, I/O modules and vision
systems.
The 6K comes with Compumotor’s latest software interface,
Motion PlannerTM, to allow for seamless integration and quick
setup of the 6K. Motion PlannerTM utilizes programming
wizards, which eliminate the need to learn a proprietry language
and take the chore out of repetitive programming tasks, and a
SmartEditorTM to virtually eliminate debug time. ServoTunerTM, a
graphical tuning tool, and PanelMakerTM, a VB Script interface,
are also included with Motion PlannerTM.
Catalog 8000-4/USA
6K Controllers
6K CONTROLLERS
Fieldbus and the 6K
The 6K controller offers fieldbus options! For applications
requiring a dedicated network to carry I/O and controller status
information to and from PLCs or PCs, Compumotor has
developed Profibus-DP and DeviceNet options for the 6K.
EVM32
The EVM32 is a compact and rugged DIN Rail mountable
module that houses up to 32 channels of I/O. Up to eight
EVM32 modules may be used with each 6K. SIM (Single InLine Module) cards are added to the EVM32 to expand the I/O.
6K Fieldbus Specifications
PLC
Fieldbus Master
6K With Fieldbus
Option
Additional
Fieldbus Devices
•
•
•
•
•
Profibus-DP or DeviceNet implementation
Passive station (Slave device)
Parity and cable disconnect error checking
Cyclical Data Transfer
*
Profibus-DP
Dual port transfer of first 16 binary variables
*
DeviceNet
Dual port transfer of first 16 binary variables
Network Addressing
*
Profibus-DP
Manual addressing up to 127 nodes
*
DeviceNet
Manual addressing up to 63 nodes
NOTE: Fieldbus options are not field installable. Call your local
Automation Technology Center or Compumotor to order a
fieldbus version of the 6K.
Expandable I/O
The ability to add digital and analog I/O to the 6K makes it a
very flexible and attractive controller choice for both OEMs and
end-users alike. You are free to choose exactly how much I/O
your system requires. The expansion I/O of the 6K ensures
that you pay only for the I/O that you need. Contrast this to
other controller manufacturers that make you pay for a fixed
amount of I/O regardless of whether you utliize all of it or not.
SIM cards are available with:
• 8 analog inputs
12-bit (+/- 10 V)
• 8 analog outputs
10-bit (+/- 10 V)
• 8 digital inputs
24 VDC, sourcing or sinking is jumper selectable
LEDs for visual reference
• 8 digital outputs
24 VDC, sourcing or sinking, 300 mA current sink,
short circuit protected
LEDs for visual reference
• 8 reed relay outputs
10 Watt max power*
0.5 A max current, 75 V max voltage*
400 µs activation time typical
100 µs release time typical
*
Configuration
SIM cards may be added to the EVM32 to achieve a maximum
of 256 bits (32 bits per EVM32 times eight EVM32 modules per
6K):
• 256 additional bits
256 digital inputs
256 digital outputs
64 analog inputs (4 bits per input)
64 analog outputs (4 bits per output)
256 reed relay outputs
Note: The actual number of digital outputs is dependent on
heat. Please consult the product documentation to determine
duty cycle and load considerations.
264
Automation
Note: On the reed relay SIM, neither power, current nor
voltage should ever exceed the maximum rated values
listed. Exceeding the rated values will damage the reed
relay SIM. Example: 10 Watts = 0.416 Amps @ 24 Volts.
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6K Controllers
6K CONTROLLERS
Features
Motion
Physical
•
•
•
•
•
•
•
•
Interface Capability
•
•
•
•
•
•
•
10 Mbps twisted pair Ethernet
Multiple protocols
1 RS232 port (3 wire) - 9600 or 19200 baud
1 RS232/485 port (2 or 4 wire) - 9600 or 19200 baud
Profibus-DP option
DeviceNet option
Parker CTC Motion PanelTM, PowerStationTM and othe CTC
touchpanels via Ethernet
Language and Software
•
•
•
•
•
•
•
•
•
•
•
•
Wizards-based Motion PlannerTM Software provided
Compumotor 6000 programming language
Multi-tasking (Up to 10 separate tasks)
Position based following
Contouring (2-axes circular, tangent & proportional third
axis)
Compiled moves
PLC Scan Mode
PLS (Programmable Limit Switch) capability
Scaling
Cam profiling
Variables and high level math functions
300K non-volatile memory for program storage
Standalone operation
PC-based control via Ethernet
Fieldbus via Profibus -DP or DeviceNet
24VDC user supplied
DIN Rail mountable
Onboard I/O
•
•
•
•
•
•
•
•
5-24 VDC
Home, Positive and Negative Limits per axis
9-17 fast trigger inputs for high speed position capture
4-8 digital outputs
Drive Fault output per axis
Shutdown and Enable inputs per axis
12 MHz encoder input for each axis
Auxilliary encoder input for following
Expansion I/O
•
•
•
•
•
•
12-24 VDC, 32 channel expansion modules
Up to 256 digital I/O points
Up to 64 analog I/O points
All digital I/O is updated every 2ms
Digital I/O have LEDs for visual reference
Compatible with Ethernet I/O
B
1-8 axes of stepper/servo control (any combination)
Outputs standard +/- 10V or step & direction
Servo update rates of 62.5 µs/axis
Discover How The 6K Motion Controller Can Solve Your Next Application. Call 1-800-358-9070 Today.
265
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6K Controllers
6K CONTROLLERS
Ethernet
What is Ethernet?
Ethernet Today
Communication Protocol
Ethernet is a well-known and widely used communication
protocol that has been in existence since the 1970s when it
was developed by Xerox. Since that time it has expanded
rapidly and today it is the most commonly used LAN in
existence. We know Ethernet best for its everyday uses such
as email, Internet and Intranet.
Ethernet is a standard of communication between hardware
devices. Several protocols, or languages, are spoken over the
Ethernet network and provide a common interface between
devices. TCP/IP (Transfer Control Protocol/Internet Protocol)
is by far the most prevalent protocol due to its common usage
in office environments. Protocols such as Modbus/TCP and
AB Ethernet have become more popular in industrial
environments over Ethernet networks because they support
industrial device communication better than typical PC
protocols such as TCP/IP.
Availability of Ethernet
Ethernet is an open platform serial communication which is
vendor neutral. It is governed by the IEEE 802.3 standard
adopted in 1985. Due to the large market and availability,
Ethernet component choices are numerous and inexpensive.
Since Ethernet is a standard, connectivity between a wide
range of Ethernet capable products is fast and easy.
Ethernet Mediums
Summary
The availability of Ethernet, a wide range of Ethernet products,
extremely fast communications, and a proven communication
protocols make Ethernet a perfect choice for networking and
communication between industrial devices.
The medium over which Ethernet communication is transmitted is varied. The most common medium to date is 10Base-T.
10Base-T means a 10-Mbps (10 million bits per second)
baseband signal carried over twisted pair cable. Most facilities
using Ethernet are using 10Base-T as their medium. Other
mediums used are 10Base5 and 10Base2, thick coaxial and
thin coaxial cable respectively. 10Base-F is a fiber optic
medium. 100 Base-T is becoming more common today. . . .
Visit DVT on the web at
www.dvtsensors.com
266
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6K CONTROLLERS
6K Controllers
Ethernet and Motion Control
Motion Control Via Ethernet
Ethernet Flexibility
On the market today are hundreds and thousands of products
with Ethernet communication capability. A motion controller
using Ethernet can join these products on a LAN and share
information with I/O modules, sensors, PLCs, HMIs and vision
systems to name a few. Additionally, Ethernet controllers allow
connectivity to not just one PC but literally thousands and can
have several host computers located throughout an entire
factory.
Incorporating TCP/IP protocols in an Ethernet controller also
allows for access to the Internet and other software and
devices utilizing TCP/IP. Now, you can sit your desk and upload
or download information to a motion controller on the factory
floor. The factory floor might be in another building, another
state or another country.
Ethernet Networking
With the popularity of Ethernet growing on the plant floor, the
ability to network industrial devices over ethernet has become a
viable alternative to traditional fieldbus. This type of communication is typically handled via a client/server relationship over
the ethernet network.
The client is the device that opens a connection to a server
and queries for information or commands some action. The
client on an Ethernet network is synonymous with a “master”
on a traditional fieldbus network. The server is the device that,
once queried by a client, serves the information back to or
carries out the actions commanded by the client and is
synonymous with a “slave” on a traditional fieldbus network. As
an example, in a system with a 6K and a PC running Motion
Planner, the PC is the client and the 6K is the server. The
following explains two ways to use networking capability of the
6K or Gem6K.
Peer-to-Peer Network with other
6K or Gem6K units
The 6K may be connected to other 6K devices (6K Controllers
or Gem6K drive/controllers) via Ethernet. This type of
connection uses UDP broadcasting and is not a client/server
relationship.
Data Chain is a peer-to-peer network created by
Compumotor to share data between multiple 6K/Gem6K
units. Up to eight units may broadcast on the Ethernet
network simultaneously with an unlimited number of units
subscribing to these broadcasts. Each broadcast unit may
send up to eight 32-bit values. Each subscribing unit may
receive all eight values from each broadcast unit, adding up to
a possible 64 values in each subscribing units. The update
rate in each unit is user definable for maximum system
performance.
Determinism
Ethernet is a flexible alternative to traditional bus-based control.
It also offers an attractive networking solution on a widely
accepted platform. It is important however to understand how
the 6K integrates on an open network. For applications
requiring minimal data transfer such as periodic scanning of
product status or program downloads, this can be accomplished on an open network. For highly data intensive applications such as continuously updating visual interfaces, Compumotor recommends a direct PC to 6K Ethernet connection via
a crossover cable. For applications requiring intensive data
transfer network access, isolate the 6K from the open network
using an Ethernet switch.
Utilizing Ethernet as a motion control communication scheme
makes sense from an economic, technological and adaptability
standpoint. The sheer number of Ethernet compatible products
and the low cost of obtaining Ethernet technology make it an
attractive solution for many years to come.
6K or Gem6K as a Client
You can connect the 6K via Ethernet to multiple devices,
creating a client/server network. The 6K is the client, and has
the ability to open or close a connection with another device
(server) and request information from that device. The 6K
supports up to 6 simultaneous server connections. Devices
(servers) that may be connected to the 6K include:
Allen Bradley SLC5-05 PLC, using AB Ethernet
protocol
OPTO22 SNAP I/O, using Modbus/TCP protocol
DVT vision system cameras
Discover How The 6K Motion Controller Can Solve Your Next Application. Call 1-800-358-9070 Today.
267
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Ethernet was developed as a high-speed method of
communication between two computers. When looking at a
motion controller it is obvious that it is nothing more than a
highly specialized computer. Therefore it seems understandable
to use Ethernet for high-speed communication between an
industrial computer and a motion controller.
Catalog 8000-4/USA
6K Controllers
6K CONTROLLERS
The 6K Software
The Right Idea and the Right
Tools
Motion PlannerTM
Motion Planner is a code development package like
no other. Several features are incorporated to assist
novice and expert users alike in developing code.
Develop your code correctly the first time with
powerful wizards and debugging tools. Tune servos
quickly and easily with built in servo tuning software.
Create visually appealing user interfaces with our
PanelMaker Visual Basic scripting tool. Motion
Planner is an essential part of any 6K project.
Wizards
Working with Compumotor’s 6K multi-axis motion
controllers just got even easier. Now the 6K’s
Motion Planner™ application software comes with
wizards, eliminating any need to learn a proprietary
language. Let our wizards do the programming for
you!
• Develop your application code in one-third
the time
• Multiple, modular wizards for set up, error
handling, networking and all motion
commands
• Generate error-free application code with full
comments
• Eliminate the need to learn specific command
syntax.
It’s Free
Motion Planner is shipped free with every 6K and
together they present hardware and software
designers with a faster and better motion control
solution than ever before. We have spent time
perfecting our software so you don't have to spend
your time putting it to work. Motion Planner software
is also available for free at our website:
(www.compumotor.com).
268
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6K CONTROLLERS
6K Controllers
PanelMaker
Creating code is one of the most time consuming aspects of
system development. The software designers at Compumotor
understand this, so Motion Planner's editor was designed with
efficiency in mind. The SmartEditorTM incorporates these
functions:
• Automatic syntax checking as you type
• Color coded syntax highlighting
• Ever present help screen to access command
descriptions
Motion Planner's SmartEditorTM will virtually eliminate syntax
debugging and will help you generate efficient error free code
the first time.
You spend a lot of time developing your application potential.
You need a way to relay that potential to users and operators.
Motion Planner's PanelMaker features allows you to create
informative and aesthetically pleasing interface screens without
purchasing expensive software. PanelMaker utilizes powerful
Microsoft Visual BasicTM scripting to assist in panel creation. If
you are already familiar with Visual BasicTM you will find the
programming very similiar and if not, we have created several
pre-defined interfaces for you in our interface gallery. An
ActiveX control is also provided for fast checking of controller
parameters.
B
SmartEditorTM
CompuCAM
ServoTunerTM
To help you optimize your servo axes and speed you on your
way towards creating motion, Motion PlannerTM includes a
servo tuning utility. Using ServoTunerTM you can change all
tuning gains and see the motor response on the graphical
tuning interface. Motion PlannerTM will seamlessly integrate your
programming, setup and tuning so you spend more time
developing your application's full potential.
Now you can convert your .DXF, HPGL or G-Code files directly
into language that the 6K understands with CompuCAM.
Built-in filters, available for this add-on utility to Motion
PlannerTM, allow quick creation of complex contouring code. All
scaling and tolerances are handled within CompuCAM, just set
your default parameters, import your file to create the 6K code.
It’s that easy!
Discover How The 6K Motion Controller Can Solve Your Next Application. Call 1-800-358-9070 Today.
269
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6K Controllers
6K CONTROLLERS
6K Language
Now More Powerful than Ever!
The 6000 Motion Control Language is the cornerstone of
Compumotor's control products. Users of 6000 products
value the simple yet powerful nature of the 6000 Language.
Several major software features have been added to the 6K to
make it even more powerful:
•
•
•
•
•
•
MotionPanel for the 6K Controller and
Gem6K Drive/Controller
Cut your motion/HMI setup time from hours to minutes!
With MotionPanel’s menu-driven interface, you can manage
multiple 6K motion programs without having to write and
debug additional code. Unlike two- and four-line alphanumeric
displays, MotionPanel provides easy-to-read touchscreens
(optional color displays are available) with more understandable
menus for the user. With the Windows-based Interact development software, you can even customize panels to simplify and
enhance screens for the operator. Try doing that with a
proprietary alphanumeric display device!
Multitasking
PLC Scan Mode
PLS (Programmable Limit Switch)
Virtual Master
Web Registration
Repetitive Cycle
These features add to the already impressive list of 6000
Language features such as:
• Contouring
• Cam Profiling
• Teach Mode
• Data Arrays
• Position Following
• Registration
Multi Tasking
The 6K offers pre-emptive multitasking which allows the user to
simultaneously run up to 10 tasks from one controller. Separate
logic and motion programs can now be created
and executed at the same time allowing more flexible error
handling and I/O monitoring than ever before.
PLC Scan Mode
This PC-based flexibility, combined with high-speed Ethernet
communications, provides the most advanced, easy-to-use
motion/HMI package available for machine control today!
• Automatically detects up to 8 axes of 6K motion
• Automatically detects digital and analog expansion I/O
• Instantly uploads motion programs from solid-state
Compact FLASH disk - including scaling
• PC-based hardware/software with an upgrade path to
advanced HMI functionality
Plug and Play Setup
1.
2.
3.
4.
Connect Ethernet cable.
Power up MotionPanel.
Enable Compumotor 6K Ethernet connection.
Touch the pre-configured panels and go!
PLC Scan Mode allows you to mimic the functions of a PLC. A
high speed compiled program is dedicated to scan as fast as 2
ms and handles only logic functions such as error bits, I/O bits,
variables and timing to ensure high-speed scanning. PLC Scan
Mode also allows powerful features to be programmed
including PLS functionality (Programmable Limit Switches).
Following
The 6K introduces three new following features to its repertoire:
• Virtual Master allows you to follow an internal count source
to solve multi-axis electronic cams and sinusoidal move
profile applications.
• Web Registration allows you to easily handle web processing applications with dedicated registration handling
subroutines.
• Following Repetitive Cycle defines a motion synchronized
to a repetitive external event such as high speed cut-onthe-fly.
270
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6K CONTROLLERS
6K Controllers
Four Machine Control Architecure Types
Machine control is the control of all elements of a machine or
stand alone system. The elements can include motion control,
control of the inputs and outputs, control of analog inputs and
outputs from more advanced sensors, interface to the human
machine interface (HMI), and communication with the enterprise level of the factory or other equipment.
As a motion control company, Compumotor engineers our
products to tightly couple with machine control products. The
following presentation over the next three pages highlight four
common approaches for a machine control solution. Displayed
with each machine control architecture is the 6K solution and
the options for connection between the devices.
B
Motion Controller Based Machine Control
System Description
Key Advantages with this Control Scheme:
Many applications from low to moderate complexity can
eliminate a separate machine control component and use the
motion controller as the sole machine control. Motion controller
capabilities have been expanding rapidly and are capable of
controlling inputs and outputs as well as motion parameters.
For many applications, this can provide the tightest coupling
between a motion function and a machine control function.
For this type of control scheme the motion controller must be
a stand-alone controller. A stand-alone controller has its own
operating system and must be able to be installed as an
individual component. In addition, the controller must be able
to interface to human machine interface for data entry and be
capable of efficiently controlling inputs and outputs.
This control scheme can also be used to break apart a
complex machine into several simpler machine control components. In this case, communication between the sub-components must be fast and efficient.
•
•
•
Best value for low to moderate complexity applications
One programming platform for all machine control
functions
Tight coupling between motion control and machine
control
Typical Applications:
•
•
Less than 256 I/O points
Tight coupling of machine control and motion control like
electronic cam control
How the 6K Fits:
The 6K has several unique features to help integrate it easily as
a machine control solution:
• PLC scan mode allows high scan rates on specified I/O
points or registers
• Expandable I/O of the 6K with the EVM modules allows
customization and expandability up to 256 I/O points
• Drivers to CTC’s full family of human machine interfaces
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271
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6K Controllers
6K CONTROLLERS
Four Machine Control Architecure Types
PC-Logic Control (PCLC) Based Machine Control
System Description
Key Advantages With This Control Scheme:
Traditional industrial control methodologies meet with PC
industry driven performance and price with the PcLC control
type. By using a software-based PLC, or “soft control”, cost
effective PLC replacement is a reality.
MachineLogicTM is a DOS-based real time operating system
control program that was developed by CTC, a division of
Parker Hannifin. The program provides deterministic control
that runs on any PC or any CTC PowerStation human-machine
interface (HMI). As a real-time system, a hard disk is not
required for operation removing a potential source of failure.
Because soft control is provided with all the popular PLC
programming languages, there is no need for incremental
learning.
This solution provides the open environment inherent with
PCs without having to reeducate the whole factory. This
approach enhances supportability and minimizes the learning
curve for programming and developmental tools.
This solution fully integrates HMI with the machine control in
a tightly coupled and rugged package.
This machine control method is especially cost effective
when used with a PowerStation HMI. For the same price of a
HMI comes all the processing power of a machine controller.
•
•
•
•
•
•
•
•
Typical Applications
•
•
Less than <500 I/O points
Needed combination of HMI with the control engine or
needed higher speed graphics
How the 6K Fits
•
272
Automation
CTC PowerStation flash memory is more rugged than a
PC hard disk
Real time and deterministic behavior (WindowsTM NT
cannot guarantee this)
Maintainable just like a PLC (programming language
already known to maintenance and programmers)
Reliable HW and SW integration when using PowerStation
Standard network support for ease of information flow
Common development environments save time and
money
New engineers are more familiar with PCs than PLCs
System solution available through one vendor (motion,
HMI, PLC), all fully integrated
The 6K connects directly to the CTC PowerStation family
with either an Ethernet or RS232/485 connection. Drivers
are available with each PowerStation to make integration a
snap.
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6K CONTROLLERS
6K Controllers
Four Machine Control Architecure Types
PC-Based Machine Control
System Description
Key Advantages With This Control Scheme
•
•
•
•
Handles data intensive applications
Variety of connectivity options
Front end software can be customized
New engineers are more familiar with PCs than PLCs
Typical Applications
•
•
•
Data acquisition/processing in addition to machine
control—handling large amounts of data
Networking of many machines or to other factory activities—connectivity to plant information technology system
Need for central control of I/O devices distributed over a
large area
How the 6K Fits
•
The 6K communicates with any PC system via a 10Base-T
Ethernet port making it a solution for bus-based machine
control schemes. Connections are established by using
the 6K Communications Server which is included on the
Motion PlannerTM CD ROM. The 6K Communications
Server is a 32-bit OLE automation (COM) server which
facilitates communications between 6K controllers and PC
software applications. It is compatible with any 32-bit
software application or programming environment which
can utilize an OLE automation component, including Visual
Basic, Visual C++, and JAVA. Individual commands or
entire motion programs can be sent from the computer
program to the 6K Controller. Likewise, alarm information
and fast status updates are sent from the 6K back to the
computer.
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273
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B
As a machine controller, no other device can compete with a
common PC or Industrial PC in the areas of flexibility and the
sheer versatility it can offer. Since the early 1980’s, when the
PC was first used to control industrial automation systems,
industry has witnessed a technology explosion from extremely
slow and limited memory machines into the very powerful and
productive machines available today. A direct result of this
increased power is that many industrial automation manufacturers have turned to the PC as a machine controller.
The PC is the natural choice for data intensive applications
and also applications that benefit from front-end Windowsbased software and operator interfaces. Many applications
have specific data handling and visual display requirements that
cannot be handled by other types of machine control.
Additionally, industrial automation users have found that there
is a multitude of communication protocols for the PC providing
several connectivity options. Bus-based cards, which fit into an
empty computer expansion slot, RS-232, RS-485 serial
communications, and most recently high-speed Ethernet
communication are all used to communicate between the PC
and control hardware.
Compumotor offers a line of motion control for any connectivity need. RS-232 and Ethernet interfaces are available in
single- or multi-axis controllers. Ethernet is the latest platform
gaining popularity in industrial environments and offers a
simple, inexpensive yet very high-speed connection to the PC
and other industrial devices.
Catalog 8000-4/USA
6K Controllers
6K CONTROLLERS
Four Machine Control Architecure Types
PLC-Based Machine Control
System Description
Key Advantages with this Control Scheme:
The programmable logic controller or PLC is the most common
type of machine control and by far the most prevalent. PLCs
were first developed in the late 1960s as an alternative to the
relay cabinets that were the most common solution for machine
control. Thirty years later, PLCs have had continual iterative
developments and are now extremely reliable and flexible
devices for machine control.
PLCs are perfect for applications requiring hundreds or
thousands of I/O points and can control complex processes.
Their weakness however has been in interfacing with complex
equipment outside of the PLC rack such as vision systems and
motion control equipment. Traditionally, the PLC used discrete
outputs to communicate to the peripheral devices. This placed
a great limitation on the type of communication that was
possible and made the transmission of numerical values very
inconvenient. Often an ASCII module was added to the PLC
solely to communicate to the device.
The recent advent of the fieldbus promises to greatly
increases the flexibility of communication by developing
standards for communication that could bring many elements
together.
•
•
•
Typical Applications
•
•
•
I/O centric applications (I/O control is the most critical
criteria)
Process control
Greater than 500+ I/O points
How the 6K Fits
The 6K has several unique features to help integrate it easily
with a PLC based system:
• Fieldbus interface cards for Profibus-DP and DeviceNet
allow new levels of compatibility
• Ethernet interface using AB Ethernet protocol
• RS232/485 communication
• Functions controllable via discrete inputs and outputs
274
Automation
High reliability
Proven technology
On line editing
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6K CONTROLLERS
6K Controllers
Parameter
Parameter Type
Value
Power
Input
24 VDC, 2 Amp, User Supplied
Additional power may be required for I/O use
See Installation Guide for Details
Environmental
Operating Temperature
32o to 122oF (0o to 50oC)
Storage Temperature
-22o to 185oF (-30o to 85oC)
Humidity
0% to 95% non-condensing
Command
+/- 10V or Step & Direction
Configurable per axis
Servo Update
As fast as 62.5 µs/axis
Encoder
Two phase quadrature detect incremental encoders with differential (recommended) or
single ended outputs (+5 VDC TTL compatible)
Max Frequency = 12 MHz post quadrature
Stepping Accuracy
+/-0 steps from preset total
Position Range
+/-2,147,483,648 counts
Velocity Range
1 to 2,048,000 counts/sec (step & direction output)
1 to 12,000,000 counts/sec (+/- 10V output)
End-of-Travel & Home
Limits per axis
Factory default is 24 VDC sourcing
Jumper LIM-P to GND for sinking
0-24 VDC range through VINref
1/3 1/3 1/3 voltage switching threshold
Configurable as programmable inputs if not needed as limits
Onboard
Fast trigger inputs
9 on 6K2 & 6K4, 17 on 6K6 & 6K8
Factory default is 24 VDC sourcing
Jumper TRIG-P to GND for sinking
0-24 VDC range through VINref
1/3 1/3 1/3 voltage switching threshold
EVM32 Expansion (optional)
Up to 256 digital inputs (2 ms update rate)
Up to 64 12-bit analog inputs (+/- 10 VDC)
12-24 VDC user supplied through EVM32 module
1/3 1/3 1/3 voltage switching threshold on digital inputs
LEDs provided on digital inputs for visual reference
Onboard
5-24 VDC user supplied
300 mA maximum current sink
4 on 6K2 & 6K4, 8 on 6K6 & 6K8
EVM32 Expansion (optional)
Up to 256 digital outputs (300 mA maximum current sink)*
Up to 64 10-bit analog outputs (+/- 10VDC)
12-24 VDC user supplied through EVM32 module
Up to 256 relay outputs (0.5 A)
LEDs provided on digital and relay outputs for visual reference
Ethernet
10 Base-T (10Mbps Twisted Pair)
Multiple protocols
Performance
Inputs
Outputs
Communications
Serial
RS-232, RS-485 2-wire or 4-wire
Up to 19200 baud, Up to 99 units in daisy-chain or multi-drop
* Maximum number of outputs and maximum current sink are heat dependent. See product documentation for duty
cycle considerations.
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275
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B
Specifications
Catalog 8000-4/USA
6K Controllers
6K CONTROLLERS
Front Surface Connectors
Encoder • 9-pin D
connector, female
Drive • 15-pin D
connector, female
Pin No.
Signal
Pin No.
1
2
3
4
5
6
7
8
9
+5VDC
A+
AB+
BZ+
ZSingle Ended
ISO GND
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Limits/Home • 25-pin D
connector, female
Signal
Step+ (stepper)
Direction+ (stepper)
Command+ (servo)
Stall (stepper)
Drive Fault (both)
Command- (servo)
Shutdown (NO) (servo)
Shutdown (NC) (servo)
Step- (stepper)
Direction- (stepper)
Shutdown+ (stepper)
Shutdown- (stepper)
ISO GND (both)
Shtdn Common (servo)
Analog Ground (servo)
Power Input •
12-pin Screw Terminal
Pin No.
Signal
1
2
3
4
5
6
7
8
9
10
11
12
SHIELD
ISO GND
ENABLE
OUT DIODE
MASTER TRIG
ISO GND
CNTRL-P
LIM-P
TRIG-P
VINref
24 VDC RTN
+ 24 VDC PWR
Signal
+5VDC
A+
AB+
BZ+
ZISO GND
ISO GND
Pin No.
Signal
1
Output4
3
Neg4
3
Output3
5
Pos4
5
Output2
7
Home3
7
Output1
9
Neg3
11
Pos3
9
11
Trigger8
Trigger7
13
Home2
13
Trigger6
15
Neg2
15
Trigger5
17
Pos2
17
Trigger4
19
21
Home1
Neg1
19
Trigger3
21
Trigger2
23
Pos1
23
Trigger1
25
Reserved
25
Reserved
Even
ISO GND
Even
ISO GND
RS-232/485 (9-pin
connector, male)
Configurable for RS-232 or
RS-485 at 9600 or 19200 baud
RS-232/Fieldbus In (9-pin
D connector male)
RS-232 port at 9600 or 19200
baud
Data in port on fieldbus options
Ethernet
(RJ45 Connector)
10Base-T Ethernet connection
with TCP/IP and UDP protocol
276
Automation
Signal
Home4
Connection to the expansion I/O
modules. I/O modules sold
seperately. Up to 256 digital
inputs, 256 digital outputs, 64
analog inputs, 64 analog
outputs, and 256 relay outputs.
Master Encoder Input •
9-pin D connector, female
Pin No.
1
2
3
4
5
6
7
8
9
Pin No.
1
I/O Expansion (15-pin D
connector, male)
Top Surface Connectors
Triggers/Outputs • 25-pin
D connector, female
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6K CONTROLLERS
6K Controllers
Ordering Information and Part Numbers
I/O Screw Terminal
Breakout
Controller
Expansion I/O*
Power Supply
PS-60W
60 Watt 24 volt DC
power supply
6Kn
n= 2 – 2 axes
n= 4 – 4 axes
n= 6 – 6 axes
n= 8 – 8 axes
EVM32-BASE
Expansion I/O
module w/ 2’ cable
and cover
SIM8-IN-EVM32 8 digital input SIM
with LEDs
SIM8-OUT-PNP 8 digital sourcing
output SIM with
LEDs
SIM8-OUT-NPN 8 digital sinking
output SIM with
LEDs
SIM8-AN-IN
4 12-bit analog
input SIM
SIM8-AN-OUT 4 +/- 10V analog
10-bit output SIM
SIM8-RLY10
8 10 watt reed relay
SIM
VM25 25 pin-D to screw terminal
breakout board w/ 2’ cable
(for use with onboard I/O)
NK
No ship kit (omit to
include ship kits)
MotionPanel™
Example: 6K4-NK
(a 4-axes controller with no ship kit
included and no synchronization bus
included.)
*For fieldbus options, please contact
your local ATC or call Compumotor.
* EVM32-BASE and SIM cards sold
separately. Up to 4 SIM cards fit
in each EVM32-BASE.
See HMI section for product details
Cables
71-016137-10
10’ 6K to Stepper
(ZETA, OEM750,
S-Drive)
71-017003-10 10’ 6K to Servo (cut off)
71-016949-100 100’ expansion I/O
cable
71-016987-10 Gemini to 6K Servo
71-016966-10 Gemini to 6K Stepper
Ship Kit
6K-Kit
6K Hardware Installation
Guide
6K Programmer’s Guide
6K Command Reference
Motion Planner CD
Panel Mounting Hardware
Crossover Ethernet cable
for direct PC to 6K
communication only
B
Dimensions for 6K and EVM32
Dimensions in inches (mm)
EVM32
6K2 & 6K4
7.416 [ 188.37 ]
MASTER ENCODER
EXPANSION I/O
ETHERNET
RS-232/485
GND
LIM-P
VINref
THIG-P
24 VOC ATN
+24 VOC PWR
GND
SHIELD
ENABLE
CNTRL-P
OUT DIODE
RS-232
MASTER THIG
3.275 [ 83.19 ]
3.184 [ 80.87 ]
1.000 [ 25.40 ]
5.430 [ 137.92 ]
3.680 [ 93.46 ]
6K6 & 6K8
14.217 [ 361.11 ]
MASTER ENCODER
EXPANSION I/O
ETHERNET
RS-232/485
+24 VOC PWR
GND
LIM-P
VINref
THIG-P
24 VOC ATN
GND
SHIELD
ENABLE
CNTRL-P
OUT DIODE
RS-232
MASTER THIG
3.275 [ 83.19 ]
3.184 [ 80.87 ]
1.000 [ 25.40 ]
5.430 [ 137.92 ]
3.680 [ 93.46 ]
Discover How The 6K Motion Controller Can Solve Your Next Application. Call 1-800-358-9070 Today.
277
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6000 Series
6000 Series Family
A Powerful Lineup of
Controllers & Software—
6000 Series
A Proven Lineup of Bus-Based
Controllers and Software
The 6000 Series family consists of the
following products:
The 6000 Series consists of 2 and 4-axis ISA based controllers
with step and direction or +/- 10V output to control step
motors or servo motors. All 6000 Series controllers share the
following features:
AT6250/AT6450
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
The powerful and proven 6000 programming language
Circular interpolation
Cam profiling
Position following
Registration
Non-volatile program memory
28 programmable inputs
26 programmable outputs
Dedicated registration triggers for position capture
Analog inputs for joystick and variable input
End-of-travel and home limits per axis
Incremental encoder feedback
Motion ArchitectTM programming environment
DLLs for use with C++ and Visual BasicTM development
Optional Software
CAD-to-motion (CompuCAM)
DDE Server (DDE6000)
OCX Controls (Motion OCX Toolkit)
Graphical servo tuning (Servo Tuner)
•
•
2 or 4 axis PC/AT based +/- 10V controller
Compatible with industry standard +/- 10V torque or
velocity servo drives
AT6200/AT6400
•
•
•
2 or 4 axis PC/AT based step & direction controller
Compatible with industry standard step motor drives
Compatible with industry standard position based digital
servo drives
VM24
•
•
•
24V I/O Module
Compatible with all 6000 Series products
Compatible with all industry standard PLC I/O
VM50
•
•
Screw terminal breakout for 6000 Series I/O
Compatible with all 6000 Series products
OEM versions of these
products are available.
Please call 1-800-358-9070
for more information.
278
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6000 Series Family
Servo Controllers
AT6250/AT6450 Servo
Controllers
Multi-Processor-Based, Two-Axes or
Four-Axes Servo Controllers
•
1 to 4 axes of optically isolated servo control (+/- 10V)
Incremental encoder feedback
Analog input option provides one 14-bit +/-10VDC input
per axis
Controls servo drives in torque or velocity mode
Update rates for servo control as fast as
200 microseconds per axis.
1.2 MHz post-quadrature position feedback frequency
•
•
•
•
•
•
•
Soft operating system for 6000 Series command language
Multi-axis teach capability using data arrays
Position-based following
Cam profiling
2- to 4-axes linear interpolation
2-axes circular interpolation with proportional or tangential
control of a third axis
Compiled motion for shorter move execution times
S-curve or trapezoidal motion profiling
Numeric, binary and string variable storage
User-configurable error condition interrupts
Program debug tools - trace mode, step mode and break
points
150K of RAM for program storage and path storage
Motion ArchitectTM for Windows programming environment
DLL (Dynamic Link Libraries) for WindowsTM software
development in Visual C++ and Visual Basic
Optional Software
•
•
•
•
I/O
•
•
•
•
•
•
•
•
•
Software Provided
Motion
•
•
Drive enable relay outputs
Drive fault inputs
Programming
•
Features
•
•
•
•
•
Home, positive and negative end-of-travel limits per axis
24 programmable inputs and 24 programmable outputs
Dedicated trigger interrupts provide high-speed position
capture and registration capability to ±1 encoder count at
maximum frequency
Servo Tuner for graphical tuning of torque or velocity servo
drives
CompuCAM for CAD-to-motion
Motion OCX Toolkit to create Microsoft Visual BasicTM
controls
DDE Server provides data exchange with DDE capable
applications
Discover How The 6K Motion Controller Can Solve Your Next Application. Call 1-800-358-9070 Today.
279
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compumotor.com
B
The AT6250 and AT6450 are multi-processor-based, two-axes
and four-axes servo controllers designed to be inserted into a
single open ISA expansion slot. They provide sophisticated
control of any Compumotor servo motor/drive or any standard
+/-10V analog input servo drive system. In addition to the
controller, a separate auxilliary board simplifies connections with
encoders, motor drives, joystick, limits, and programmable I/O.
The AT6250 and AT6450 come standard with Motion
ArchitectTM support software for Microsoft WindowsTM. Motion
ArchitectTM allows easy creation and implementation of motion
programs. DLLs are provided for Microsoft WindowsTM
development.
The AT6250 and AT6450 use the proven 6000 Series
command language. The 6000 command language is powerful
enough to solve the most complex applications yet its basiclike structure will not overwhelm a novice programmer.
Catalog 8000-4/USA
6000 Specifications
6K CONTROLLERS
Specifications AT6250/AT6450
Parameter
Value
Position range
Velocity range
Acceleration range
Motion trajectory update period
Servo sampling update period
System update period
±2,147,483,648 counts
0.001 to 1,200,000 counts/sec
0.001 to 2,147,483,648 counts/sec2
Default: 1.6 ms for AT6250; 3.0 ms for AT6450
Default: 400 µs for AT6250; 785 µs for AT6450
Default: 1.6 ms for AT6250; 3.0 ms for AT6450
AT6250 and AT6450 PC Card
ANI Card
120V Auxiliary Board (AC or DC input)
5VDC @ 3.5A from the PC-AT bus
5VDC @ 0.75A for each card from PC-AT bus
90 - 132VAC, 50/60Hz, 1.5A @ 120VAC, single phase; or power
from an external source of 5VDC, ±10%
90 - 264VAC, 50/60Hz, 0.75A @ 240VAC, single phase; or power
from an external source of 5VDC, ±10%
+5VDC @ 1.6A and ±15VDC @ 50mA, ±10% from an external source
Performance
Input Power
240V Auxiliary Board (AC or DC input)
DC Auxiliary Board
Inputs
Home, Pos/Neg limits, drive fault,
joystick trigger, joystick release,
joystick axes select, joystick velocity
Encoder
24 programmable
Trigger Inputs
Analog (Joystick)
Analog (ANI option)
Outputs
HCMOS*-compatible; internal 6.8 KΩ
Pull-ups to 5V; voltage range is 0-24V
Differential comparator accepts two-phase quadrature incremental
encoders with differential (recommended ) or single-ended outputs
(+5VDC TTL-compatible*), Maximum frequency = 1.6 MHz,
post quadrature.
HCMOS*-compatible with internal 6.8KΩ pull-up (Connect IN-P
to +5V -24 to source current or connect IN-P to GND to sink current).
Voltage range = 0-24V 50-pin plug is compatible with OPTO-22™
signal conditioning equipment.
AT6250 has 3 & AT65450 has 4 TTL compatible* high speed inputs for
position capture & general purpose functions. Internal 6.8KΩ pull ups to
+SV; voltage range is 0-24V.
Voltage range = 0-2.5VDC, 8-bit A/D converter. Input voltage must not
exceed 5V.
Voltage range = ±10VDC, 14-bit A/D converter.
one per axis. Requires an 8-bit slot.
(See also I/O pin outs & circuit drawings)
24 programmable and
Open collector output with 4.7KΩ pull-ups.
OUT-A through OUT-D
Can be pulled up by connecting OUT-P to +5V on the auxiliary board,
or to user-supplied voltage of up to 24V. Max. voltage in OFF state (not
sinking current) = 24V, max. current in ON state (sinking) = 30mA.
50-pin plug is compatible with OPTO-22™ signal conditioning
equipment.
Command Out
±10V analog output. 12-bit DAC. Load should be >2KΩ impedance.
Shutdown
Shutdown relay output. Max. rating: 175VDC, 0.25A, 3W
Auxiliary Analog Output (ANA)
±10V analog output. 8-bit DAC. Load should be >2KΩ impedance.
Accuracy is ±5%.
Board Monitor Alarm (BMA)
Detects unrecoverable faults in hardware and software. When BMA
detects fault, status light on AT6n50 card turns off and status light on
auxiliary board turns red.
Environmental
Operating temperature
Storage temperature
Humidity
32° to 122°F(0° to 50°C)
–22° to 185°F(–30° to 85°C)
0% to 95% non-condensing
120 VAC and 240 VAC AUX Boards
• Height
• Width
• Depth
10.10 in
6.10 in
2.00 in
Physical
(256.54 mm)
(154.94 mm)
(50.80 mm)
DC Input AUX Board
• Height
11.60 in (294.64 mm)
• Width
6.10 in (154.94 mm)
• Depth
1.75 in
(44.45 mm)
* HCMOS-compatible voltage levels: low ≤1.67v, High ≥3.3v
* TTL-compatible voltage levels: low ≤0.4v, High ≥2.4v
280
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Step & Direction Controllers
6K CONTROLLERS
AT6200/AT6400 Step &
Direction Controllers
Two and Four Axes of Bus-Based Step &
Direction Control
Programming
•
•
•
•
•
•
•
•
•
•
•
•
•
Soft operating system for 6000 Series command language
Multi-axis teach capability using data arrays
Position-based following
Cam profiling
2- to 3-axes linear interpolation
2-axes circular interpolation with proportional or tangential
control of a third axis
Compiled motion for shorter move execution times
Trapezoidal motion profiles
Numeric, binary and string variable storage
User-configurable error condition interrupts
Program debug tools - trace mode, step mode and break
points
1500K of RAM for program storage and path storage
Stall detection for step motors
Features
Software Provided
Motion
•
•
•
•
1 to 4 axes of step motor or digital step and direction
servo control
Incremental encoder feedback
1.6 MHz maximum step output frequency
•
Motion ArchitectTM for WindowsTM programming
environment
DLL (Dynamic Link Libraries) for WindowsTM software
development in Visual C++ and Visual BasicTM
Optional Software
I/O
•
•
•
•
•
Home, positive and negative end-of-travel limits per axis
24 programmable inputs and 24 programmable outputs
Dedicated trigger interrupts provide high-speed position
capture and registration capability to ±1 encoder count at
maximum frequency
Drive enable relay outputs
Drive fault inputs
•
•
•
CompuCAM for CAD-to-motion
Motion OCX Toolkit to create Microsoft Visual BasicTM
controls
DDE Server provides data exchange with DDE capable
applications
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281
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B
The AT6200 and AT6400 are two-axes and four-axes step and
direction controllers designed to be inserted into a single open
ISA expansion slot. They provide sophisticated control of any
Compumotor step motor or digital servo or any standard step
motor or digital step and direction servo system. In addition to
the controller, a separate auxilliary board simplifies connections
with encoders, motor drives, joystick, limits, and programmable
I/O.
The AT6200 and AT6400 come standard with Motion
ArchitectTM support software for Microsoft WindowsTM. Motion
ArchitectTM allows easy creation and implementation of motion
programs. DLLs are provided for Microsoft WindowsTM
development.
The AT6200 and AT6400 use the proven 6000 Series
command language. The 6000 command language is powerful
enough to solve the most complex applications yet its basiclike structure will not overwhelm a novice programmer.
Catalog 8000-4/USA
6000 Specifications
6K CONTROLLERS
Specifications AT6200/AT6400
Parameter
Value
Position range
Velocity range
Acceleration range
Motion Algorithm Update Rate
±2,147,483,648 steps
1 to 1,600,000 steps/sec
1 to 24,999,975 steps/sec2
2 ms
Performance
Input Power
Inputs
AT6200 and AT6400 PC Card
5VDC @ 1.8A max from the PC-AT bus
120V Auxiliary Board (AC or DC input) 90-132VAC, 50/60Hz, 1.5A @ 120VAC, single-phase; or power from
an external power source of 5VDC, ±10%
240V Auxiliary Board (AC or DC input) 90-264VAC, 50/60Hz, 0.75A @ 240VAC, single-phase; or power from
an external power source of 5VDC, ±10%
DC Auxiliary Board
+5VDC (±5%) @ 1.6A
(See also I/O pinouts & circuit drawings)
Encoder
Differential comparator accepts two phase quadrature incremental
encoders with differential (recommended) or single ended outputs
(+5VDC TTL compatible*).
Maximum frequency = 1.6 MHz, post-quadrature.
24 Programmable
HCMOS* compatible with internal 6.8 KΩ pull-up (connect IN-P to +5–24V
to source current or connect IN-P to GND to sink current). Voltage
range = 0–24V. 50-pin plug is compatible with OPTO-22™ signal
conditioning equipment.
Trigger Inputs
AT6200 has two and AT6400 has four high-speed inputs for encoder
capture and registration. HCMOS* compatible with internal 6.8 KΩ pull-up
to AUX-P (wired to +5V at factory). Voltage range = 0V-24V.
Analog (Joystick)
Voltage range 0-2.5VDC, 8-bit A/D converter.
Home, Pos/Neg Limits, Pulse Cut Off HCMOS* compatible; internally 6.8KΩ pull-ups to AUX-P (wired
to +5V at factory). Voltage Range = 0V-24V.
Joystick Inputs (Axes and Velocity)
HCMOS and TTL compatible; internal 6.8 KΩ pull-up to +5V; voltage
range is 0-24V. Select, Release, Trigger and Auxiliary)
Drive Fault, In Position
HCMOS* compatible; internal 1.0 KΩ pull-up to 5V; voltage range = 0V–5V.
Outputs
Home, Pos/Neg Limits,
Pulse Cut Off
24 Programmable
Step, Direction, Shutdown
Board Monitor Alarm (BMA)
HCMOS* compatible; internally 6.8KΩ pull-ups to AUX-P (wired
to +5V at factory). Voltage Range = 0V-24V.
Open collector output with 4.7KΩ pull-ups. Can be pulled up by
connecting OUT-P to +5V on the auxiliary board, or to user-supplied
voltage of up to 24V. Max voltage in OFF state (not sinking current) = 24V,
max current in ON state (sinking) = 30mA. 50-pin plug is compatible with
OPTO-22™ signal conditioning.
Differential line driver output. Signal high > 3.5VDC @ +30 mA, signal low
< 1.0VDC @ -30 mA. +output for each differential drive is active high;
output for each driver is active low. Step pulse width is 0.3µs to 20 µs.
Detects unrecoverable faults in hardware and software. When BMA
detects fault, status light on AT6n00 card turns off and status light on
auxiliary board turns red.
Environmental
Operating temperature
Storage temperature
Humidity
32° to 122°F (0° to 50°C)
-22° to 185°F (-30° to 85°C)
0% to 95% noncondensing
Physical
120 VAC and 240 VAC AUX Boards
• Height
• Width
• Depth
DC Input AUX Board
• Height
• Width
• Depth
10.10 in
5.50 in
2.00 in
(256.54 mm)
(139.70 mm)
(50.80 mm)
11.60 in
5.50 in
1.50 in
(294.64 mm)
(139.70 mm)
(38.1 mm)
* HCMOS-compatible voltage levels: low ≤ 1.67V, high ≥ 3.3V
TTL-compatible voltage levels: low ≤ 0.4V; high ≥ 2.4V
282
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
I/O Accessories
6K CONTROLLERS
VM24 and VM50
VM24
VM50
The VM24 provides 24 volt
capability for the 6000 Series
programmable I/O. The VM24
module consists of a DIN Rail mountable base and up to three 8-bit SIM (single
in-line module) boards.
The VM50 is a screw terminal
adaptor that breaks out the connections for the 24 programmable inputs
and 24 programmable outputs on the 6000
Series controllers. Two VM50s are required to
break out both the inputs and outputs.
Features
Features
Outputs
General
•
•
•
•
5-24 VDC capable
Undervoltage lockout
Thermal shutdown protection
Sink or source current up to 500 mA
Inputs
•
•
•
•
•
•
•
•
DIN Rail mountable
Convenient screw terminal access to 6000 series
progammable I/O
Comes with 2 ft. ribbon cable
Physical
5-24 VDC capable
Sourcing or sinking jumper selectable per SIM
1/3 1/3 1/3 switching threshold
Overvoltage clamp
High frequency filter
•
•
5.31 in wide x 3.03 in high x 2.28 in deep
135 mm wide x 77 mm high x 58 mm deep
Physical
•
•
5.215 in. wide x 2.84 in. high x 2.5 in. deep
132 mm wide x 72 mm high x 64 mm deep
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283
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Compumotor Division
compumotor.com
B
The VM24 and VM50 have been designed to work with the
6000 Series I/O to provide greater ease of use in your applications.
Catalog 8000-4/USA
I/O Accessories
6000 Series Family
CompuCAM
6000 Series Software
CompuCAM is a CAD-to-motion software package that
converts .DXF, HP-GL or G-Code geometry files to 6000
programming code. From CompuCAM you can run your CAD
program, import your geometry, generate and arrange your
6000 code and save it for download to your 6000 Series
controller.
TM
Motion Architect
Motion ArchitectTM is designed for use with all 6000 Series
products. It comes standard with each 6000 Series product
and makes the implementation of the controllers remarkably
easy.
Features
System Configurator and Code Generator
Automatically generate 6000 controller code containing basic
setup system setup parameters (I/O definitions, encoder
operations, drive setup etc.) based on dialog box entries
Program Editor
Create blocks or lines of 6000 programming code, or copy
portions of code from another file. Save editor files for later use
in a high-level program such as Visual BasicTM or C++.
Terminal Emulator
Download and upload 6000 programs to and from the
controller. Download the soft operating system. Go on-line
and determine controller status.
Test Panel
Create your own test panel to exercise your programs and
check I/O, motion, system status and timers.
Context Sensitive Help
CompuCAM Features
•
•
Access help on 6000 programming commands or how to use
Servo Tuner
TM
•
Servo Tuner is a graphical tuning software utility to reduce the
time required to set up PID gains in a 6000 Series servo
controller (AT6250/AT6450). Servo Tuner allows you to
optimize your servo performance by adjusting overshoot,
settling time, rise time and steady state error.
•
Features
•
•
•
•
•
•
Tune analog velocity or digital position loops
Calculate gain settings automatically based on inertia and
motor drive constants
Tune for step response, trapezoidal move or S-Curve
move profiles
Capture and display up to nine motion parameters
Automatically stores the last four tuning sessions for
iterative tuning.
284
Automation
Types of positioning
2-axis circular interpolation
Point-to-point, multi-axis linear interpolation
Supports end of path operation (turning on and off I/O,
moving a third axis)
.DXF Filter supports
Lines and arcs, circles and polygons, polylines
(ellipses, bezier curves, splines)
HP-GL Filter Supports
Absolute/Relative arcs
Circles
Pen up/Pen down
Input P1/P2
Scale
G-Code
F & G Codes
H, I, J, L, M Codes
N, O, P, X, Y, Z Codes
Customizable H&M codes
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
6000 Series Software
6000 Series Family
Motion OCX Toolkit
Motion OCX Toolkit is a powerful standalone software package
that allows the programmer to easily and effectively develop
control interfaces for the 6000 Series controllers. Motion OCX
Toolkit provides a quick and easy way to incorporate advanced
functionality into their applications.
Motion OCX Toolkit includes the following three
controls:
Communications Shell
Use Comm6000 to control basic communication with the 6000
product, including interrupt handling and sending/receiving files
Terminal OCX
Use Term6000 to interace to the 6000 Series controller online.
Check status, execute commands immediately and view error
messages.
Fast Status Polling OCX
Poll6000 is used to poll the 6000 Series controller fast status
register and display quickly updated information such as motor
position and system status.
B
Motion OCX Toolkit provides 32-bit OLE Custom Control
extensions designed to run under WindowsTM 95, 98 or NT and
the following applications:
• Visual BasicTM 4.0 or later
• Delphi 2.0 or later
• Visual C++
• Any other 32-bit development environment containing
OCX controls
DDE6000 (Dynamic Data Exchange Server)
DDE6000 is a software driver that enables communications
between Microsoft Windows applications that support the DDE
protocol and the 6000 Series controllers.
The DDE6000 supports NetDDE, allowing any computer on
any WindowsTM NT Server, which supports NetDDE, to control
any 6000 Series controller connected to a networked computer.
DDE6000 not only supports all 6000 Series controllers but it
also supports multiple 6000 Series controllers simultaneously.
DDE is a Microsoft protocol that automatically updates data
to and from WindowsTM applications. The DDE servers send
the 6000 Series fast status information to a DDE equipped
windows application that requests it. Information provided via
DDE6000 includes:
• Status Report
• Motor/Encoder Position
• Motor Velocity
• Axis Status
• System Status
• Interrupt Status
• User Status
• Timer
• Variables
• Following Status
• Phase Shift
• Inputs/Outputs
• End-of-travel Limits
• Home limits
• Analog inputs
The following are some applications that support the DDE
protocol.
Intellution (FIX DMACS)
National Instruments (LabVIEW)
Wonderware Software Development Corp. (InTouch)
United States Data Corporation (Factory Link IV)
Discover How The 6K Motion Controller Can Solve Your Next Application. Call 1-800-358-9070 Today.
285
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Introduction
HMI & Machine Control
B
CTC Products Provide a
Hardware and Software
Solution
It is not difficult to find a provider of software products for the
factory floor. Nor is it hard to find a source that can provide PC
hardware solutions. But automation users today need a
supplier that can provide both products and bundle them
together as a single solution.
Not only can CTC products provide this bundled solution,
but because the hardware and software are designed and
tested under the same roof, our engineering team can optimize
products to yield the best possible system performance.
A single source supplier for PC-based HMI/machine control
hardware and software also benefits the machine builder by
simplifying integration, support, and training efforts. CTC
bundles PowerStation hardware and Interact HMI (HumanMachine Interface) software together, and also now integrates
MachineLogic™ PC-based control. Parker is truly a single
source for PC-based HMI and Machine Control solutions.
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
287
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
HMI & Machine Control
Human-Machine Interface
Human-Machine Interface
Software
Interact’s modular software design delivers a full range of HMI
solutions for all of your plant floor machine control needs.
Interact lets you start with push-button panel replacement and
then allows you to expand with trending, recipes, reporting and
networking.
Interact has a complete family of application modules. You
buy only those modules you need for your current application,
knowing that Interact can easily expand to meet your future
needs as well.
As part of CTC’s MachineShop™ Development Suite, Interact
can easily be integrated with MachineLogic™ PC-Based
Control software for a complete machine control solution.
Interact Lets Information Flow throughout your Plant
Managing information flow is critical in today’s manufacturing
environment. Not only do you want to be able to network
workstations on the factory floor but you also want to send this
valuable data to other areas such as supervisory stations or
MIS departments for analysis.
Interact is the best solution because it covers your need for
high speed response times on the plant floor, plus its open
architecture design lets you share plant floor data throughout
your organization. It’s a single solution that offers features to
meet the needs of MIS, your Supervisor and SCADA stations,
and the plant floor.
Interact Has the Best Features of
Windows and DOS
Interact is also truly unique because it gives you the best
features of both Windows and DOS. You develop your application in Windows with Interact’s powerful integrated development environment, MachineShop™. For run-time, Interact uses
a DOS multi-tasking kernel to keep response times fast and
hardware platform costs low.
Plus, Interact can run on any PC or on CTC’s PowerStation
line of flat-panel workstations. With over 50 device drivers,
Interact can work with all major brands of control equipment.
288
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Human-Machine Interface
HMI & Machine Control
Interact HMI Software Modules
B
Interact is a feature-rich software package that can be tailored to meet the needs of any HMI project. With its modular design (see
diagram below), Interact lets you build an application by selecting from a complete family of software modules, ranging from 3-D
panel tools, to trending, networking and machine configuration. With Interact, you buy only those modules you need for your
current application knowing that Interact can easily expand to meet future needs.
Interact also offers you a variety of connectivity options to programmable controllers and intelligent control equipment. Communication Device Drivers for 50+ and Remote I/O PLC connections are part of the standard product, including several Ethernet and
Compumotor motion control drivers.
Core Interact Modules:
Panel ToolKit Module (PTM)
Alarm Management Module (AMM)
The Panel ToolKit provides a library of over 35 pre-configured
3D panel tools that can be used to construct the touchscreen
equivalent of traditional control panels. These “ready-to-use”
tools save on development engineering cost and are modeled
after hardwired devices, giving operators the consistent look
and feel of devices found on the plant floor. Tools include
lighted pushbuttons, numeric displays, panel meters, XY plots,
and action tools such as Go To / Load Panel. PTM is included
with Interact and CTC PowerStations.
The Alarm Management Module is a feature rich alarm
package that monitors alarm conditions, and allows users to
acknowledge and clear alarms from any screen. Operator
comments and alarms can be logged along with application
parameters. Other features include five levels of alarm priority,
user levels that can be assigned to all alarm functions, and
color-coded alarm priorities. AMM is included with Interact and
CTC PowerStations.
Networking Module (NET)
Graphics Monitoring Module (GMM)
The Graphics Monitoring Module lets users add graphics
displays to the application to make the operator interface as
intuitive as possible for operators, thereby decreasing training
and support requirements. This module includes 256 color
support and free-form graphics, giving designers the flexibility
to import a picture of a machine and animate images on the
machine to create an application that operators will find easy
to use. A CAD-like, object-oriented graphics development
environment simplifies the creation of graphical displays. GMM
is included with Interact and CTC PowerStations.
This Interact Module enables the transfer of multiple applications throughout the manufacturing facility - or in remote
locations using off-the-shelf LAN/WAN operating systems. It is
a “network aware” architecture that simplifies centralization of
applications and/or program files on a network server. NET is
included with Interact and CTC PowerStations.
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
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Compumotor Division
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Catalog 8000-4/USA
HMI & Machine Control
Human-Machine Interface
Other Interact Modules:
Recipe Module (RCM)
Historical Trending Module (HTM)
The Recipe Module (RCM) is designed for batch processing
applications. This module creates a library of recipes containing
process values, allowing operators to upload, download, modify
and store recipes on-line. Other features include a wide range of
recipe controls and an automatic recipe activity log.
The Historical Trending Module (HTM) gathers selected data
from the machine or process, and allows you to view this data
on-line in graphical or spreadsheet format. These data files can
also be logged to disk so that they can be analyzed off-line
using popular PC packages. Data can be logged on time
interval, event or operator input. Advanced features such as
data and time search allow for enhanced on-line analysis of
logged data.
Machine Configuration Module (MCM)
Machine Configuration Module (MCM) is a valuable Interact
option designed to address specific requirements of machine
builders and users. With the power of MCM, you have the
ability to design, manage and perform efficient manufacturing
changeovers. This tool also makes it possible to rapidly develop
modular configurations and machine setup functions, allowing
you to easily customize products and options to meet your
customer’s unique requirements.
Report Module (RPM)
The Report Module (RPM) creates free-form reports for any
Interact application. These real-time data reports can be
previewed on the display screen while in online operation;
completed reports can be downloaded to a network or disk for
review at a later date. Reports can also be printed in hard copy
or ASCII file format.
User Program Module (UPM)
Data Transfer Module (DTM)
The Data Transfer Module (DTM) provides a high speed
gateway to share information between different types of control
equipment by exchanging data among multiple drivers. This
module allows you to replace expensive networking software
and hardware with inexpensive software connections.
You can add your own software or application-specific features
or communication drivers to Interact’s architecture through the
use of the Software Developers Kit. The UPM is designed to a
user-written terminate-and-stay-resident (TSR) program to
share data with Interact; the SDK shows users how to write a
TSR program that functions as an Interact module or communication driver.
Ordering Information
(See MachineShop section for information about ordering development software.)
Interact DOS Runtime Systems
Description
Model #
Interact Runtime Core Modules (PTM, GMM, AMM, NET)
Interact Runtime Core Modules + 1 Optional Module
Interact Runtime Core Modules + 2 Optional Modules
Interact Runtime Core Modules + 4 Optional Modules
Interact Runtime Core Modules + All Optional Modules*
INT-5160
INT-5161
INT-5162
INT-5164
INT-516A
* The Interact DDE Server is not included with the All Modules option.
290
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
PC-Based Machine Control
HMI & Machine Control
PC-Based Machine Control Software
B
The benefits of PC-based control are being brought to the
machine builder - without all of the cost - with CTC’s
MachineLogic Control Software. MachineLogic is a deterministic, hard real-time control system with program execution times
down to one millisecond. It offers the best of both PLC and
PC-based technologies and supports all IEC 61131-3 languages including ladder logic.
MachineLogic can be run on CTC’s entire family of PowerStation workstations, ranging from the 6" display P1/P1P up to
the 15" PS10 and P9, giving users the ability to match the
workstation with the specific needs of the project.
MachineLogic can run stand-alone or can be used in conjunction with CTC’s Interact, the #1 rated machine control HMI
software.
MachineLogic features a high level of reliability because it
runs on solid state Flash versus hard drive systems. It uses of a
PLC control engine that has been proven in thousands of
installations, high-speed retentive memory and easy on-line
editing.
I/O Support
MachineLogic supports three types of I/O: fieldbuses (such as
Profibus and DeviceNet), Ethernet I/O and PC I/O in a PC/104
format for lower cost systems. Although other third party I/O
products work with MachineLogic, CTC’s MachinePoint™ I/O
provides users with unique features as well as a single source
for machine control. (Details on MachinePoint can be found on
page 316).
Slot Card Features:
•
•
•
Two Runtime Targets One Development Software
•
CTC offers a MachineLogic Soft Runtime option, which runs
control software on the host CPU, or a Slot Card Runtime,
which runs independent of the host CPU and operating
system. Both PC-based control runtime targets share the same
MachineShop™ development environment and toolbar, with
the ability to easily download a program. For larger PC-based
control applications, the PCI Slot Card features performance
that is beyond even “higher-end” PLC and PC controls.
•
•
•
Independent CPU processor will more than handle most
any machine control application.
Embedded OS - designed for control applications.
Over 4MB of application memory space available many times greater than previous MachineLogic
release.
Supports Profibus/DeviceNet (1 card per application)
and Ethernet I/O at the same time.
3 connections available for system debug - Ethernet
and RS232 (card) and PowerStation Ethernet port.
Compact FLASH application storage with automatic
transfers between CF disk (on PowerStation) and PCI
card.
PCI communication allows remote Interact workstations to communicate with a Slot Card via standard
PowerStation Ethernet port.
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
291
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
HMI & Machine Control
PC-Based Machine Control
Features and Specifications
EC 61131 Compliance
Data Types Supported (Runtime)
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
IEC 1131-3 Programming Languages Specification
Operating System
•
•
Development:
Soft Runtime:
•
Slot Card Runtime:
Windows 95/98/Me/2000/NT
RTXDOS (executes in MS DOS or
ROM DOS systems only)
Embedded Real-Time OS
Programming Languages
•
•
•
•
•
LD
FBD
SFC
IL
ST
Ladder Diagram
Function Block Diagram
Sequential Function Chart
Instruction List
Structured Text
Data Types Supported (Runtime)
Boolean
Short integer
Integer
Dougle integer
Unsigned Short integer
Unsigned integer
Unsigned double integer
Byte
Word
Double word
Real
Time
String
Multitasking Execution
I/O Support
•
•
•
•
•
•
•
Up to 16 simultaneous tasks
Cyclic task (fixed interval)
System task (internal)
Profibus DP
DeviceNet
Ethernet Modbus TCP I/O
PC/104 I/O (TBD)
Instruction Set
Debug Tools
•
•
•
•
•
•
•
•
•
•
•
All instructions outlined in IEC 61131-3
User developed function and function blocks
PID routines
HMI Interface
•
•
Slot Card Interfaces to CTC’s Interact HMI product via high
speed PCI bus
Soft Runtime communicates with Interact via shared
memory
Instance tree
On line monitoring
Forcing
Watchlist
Break points
Array and Structure debug
Single stepping/single cycling
Logic Analyzer
Hardware Requirements
Additional Features
•
•
•
•
•
•
Slot Card Runtime operates on PS10/12/15 (-3 or -4
expansion), P9 PowerStations or standard PC with PCI
Bus (V.2.1 or later with CTC MLSCR Card). One card per
system.
Soft Runtime operates on all PowerStations or standard
PC with ISA or PC/104 slot (with CTC Control Adapter
card)
•
292
Automation
Off-line simulation and debug
Application templates for simplified project creation
On-line documentation
Interact has the ability to exchange tags with
MachineLogic
MachineShoop utility interfaces MachineLogic and Interact
development environments
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
PC-Based Machine Control
HMI & Machine Control
PC-Based Machine Control Architecture
PowerStation with
Interact HMI and
MachineLogic™
Ethernet Peer-to-Peer
Connection to 6K or Gem6K
Controller
Ethernet, DeviceNet
and ProfiBus I/O
Drive
B
Motor
Ordering Information
(See MachineShop™ section for information about ordering development software.)
MachineLogic Runtime Systems***
Description
Model #
MachineLogic Slot Card (requires PCI slot) Unlimited Tags Runtime
MachineLogic Unlimited Tags Soft Runtime for PC/104 System
MachineLogic Unlimited Tags Soft Runtime for ISA System
DeviceNet UCS MachineLogic IO Interface Card****
Profibus PC/104 5136 Interface (5136-PFB-104)^^^
Profibus ISA 5136 Interface (5136-PFB-ISA)^^^
MLSC-6123
MLC-6120
MLC-6121
MLDVN -1000-A
PFB-5136-104-A
PFB-5136-ISA-A
*** Requires Interact 6.0 for HMI, New MachineShop Shell, and 8 MB Compact FLASH or equivalent.
****Card factory installed on MachineLogic Control Adapter Card. MachineLogic Control Adapter and I/O Interface cards require two card slots total.
^^^ Must be purchased with MachineLogic Runtime (MLC-6121). PowerStations should be ordered without Class1 Div 2 approvals when MLC6121-A is installed.
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
293
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
HMI & Machine Control
Development Environment
Development Environment
for Interact and
MachineLogic™
MachineShop is an integrated suite of Windows-based
software for developing Interact HMI and MachineLogic PCbased control applications.
MachineShop’s convenient toolbar includes a Project
Manager, Environment Navigation, and a PowerStation Transfer
area. Whether you buy Interact, MachineLogic, or both, these
tools make it easy to manage, create, integrate and transfer
your machine applications.
MachineShop runs on a standard PC, as well as CTC’s full
line of PowerStation’s, integrating all of these products into a
bundled solution that can fit the requirements of any machine.
For a complete machine control solution, integrate
MachineLogic control with Interact HMI software - and run it on
one of CTC’s PowerStation workstations.
Project Management
MachineShop’s Project Management is a simple, intuitive way
to configure and manage automation projects. It conveniently
collects configuration data and runtime files into a central
location. By allowing MachineLogic and Interact projects to
appear in a single, unified environment, development tasks are
simplified.
The Project Management allows the user to...
• Backup and restore data from storage devices such as
disks, hard drives and networks
• Document all project information
• Access data on runtime storage requirements and
components used for the application
• Easily perform project tasks with the guidance of “Wizards”
• Use a common tag list for MachineLogic and Interact.
PowerStation Transfer can...
Automatically transfer run time projects including Interact
and/or MachineLogic
• Back up and restore runtime projects
• Transfer projects via the Internet
• Transfer with a serial connection or direct to Compact
FLASH
• Help users select transfer options, using Wizard-based
guidance.
The PowerStation family includes a range of workstations to
meet the needs of every machine you build —from a 6" panel
replacer to a 15" high performance PC. The flexible line of
PowerStation workstations lets you select from Processors,
display types, expansion and storage capabilities to get the
right PowerStation for your application. Every PowerStation is
bundled with #1 rated Interact HMI and is available with
MachineLogic PC-Based Control Software - for a complete
machine control solution.
•
Ordering Information
When ordering MachineShop Development Software, be sure to
include software options and/or modules that match runtime
software configuration that were ordered.
PowerStation Transfer
Once an application has been developed, MachineShop’s
PowerStation Transfer manages and transfers files that are
needed to create or update a runtime project. These convenient tools simplify the transfer process, so projects can go
online quickly.
294
Automation
MachineShop Development Software Configurations
Description
Model #
Interact Only (PTM, GMM, AMM, NET)
Interact + 1 Optional Module
Interact + 2 Optional Modules
Interact + 4 Optional Modules
Interact + All Optional Modules
Interact (PTM, GMM, AMM, NET) & MachineLogic
Interact & MachineLogic + 1 Optional Module
Interact & MachineLogic + 2 Optional Modules
Interact & MachineLogic + 4 Optional Modules
Interact & MachineLogic + All Optional Modules
MachineLogic Only
MSP-1N00
MSP-1N10
MSP-1N20
MSP-1N40
MSP-1NA0
MSP-1000
MSP-1010
MSP-1020
MSP-1040
MSP-10A0
MSP-10N0
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
PowerStations
HMI & Machine Control
P1P, P1-10”
(page 297) (page 300, 302)
A Workstation For Every
Machine You Build
PS10 & PS5 PS12 & PS15
(page 304)
(page 304)
P9
(page 307)
Factory-Floor Rugged
Parker’s CTC line of PowerStation workstations is quality
designed, manufactured and tested in Parker’s Milford, Ohio
facility. Here, pride is taken in delivering a quality workstation
that you can count on to operate 24 hours a day, regardless of
harsh factory floor environments. The “Build Quality In” philosophy is evident throughout the entire engineering and manufacturing process from the very beginning of the product design
process up to the time the product is shipped out the door to
the customer. Perhaps that’s why approval agencies have
stated that CTC products have one of the highest levels of selfassessment in the industry.
The PowerStation family includes a range of workstations to
meet the needs of every machine you build —from a 6" panel
replacer to a 15" high performance PC. The flexible line of
PowerStation workstations lets you select from processors,
display types, expansion and storage capabilities to get the
right PowerStation for your application. Every PowerStation is
bundled with #1 rated Interact HMI and is available with
MachineLogic PC-Based Control Software - for a complete
machine control solution.
Removable Compact FLASH
All CTC PowerStations come equipped with many helpful
features such as removable Compact FLASH for software
storage. This non-volatile solid-state technology offers
significantly higher reliability
than conventional hard drive systems while simplifying development and maintenance support.
Simply create any changes on a PC and copy to flash
cartridge (compact flash cartridge fits into any standard
PCMCIA adaptor). This cartridge can be sent to a customer
and inserted into a PowerStation. Upon power up, all change
are incorporated into the unit.
Built-in Ethernet Communications
PowerStations come standard with built-in 10/100 Base-T
Ethernet port* so that you can take full advantage of Ethernet
communications on the factory floor. Interact HMI software
includes Ethernet drives for Modbus, TCP/IP, A-B PLCs,
Compumotor 6K motion controllers, Gemini drive/controllers
and more, with OPC server applications for exchanging data
with Windows systems.
• 10/100 Base-T Ethernet Port*
• Ethernet Drivers for Common Factory Devices
• A-B ControlLogix PLC
• A-B PLC-5, SLC 505
• Compumotor 6K Motion Controller
• Modbus TCP/IP (Modicon Quantum and Momentum)
• TI505 Ethernet family of PLCs
• More to come...
• Exchange Data with Window Systems
• OPC Server Applications SCADA, MES, MIS
*P1 units include a 10 Base-T Ethernet port.
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
295
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Compumotor Division
compumotor.com
B
P1/P1H
Catalog 8000-4/USA
HMI & Machine Control
PowerStations
CTC Product Quality
PowerStation workstations are designed to meet the challenge
of passing more tests in one day than most other units see in a
lifetime. CTC PowerStations are designed and tested to
withstand conditions occurring in a factory setting including
electrical noise, mechanical shock and vibration, high temperature and humidity levels. This attention to detail is carried out
into all areas of the design including EMI (electromagnetic
immunity), detailed thermal, shock and vibration analysis and
hosedown testing. Quality goes beyond testing the product to
ensure robustness. It also involves selection of the right
components and technology that fit an industrial environment.
This is why CTC has instituted an unsurpassed supplier
relationship process. This process makes true partners of our
component suppliers by ensuring the use of the right components, including design reviews and quarterly performance
evaluation with the supplier. In addition, the manufacturing team
tests each and every unit before it is shipped using a unique
100% system “burn-in” in which the unit is thermal and power
cycled over a period of time. It is quality-driven testing like this
that builds in the reliability you need on the factory floor.
• Integrated Development Teams
• Qualified Component Selection
• Supplier Certification
• Continuous Design Reviews
• Commitment to Continuous Improvement
Internal and Agency Product Testing
296
Automation
•
•
•
•
•
•
Environmental Evaluation
• Temperature
• Humidity
• NEMA 4 Hosedown
• Chemical Resistance
Power Supply Testing
System Functionality
Electromagnetic Compatibility (EMC) Testing
• Emmissions
• Immunity
Mechanical/Packaging Testing
• Vibration
• Shock
Agency Certification
• UL/cUL
• CE
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
PowerStations
HMI & Machine Control
P1/P1H PowerStations
P1: A powerful display-based panel
replacement alternative
P1H: A “basic” HMI with Interact Panel
ToolKit and Networking Runtime software
The P1H PowerStation provides another alternative for
customers seeking a low cost solution for simple push button
replacement applications.
This new “basic” HMI with only Interact Panel ToolKit Runtime
and Networking Runtime software is able to use 50+ Interact
Drivers and is available in two models - monochrome and color.
Customers can use either MachineShop or the new
MachineShop Basic HMI Package (which includes only the
Interact Panel Toolkit Module) to develop P1H screens. Users in
the field can also easily upgrade the P1H to a fully functional
P1.
P1/P1H PowerStations - a solution for
any OEM application
You can use CTC’s Model P1/P1H PowerStations in a wide
variety of applications, such as packaging, paper, food,
beverage, pharmaceutical, and petro/chemical. In addition,
Interact applications are portable - so you can use the same
Model P1 Interact application on any workstation or PC
platform. Plus, Interact works with most control equipment; this
feature is beneficial for OEMs whose equipment must support
multiple PLCs.
CTC’s P1 and P1H PowerStations can do the following for
your machines:
• Replace hardwired panels, save time and reduce installation cost
• Reduce panel size
• Support over 25 Interact PLC communication drivers
• Provide applications that can migrate to other
PowerStations or PCs
• Use the full featured, Interact HMI software
• Removable Compact FLASH memory for easy field
upgrades
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
297
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Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
CTC’s 1/4 VGA PowerStation is a powerful, PC architecture
hardware and HMI solution for your panel replacement applications. The Model P1 workstation includes Interact software for
panel replacement, along with alarming, graphics and networking capability. This software combination makes it easy for you
to replace pushbuttons, digital meters, and other devices used
in panels, eliminating the time and cost of hardwiring. The
Model P1 PowerStation gives operators the information they
need to more effectively monitor and control your machine or
process. In addition, free-form graphics and animation capability enables you to provide a realistic representation of your
application.
Catalog 8000-4/USA
HMI & Machine Control
PowerStations
P1/P1H PowerStations
Features
Values
Software
Interact Run-Time Software
P1: PTM, AMM, GMM, NET; P1H: PTM, NET
Display
Type
Backlight
Monochrome/Color
Resolution
Size
Flat Panel
Cold Cathode Fluorescent Tube
Mono - LCD; Color - STN
1/4 VGA (320 x 240)
5.7" (145 mm) Diagonal
CPU
80386 SX/40 MHz
System Memory
Standard
8 MB standard (1 SIMM 72 pin)
Storage Memory
Compact FLASH cartridge
16MB Compact FLASH (minimum)
(Field replaceable FLASH Disk)
I/O Ports
Serial
Ethernet; (NE 2000 compatible)
Parallel
Expansion Slots
(1) RS232/422/485 (non-isolated)
(1) RS232 (non-isolated)
10 MBPS; 10Base-T with RJ45 connector
IBM Parallel
PC/104 (16 bit)
User Interface
Function Key
Numeric Key
Touchscreen
Keyboard Port
Mouse
On Screen
On Screen
Yes (analog resistive)
IBM AT with Y-cable
IBM AT with Y-cable
Package
Designed for
Temperature Range
Rel. Humidity
Vibration
Shock
NEMA 4, 4X
0-45 C
(non-condensing) 5-95%
10-150 Hz, 1G
10G, 11 msec (operating)
30G, 11 msec (non-operating)
3.3 lbs. (1.5 Kg)
(HxWxD) 7.7" x 5.6" x 3.2"
(194.7 x 142.7 x 81 mm)
Weight
Overall Size
Power Requirements
AC
Maximum Power Consumption
DC
Maximum Power Consumption
90-260 VAC; 50/60 Hz; (Ext.Opt.)
50 Watts max.
18-30 VDC
25 Watts
Agency Approval
CE; UL/CUL;
(Class I Division 2 - Available as option on DC units only)
298
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
PowerStations
HMI & Machine Control
Ordering Information
(See MachineShop section for information about ordering development software.)
P
1
1
-
1
D
R
Family Touch only Display DRAM Storage Power
Interact
P1 Common Configurations
Description
Model #
Mono LCD - FLASH
Color STN - FLASH
P11-014DR
P11-314DR
P1 Factory-Installed (or User-Installed) Hardware Accessories
Description
Model #
PC/104 Installation Kit for a single PC/104 card
PC/104 Installation Kit for two PC/104 cards
PC/104 Installation Kit for three PC/104 cards
Class I, Div. 2 Approval for P1 Units
Allen-Bradley 1771 Remote I/O Card and Driver
P11-PC104
P12-PC104
P13-PC104
P11-FM01-A
ABR-3205
Description
Model #
Mono LCD - FLASH
Color STN - FLASH
P1H-014DR
P1H-314DR
B
P1H Configurations (2 Configurations Available)
Adding Options to an Existing P1H Runtime
Description
Model #
P1H Upgrade to P1 (GMM, AMM)*
PP1-5160
* P1H Upgrade is for Runtime software only. MachineShop
(MSP-1N00-P or eqivalent) must be purchased/used to create AMM
and GMM functionality.
MachineShop Basic HMI Package for P1H
The MachineShop Basic HMI Package includes one software development system for the Interact Panel Toolkit (PTM) and Interact
Networking. This package is available with the purchase of a P1H PowerStation. It may be upgraded to a standard MachineShop
Interact development system by purchasing an upgrade package that enables the use of Alarm Management and Graphic
Monitoring Modules. When the MachineShop Basic HMI Package is ordered, development software for PTM and Networking
Modules is included with a Compact Flash PCMCIA Adapter.
Description
Model #
P1H MachineShop Basic HMI Development (PTM, NET) MSP-1NH0-P
Upgrade to Standard MachineShop HMI (GMM, AMM) MOD-5060-H
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Compumotor Division
compumotor.com
Catalog 8000-4/USA
HMI & Machine Control
PowerStations
P1P PowerStation
It’s a perfect fit for applications that
need high speed and high functionality
in a compact hardware package!
The 6" P1P is a Pentium-based HMI workstation with advanced
features, yet is small enough to fit almost any machine. It also
sports an all-new look...with its sleek bezel design and graphical displays, bringing a modern, high tech look to any machine.
The P1P not only offers a 6" STN display, but also provides a
full VGA TFT option, which can run all of CTC’s Interact
software modules. This also means that the P1P can run
applications developed for larger PowerStation workstations on a smaller, more compact unit.
The P1P comes bundled with CTC’s core Interact HMI
software modules (panel tools, graphics, alarming and networking) and is a perfect companion to CTC’s MachineLogic PCbased control software. All of this allows you to integrate HMI
and machine control in a small, yet powerful, package.
Typically, smaller HMI workstations have slower processors,
but the P1P delivers much higher speed with its Pentium
processor. The P1P is an open architecture unit that offers
expansion capabilities — it comes standard with a solid-state
16 MB Compact FLASH memory cartridge that is expandable
to 128 MB. The removable Compact FLASH allows users to
make changes to applications by simply dropping in an
updated cartridge.
Ordering Information
(See MachineShop section for information about ordering development software.)
P
Family
1
2
Pentium
-
D
R
Display DRAM Storage Power
Interact
Agency
P1P Common Configurations
Description
Model #
Color STN (1/4 VGA) Pentium - FLASH
Color TFT (Full VGA) Pentium - FLASH
P12-334DR-3
P12-434DR-3
Factory-Installed (or User-Installed) Hardware Accessories
Description
Model #
PC/104 Installation Kit for a single PC/104 card
PC/104 Installation Kit for two PC/104 cards
PC/104 Installation Kit for three PC/104 cards
Allen-Bradley 1771 Remote I/O Card and Driver
P11-PC104
P12-PC104
P13-PC104
ABR-3205-A
300
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
PowerStations
HMI & Machine Control
P1P PowerStation
Features
Software
Values
MachineShop with Interact Runtime PTM, AMM, GMM, NET
Display
Type
Backlight
Monochrome/Color
Resolution
Size
Flat Panel
Cold Cathode Fluorescent Tube
Color - LCD, TFT
STN: 1/4 VGA (320 x 240)
TFT: VGA (640 x 480)
5.7" (145 mm) Diagonal (LCD)
6.4" (163 mm) Diagonal (TFT)
Pentium
(consult factory for specific processor information)
System Memory
Standard
32 MB (minimum)
Storage Memory
Compact FLASH
16 MB compact FLASH (minimum)
(Field replaceable FLASH Disk)
N/A
N/A
Floppy Disk Drive
Hard Drive
I/O Ports
Serial
Ethernet
Parallel
Expansion Slots
External Video
(1) RS232/422/485
(1) RS232
10/100 Base-T with RJ45 connector
IBM Enhanced
PC/104 (16 bit)
N/A
User Interface
Function Key
Numeric Key
Touchscreen
Select Key
Cancel Key
Keyboard Port
Mouse
On Screen
On Screen
Analog Resistive
N/A
N/A
IBM AT with Y-cable
PS/2 with Y-cable
Package
Designed for
Temperature Range
Rel. Humidity (non-condensing)
Vibration
NEMA 4, 4X
0-45 C
5-95%
10-150 Hz, 1G (Sin)
10-500 Hz 1.5G (RMS Random)
10G, 11 msec (operating)
30G, 11 msec (non-operating)
3.26 lbs. (1.48 Kg)
8.7" x 6.3" x 3.25"
(221 mm x 160 mm x 82.5 mm)
Shock
Weight
Overall Size (HxWxD)
Power Requirements
AC
Maximum Power Consumption
DC
Maximum Power Consumption
90-260 VAC; 50/60 Hz; (Ext. Opt.)
50 Watts max.
18-28 VDC
25 Watts
Agency Approval
CE; UL/CUL
Class I Division 2 (DC units only)
B
CPU
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
301
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
HMI & Machine Control
PowerStations
P1-10” PowerStation
The new addition to the P1 PowerStation line features a 10”
Pentium 166 processor package. Like the other P1 products,
this new economical 10” unit is availble in color and mono
display options with PC/104 expansion. The P1-10” comes
bundled with Interact Core Modules (panel tools, graphics,
alarming, and networking), and can also come bundled with
any of the interact optional modules, as well as MachineLogic,
CTC’s PC-Based Control software.
Ordering Information
(See MachineShop section for information about ordering development software.)
P
Family
1
5
Model
-
D
R
Display DRAM Storage Power
Interact
Agency
P1-10" Common Configurations
Description
Model #
10" Mono LCD - Pentium 166 MHz - FLASH
10" Color TFT Pentium 166MHz- FLASH
10" Color High Bright TFT Pentium 166MHz- FLASH
P15-044DR-3
P15-444DR-3
P15-544DR-3
Factory-Installed (or User-Installed) Hardware Accessories
Description
Model #
Expansion kit: for two PC/104 cards total
Expansion kit: for three PC/104 cards total
COV-2000
COV-3000
302
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
PowerStations
HMI & Machine Control
Features
Values
Software
Interact Runtime
PTM, GMM, AMM, NET. Additional modules and
MachineLogic PC-Based Control Software optional
Display
Type
Backlight
Monochrome/Color
Resolution
Size
Flat Panel
Cold Cathode Fluorescent Tube
Mono - LCD; Color - TFT
VGA (640 x 480)
9.4” (239 mm) Diag. (Mono/LCD))
10.4” (264 mm) Diag. (Color/TFT)
CPUs
Pentium
(consult factoryfor specific processor information)
System Memory
Standard
32 MB (minimum)
Storage Memory
Compact FLASH (Type II connectors)
Floppy Disk Drive
Hard Drive
CD ROM
Video Memory
16 MB Compact FLASH (minimum)
N/A
N/A
N/A
2 MB High Speed SDRAM
I/O Ports
Serial
Ethernet
Parallel
Expansion Slots
External Video
USB
(1) RS232/422/485 (2) RS232
10/100Base-T w/ RJ45 connector
(1) 25-Pin D-sub connector (supports Bi-directional SSP/SPP/ECP)
1 PC/104 Standard, up to 3 PC/104 cards supported
N/A
N/A
User Interface
Function Key
Numeric Entry
Touchscreen
Keyboard/Mouse Port
Pop-Up On Screen
Pop-Up On Screen
Analog Resistive 8-wire
1 PS/2 Mouse port & 1 PS/2 Keyboard port
Package
Designed for
Temperature Range
Rel. Humidity (non-condensing)
Vibration
Shock
NEMA 4/4X
0-50°C
5-95%
10-150 Hz, 1G (Sin): 10-500 Hz .5G (RMS Random)
10G, 11 msec (operating)
30G, 11 msec (non-operating)
~13.4 lbs. (6.07 Kg)
11.02” x 13.78” x 4.29”
Weight
Overall Size (H x W x D)
Power Requirements
Agency Approval Plan
AC -- Max. Power Consumption
DC -- Max. Power Consumption
90-250 VAC; 50/60 Hz; (external – purchased separately) –
110 Watts max
18-28 VDC Standard -- 78 Watts max
(not yet approved)
CE, UL/CUL , Class 1 Div. 2
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
303
Automation
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Compumotor Division
compumotor.com
B
P1-10" PowerStation
Catalog 8000-4/USA
PowerStations
HMI & Machine Control
PS Series PowerStations
Match the Right Display Size with the
Right Functionality...at the Right Price
CTC has taken its popular PowerStation line and enhanced it
with more displays and hardware configuration options. With
the new modular PS Series, you can get the hardware and
software features you need at the price point you want. These
PowerStations offer you more value at a very competitive price
- plus you get an open platform to run advanced HMI capabilities such as recipe handling, trending or reporting. The PS
Series simply gives you more options than any other operator
interface solution.
The PS5 Function Key PowerStation model includes arrows
for cursor control and features 40 function keys (20 plus Shift)
for operators who prefer traditional function key operation. This
flat-panel workstation features Interact’s Core Modules (Panel
Tools, Panel Alarms, Graphics and Networking Modules), and
all drivers. The PS5 can run additional Interact modules; it also
supports networking options.
You can literally mix and match displays, expansion capabilities, hardware configurations, and software functionality to get
the right workstation for your machine. To build your custom
operator interface to get the best possible solution for your
application...
1. Choose your display
10”
12”
15”
No Display
2. Choose your expansion needs
PC/104
ISA/PCI
3. Choose your workstation package
• Integrated “PS” PowerStation bundled with CTC’s Interact
HMI software
• “PC” version workstation with Windows without Interact
(See Industrial PC section)
• “RS” Remote System with Interact (or “RC” Remote
Computer) that is cable-connected to a separate monitor
RS “Remote System” PowerStation
A powerful, “RS” version PowerStation offers the performance
and features of the PS Series hardware platform without an
integrated display. Remote Systems can be mounted in an
enclosure and cable-connected to a separate 12" or 15"
Industrial Flat Panel Monitor.
304
Automation
Parker Hannifin Corporation
Compumotor Division
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Catalog 8000-4/USA
PowerStations
HMI & Machine Control
Features
Values
10" Display
(PS10 & PS5)
Type
Monochrome/Color
Resolution
Screen Size
Flat Panel
Mono LCD; Color TFT
VGA (640 x 480)
9.4" (239 mm) Diagonal (Mono LCD)
10.4" (264 mm) Diagonal (Color TFT)
12" Display (PS1)
Type
Monochrome/Color
Resolution
Screen Size
Flat Panel
Color TFT
SVGA (800 x 600)
12.1" (310 mm) Diagonal
15" Display (PS15)
Type
Monochrome/Color
Resolution
Screen Size
Flat Panel
Color TFT
XGA (1024 x 768)
15.1" (380 mm) Diagonal
Software
PS/RS Bundled PowerStation
Includes Interact Runtime: PTM, GMM, AMM, NET.
CPU
Pentium
(consult factory for specific processor information)
System Memory
Standard
32 MB (minimum)
Storage Memory
Compact FLASH (Type II connectors)
16 MB Compact FLASH (minimum), (1 external & 1 internal),
(also supports MicroDrive)
Optional (external, surface or panel mount)
EIDE Interface (consult factory for HD capacity)
Optional Super Slim CD ROM
Floppy Disk Drive
Hard Drive
CD ROM
I/O Ports
Serial
Ethernet
Parallel
Expansion Slots:
• PC/104 models
• ISA/PCI models
(1) RS232/422/485
(2) RS232
10/100Base-T w/RJ45 connector
(1) 25-Pin D-sub connector (supports Bi-directional SSP/SPP/ECP)
External Video
USB
3 PC/104 cards are supported
3 slots (2 ISA 1 ISA/PCI Configurable) or (2 PCI 1 ISA/PCI configurable)
[Note: 1 PC/104 card is supported in this configuration]
(1) Analog 15-Pin D-sub connector (supports simultaneous video mode)
(2) USB Ports
User Interface
Function Key
Numeric Key
Touchscreen*
Keyboard Port
Mouse
PS5 only: 40 (20 plus shift)
PS5 only: yes
Analog Resistive (8-wire, 1024 x 1024 resolution)
1 PS/2 Keyboard port
1 PS/2 Mouse port
Package
Designed for
Temperature Range
Rel. Humidity (non-condensing)
Vibration**
Shock
NEMA 4/4X
0-50 C
5-95%
10-500 Hz, 0.5 (RMS Random); [Compact Flash units: 10-500 Hz, 1g (RMS Random)]
10G, 11 msec (operating)
30G, 11 msec (non-operating)
Cutout Dimensions:
• 10" Display***
• 12" Display
• 15" Display
9.86" (250 mm) x 12.60" (320 mm) clip mount
11.25" (286 mm) x 14.14" (359 mm) clip mount
12.40" (315 mm) x 15.9" (404 mm) clip mount
Power Requirements
AC
Maximum Power Consumption
DC
Maximum Power Consumption
90-250 VAC; 50/60 Hz (external supply only)
110 Watts
18-28 VDC
78 Watts
Agency Approval
UL,CUL,CE; Class 1 Division 2
* Not applicable to RS and RC units.
** Does not apply to MicroDrive option.
*** PS5 dimensions not included (consult factory).
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
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Compumotor Division
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B
PS Series PowerStation
Catalog 8000-4/USA
HMI & Machine Control
PowerStations
Ordering Information
(See MachineShop section for information about ordering development software.)
* Does not denote display size for PS5 models
PS Series Common Configurations
Description
Model #
10" Mono LCD - Pentium - FLASH
10" Color TFT - Pentium - FLASH
10" Bright Color TFT - Pentium - FLASH
12" Color TFT - Pentium - FLASH
15" Color TFT - Pentium - FLASH
PS10-2M2-DD1-AD3
PS10-2T2-DD1-AD3
PS10-2H2-DD1-AD3
PS12-2T2-DD1-AD3
PS15-2T2-DD1-AD3
Function Key Version (PS5) Common Configurations
Description
Model #
10" Mono LCD - Pentium - FLASH
10" Color TFT - Pentium -FLASH
10" Bright Color TFT - Pentium -FLASH
PS51-2M1-DD1-AD3
PS51-2T1-DD1-AD3
PS51-2H1-DD1-AD3
RS (Remote System Version) Common Configurations
Description
Model #
No Display (Remote System) - Pentium - FLASH RS00-202-DD1-AD3
Factory-Installed (or User-Installed) Hardware Accessories
Description
Model #
Expansion kit: for two PC/104 cards total
Expansion kit: for three PC/104 cards total
COV-2000
COV-3000
306
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
PowerStations
HMI & Machine Control
P9 PowerStation
The most powerful and serviceable
PowerStation yet!
RS9 “Remote System”
CTC has developed a powerful, new “RS” version that is based
on the new P9 hardware platform. Now you can get all of the
power, expandability and serviceability of the P9 in a Remote
System that can be mounted in an enclosure and cableconnected to one of our 12" or 15" Industrial Flat Panel
Monitors. This configuration offers a RS solution with a Celeron
or Pentium III processor up to 1 GHz.
P9 PowerStation Models
There are a variety of P9 PowerStation configurations available;
some of the workstation’s features are listed here.
• Bundled with Interact software or MachineLogic PC-based
control software
• 12" SVGA (800 x 600), color TFT display or 15" XGA (1024
x 768) color TFT display
• Celeron /Pentium III
• Compact FLASH and/or Hard Drive storage
• 32x CD-ROM drive
• 3.5" floppy drive
• 3 RS232 serial ports, 1 RS232/422/485 serial port
• 10/100 base-T Ethernet port, 2 USB ports, 1 parallel port
• 2 ISA and 1 PCI or 3 ISA slots
• Designed for NEMA 4/4X
• Quality resolution scaling from XGA or SVGA to VGA
• Field replaceable hard drive, CD-ROM and floppy drive
• Field upgradable NLX CPU board
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
307
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
CTC’s high-end industrial workstation is a powerful and rugged
PC platform for machine control with either a 12” or 15” display.
These units stand apart from the competition by offering a
variety of features and options, plus a high level of reliability and
serviceability for the plant floor. The P9 is available with either a
12" or 15" color TFT display for large screen applications.
Features like field replaceable bulbs, hard drive, CD-ROM,
floppy drive and CPU board make these units easy to maintain
and troubleshoot. Plus the unique design makes them a
powerful and maintainable PC solution for plant floor applications.
Catalog 8000-4/USA
HMI & Machine Control
PowerStations
P9 PowerStation
Features
Values
Software
Interact Run-Time Software
PTM, AMM, GMM, NET
Display
Type
Backlight
Color
Resolution
Size
Flat Panel
Cold Cathode Fluorescent Tube
TFT
SVGA (800 x 600) or XGA (1024 x 768)
12.1" or 15.1" Diagonal
CPUs
Celeron; Pentium III
(consult factory for specific processor information)
System Memory
Standard
32 MB SDRAM DIMM (minimum)
Storage Memory
Compact FLASH cartridge
PCMCIA FLASH Adapter
FLASH Card
Hard Disk Card
SRAM Card
CD-ROM Drive
Floppy Disk Drive
Hard Drive
16 MB compact FLASH (minimum)
Via 3rd Party
Via 3rd Party Adapter Board
Via 3rd Party Adapter Board
Via 3rd Party Adapter Board
32x (min.) CD-ROM (standard)
3.5", 1.44 MB, Side Access (standard)
EIDE Interface (consult factory for HD capacity)
I/O Ports
Serial
(1) RS232/422/485 (isolated)
(3) RS232
10/100 Base-T Ethernet Controller
RJ45 Interface
2 Ports
Bi-directional IBM Enhanced
2 ISA/1 PCI or 3 ISA Slots (user configurable)
ESS AudioDrive Sound Controller
SoundBlaster Pro Compatible Sound Interface
External mini audio stereo jack
Ethernet
USB
Parallel
Expansion Slots
Sound
User Interface
Function Key
Numeric Key
Touchscreen
Keyboard Port
Mouse Port
Onscreen
Onscreen
Yes (analog resistive)
PS/2 Keyboard (AT-style adapter cable included)
PS/2 Mouse (AT-style adapter cable included)
Package
Designed for
Temperature Range
Rel. Humidity (non-condensing)
Vibration
Shock
NEMA 4, 4X
0-50 C (for 850 MHz and lower)
5-95%
0.25g rms
10G, 11 msec (operating)
30G, 11 msec (non-operating)
12" - 27.76 lbs. (12.59 Kg)
15" - 31.12 lbs. (14.12 Kg)
12" - 12.1" x 15.1" x 10.00" (308mm x 383mm x 254mm)
15" - 13.3" x 16.8" x 10.20" (338mm x 427mm x 259mm)
Weight
Overall Size (HxWxD - Behind Panel)
Power Requirements
AC
Maximum Power Consumption
Agency Approval
UL/CUL/CE
AC (90-260V) autoranging
120 Watts
308
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
PowerStations
HMI & Machine Control
Ordering Information
(See MachineShop section for information about ordering development software.)
P
Family
9
-
Touchscreen
Display CPU DRAM
-
1
-
Expans. Primary Second
Storage Storage
O.S.
4
A
Second Power Agency
Drive
P9 Common Configurations
Description
Model #
12" TFT Display - Celeron - FLASH
15" TFT Display - Celeron - FLASH
12" TFT Display - Pentium III - FLASH
15" TFT Display - Pentium III - FLASH
P91-4NA-140A-4A3
P91-5NA-140A-4A3
P91-4PA-140A-4A3
P91-5PA-140A-4A3
P9 RS (Remote System Version) Common Configurations
Model #
No Display - Celeron - FLASH
No Display - Pentium III - FLASH
P9R-0NA-140A-4A3
P9R-0PA-140A-4A3
B
Description
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
309
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
HMI & Machine Control
Industrial PCs
PC5, PC10, PC12, PC15
and RC Industrial PCs
CTC Industrial PCs are modular workstations that supply full
functionality and open PC architecture to run any Windows or
DOS package, and have the same rugged design as CTC’s
standard PowerStation. These PCs includes a range of options
to meet the needs of any factory floor application - from a
compact 10" unit up to a 15" large screen PC. You can select
from display types, expansion and storage capabilities to get
the right PC for your application. There are even Remote
Computers (RC) available (without display) in which an enclosed back shell can be mounted in an enclosure and cableconnected to one of CTC’s flat panel industrial monitors.
The PC5 Function Key PC model includes arrows for cursor
control and features 40 function keys (20 plus Shift) for
operators who prefer traditional function key operation.
Features include: Compact FLASH storage media, built-in
Ethernet port and a NEMA 4/4X rating. These Industrial PC
PowerStations are higher-end units that supply full functionality
and open PC architecture to run any Windows or DOS
package, and have the same rugged design as CTC’s standard
PowerStation.
Ordering Information
* Does not denote display size for PC5 models
PC10/PC12/PC15 Common Configurations
Description
Model #
10" Color TFT - Pentium - Hard Drive
10" Bright Color TFT - Pentium - Hard Drive
12" Color TFT - Pentium - Hard Drive
15" Color TFT - Pentium - Hard Drive
PC10-2T2-8DA-AD3
PC10-2H2-8DA-AD3
PC12-2T2-8DA-AD3
PC15-2T2-8DA-AD3
Function Key (PC5) Common Configurations
Description
Model #
10" Bright Color TFT - Pentium - Hard Drive - Touchscreen
PC51-2H1-DD1-AD3
RC (Remote Computer Version) Common Configurations
Description
Model #
No Display - Pentium - Hard Drive
RC00-202-8DA-AD3
310
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Industrial PCs
HMI & Machine Control
Features
Values
10" Display
(PC10 & PC5)
Type
Color
Resolution
Screen Size
Flat Panel - TFT
N/A
VGA (640 x 480)
10.4" (264 mm) Diagonal
10" Display (PC12)
Type
Color
Resolution
Screen Size
Flat Panel
Color TFT
SVGA (800 x 600)
12.1" (310 mm) Diagonal
15" Display (PC15)
Type
Color
Resolution
Screen Size
Flat Panel
Color TFT
XGA (1024 x 768)
15.1" (380 mm) Diagonal
Operating System
PC/RC Industrial PCs
Choices include Windows 98/2000/NT/Embedded NT
CPU
Pentium
(consult factory for specific processor information)
System Memory
Standard
32 MB (minimum)
Storage Memory
Compact FLASH (Type II connectors)
128 MB Compact FLASH (minimum), (1 external & 1 internal),
(also supports MicroDrive) Compact FLASH slots,
(1 external & 1 internal), (also supports MicroDrive)
Optional (external, surface or panel mount)
EIDE Interface
(exact sizes vary - consult factory for HD capacity)
Optional 24x Super Slim CD ROM
Floppy Disk Drive
Hard Drive
CD ROM
I/O Ports
Serial
Ethernet
Parallel
Expansion Slots
• PC/104 models
• ISA/PCI models
(1) RS232/422/485
(2) RS232
10/100Base-T w/RJ45 connector
(1) 25-Pin D-sub connector (supports Bi-directional SSP/SPP/ECP)
External Video
USB
3 PC/104 cards are supported
3 slots (2 ISA 1 ISA/PCI Configurable) or (2 PCI 1 ISA/PCI configurable)
[Note: 1 PC/104 card is supported in this configuration]
(1) Analog 15-Pin D-sub connector (supports simultaneous video mode)
(2) USB Ports
User Interface
Function Key
Numeric Key
Touchscreen*
Keyboard Port
Mouse
PC5 only: 40 (20 plus shift)
PC5 only: yes
Analog Resistive (8-wire, 1024 x 1024 resolution)
1 PS/2 Keyboard port
1 PS/2 Mouse port
Package
Designed for
Temperature Range
Rel. Humidity (non-condensing)
Vibration**
Shock
NEMA 4/4X
0-50 C
5-95%
10-500 Hz, 0.5 (RMS Random); [Compact Flash units: 10-500 Hz, 1g (RMS Random)]
10G, 11 msec (operating)
30G, 11 msec (non-operating)
Cutout Dimensions:
• 10" Display***
• 12" Display
• 15" Display
9.86" (250 mm) x 12.60" (320 mm) clip mount
11.25" (286 mm) x 14.14" (359 mm) clip mount
12.40" (315 mm) x 15.9" (404 mm) clip mount
Power Requirements
AC
Maximum Power Consumption
DC
Maximum Power Consumption
90-250 VAC; 50/60 Hz (external supply only)
110 Watts
18-28 VDC
78 Watts
Agency Approval
UL,CUL,CE
Class 1 Division 2
* Not applicable to RS and RC units.
** Does not apply to MicroDrive option
*** PC5 dimensions not included (consult factory)
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
311
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
PC5, PC10, PC12, and PC15 Industrial PCs
Catalog 8000-4/USA
HMI & Machine Control
Industrial PCs
PC9 Industrial PC
CTC’s high-end industrial workstation is a powerful and
rugged PC platform for machine control and a durable, open
solution for powering PC-based factory automation into the
future. These units stand apart from the competition by offering
a variety of features and options, plus a new level of reliability
and serviceability for the plant floor. The PC9 is available with
either a 12" or 15" color TFT display for large screen applications. Features like field replaceable bulbs, hard drive, CDROM, floppy drive and CPU board make these units easy to
maintain and troubleshoot. Plus the unique design makes them
a powerful and maintainable PC solution for plant floor applications.
There are a variety of PC9 PowerStation configurations
available; some of the workstation’s features are listed here.
• 12" SVGA (800 x 600), color TFT display or 15" XGA (1024
x 768), color TFT display
• Celeron/Pentium III
• Compact FLASH and/or Hard Drive storage
• 32x CD-ROM drive
• 3.5" floppy drive
• 3 RS232 serial ports, 1 RS232/422/485 serial port
• 10/100 base-T Ethernet port, 2 USB ports, 1 parallel port
• 2 ISA and 1 PCI or 3 ISA slots
• Designed for NEMA 4/4X
• Analog resistive touchscreen
• Field replaceable hard drive, CD-ROM and floppy drive
• Field upgradable NLX CPU board
PC9 Remote Computer Version
CTC has developed a powerful, new remote PC that is based
on the new PC9 hardware platform. Now you can get all of the
power, expandability and serviceability of the PC9 in a Remote
Computer that can be mounted in an enclosure and cableconnected to one of our 12" or 15" Industrial Flat Panel
Monitors. This configuration offers a remote solution with a
Celeron or Pentium III processor up to 1 GHz.
312
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Industrial PCs
HMI & Machine Control
Features
Values
Display
Type
Backlight
Color
Resolution
Size
Flat Panel
Cold Cathode Fluorescent Tube
TFT
SVGA (800 x 600) or XGA (1024 x 768)
12.1" or 15.1" Diagonal
CPUs
Celeron; Pentium III
(consult factory for specific processor information)
System Memory
Standard
32 MB SDRAM DIMM (minimum)
Storage Memory
Compact FLASH cartridge
PCMCIA FLASH Adapter
FLASH Card
Hard Disk Card
SRAM Ca
D-ROM Drive
Floppy Disk Drive
Hard Drive
16MB compact FLASH (minimum)
Via 3rd Party
Via 3rd Party Adapter Board
Via 3rd Party Adapter Board
Via 3rd Party Adapter Board
32x (min.) CD-ROM (standard)
3.5", 1.44 MB, Side Access (standard)
EIDE Interface (consult factory for HD capacity)
I/O Ports
Serial
(1) RS232/422/485 (isolated)
(3) RS232
10/100 Base-T Ethernet Controller
RJ45 Interface
2 Ports
Bi-directional IBM Enhanced
2 ISA/1 PCI or 3 ISA Slots (user configurable)
ESS AudioDrive Sound Controller
SoundBlaster Pro Compatible Sound Interface
External mini audio stereo jack
Ethernet
USB
Parallel
Expansion Slots
Sound
User Interface
Function Key
Numeric Key
Touchscreen
Keyboard Port
Mouse Port
Onscreen
Onscreen
Yes (analog resistive)
PS/2 Keyboard (AT-style adapter cable included)
PS/2 Mouse (AT-style adapter cable included)
Package
Designed for
Temperature Range
Rel. Humidity (non-condensing)
Vibration
Shock
NEMA 4, 4X
0-50 C (for 850 MHz CPU and lower)
5-95%
0.25g rms
10G, 11 msec (operating)
30G, 11 msec (non-operating)
12" - 27.76 lbs. (12.59 Kg)
15" - 31.12 lbs. (14.12 Kg)
12" - 12.1" x 15.1" x 10.00" (308mm x 383mm x 254mm)
15" - 13.3" x 16.8" x 10.20" (338mm x 427mm x 259mm)
Weight
Overall Size (HxWxD - Behind Panel)
Power Requirements
AC
Maximum Power Consumption
AC (90-260V) autoranging
120 Watts
Agency Approval
UL/CUL/CE
(Class 1 Div 2 optional)
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
313
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
PC9 Industrial PC
Catalog 8000-4/USA
HMI & Machine Control
Industrial PCs
Ordering Information
P
Family
9
-
Touchscreen
Display CPU DRAM
-
1
-
Expans. Primary Second
Storage Storage
O.S.
4
A
Second Power Agency
Drive
PC9 Common Configurations
Description
Model #
12" TFT Display - Celeron - Hard Drive
15" TFT Display - Celeron - Hard Drive
12" TFT Display - Pentium III - Hard Drive
15" TFT Display - Pentium III - Hard Drive
P91-4NA-1A0J-4A3
P91-5NA-1A0J-4A3
P91-4PA-1A0J-4A3
P91-5PA-1A0J-4A3
PC9 RC (Remote Computer Version) Common Configurations
Description
Model #
No Display - Celeron - Hard Drive
No Display - Pentium III - Hard Drive
P9R-0NA-1A0J-4A3
P9R-0PA-1A0J-4A3
314
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Industrial Monitors
HMI & Machine Control
Industrial Monitors
These sleek, high-resolution Industrial Monitors enhance the
overall look and functionality of your machine. Available in 12"
or 15" displays, both models feature a lightweight displays with
multiple mounting options.
• 12" SVGA (800 x 600), or 15" XGA (1024 x 768)
• Advanced video image autosizing for lower resolutions
• Analog resistive touchscreen
•
•
•
•
•
•
•
Serial touchscreen interface
Optional cable lengths - 6', 15', 25', 50'
Video frequency detect
24 VDC power (optional AC brick)
On-screen display control
Rear button control for on-screen display
Field replaceable bulbs
B
12" and 15" Industrial Monitors
Features
Values
12" Display
Type
Backlight
Color
Resolution
Size
Flat Panel
Cold Cathode Fluorescent Tube
TFT
12” SVGA (800 x 600)
12.1” (310 mm) Diagonal
15" Display
Type
Backlight
Color
Resolution
Size
Flat Panel
Cold Cathode Fluorescent Tube
TFT
15” XGA (1024 x 768)
15.1” (380 mm) Diagonal
User Interface
Touchscreen
Video Controls
Analog Resistive
On Screen Display (OSD) controlled by rear panel buttons
Package
Designed for
Temperature Range
Rel. Humidity (non-condensing)
Vibration
Shock
NEMA 4, 4X
0-50°C
95%
10-500 Hz, 0.5g (RMS)
10G, 11 msec (operating); 30G, 11 msec (non-operating)
12" Display
Weight / Size (H x W x D)
14.6 lbs. (6.6 Kg) / 12.1” x 15.1” x 3.6”; 308 mm x 383 mm x 91 mm
15" Display
Weight / Size (H x W x D)
17.2 lbs. (7.8 Kg) / 13.3” x 16.8” x 3.8”; 338 mm x 427 mm x 96 mm
Power Requirements
AC - Maximum Power Consumption
DC - Maximum Power Consumption
90-260 VAC; 50/60Hz (Ext.Opt.), 50 Watts maximum
20-36 VDC, 30 Watts maximum
Agency Approval
CE, UL/CUL
Class 1 Div 2
Ordering Information
Industrial Monitor Common Configurations
Description
Model #
12" Color TFT Display
15" Color TFT Display
PM1-4A1-XD3
PM1-5A1-XD3
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
315
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
MachinePoint™ I/O
HMI & Machine Control
I/O for MachineLogic
MachinePoint™ I/O is CTC’s remote I/O system for connecting
field devices to MachineLogic PC-based control through an
industrial fieldbus. It is part of a bundled solution, giving you a
single source for machine control, HMI, workstations and
fieldbus I/O.
CTC’s MachineLogic and MachinePoint work together to
provide a systems solution for machine control. Although other
third party I/O products work with MachineLogic, MachinePoint
I/O offers you more features (such as replaceable circuitry) than
many other solutions. Plus, you’ll benefit because the
MachineLogic and MachinePoint I/O combination has already
been factory tested to work together as an integrated solution
for machine control applications.
MachineLogic communicates to the I/O through a fieldbus
option (Profibus or DeviceNet) or Ethernet I/O (ModbusTCP/IP).
You can choose one of CTC’s buscoupler products to read the
protocol, and then select from several I/O solutions to handle
your machine inputs and outputs.
CTC offers two models to meet your specific project needs:
the Standard Buscoupler model (for applications that require
more advanced features such as remote diagnostics) or the
Economy Buscoupler (same performance as the standard
buscoupler, but at a lower cost).
Economy Buscoupler Features
•
•
•
•
Modular I/O
MachinePoint Modular I/O offers a variety of benefits, including
a unique replaceable circuitry feature that allows modules to be
replaced without having to disconnect field wiring. Modular I/O
can accommodate up to 6 modules per buscoupler.
Modular I/O Features
•
•
•
•
•
•
•
•
Standard Buscoupler Features
•
•
•
•
•
•
•
4 character display
Keypad for advanced features
Diagnostic features
Service functions
Error code display
Mode operation access
Single stepping/single cycling
Analog or digital I/O products
Opto-isolation at fieldbus connection
Full range of addresses for Profibus
Easy error code indication
Fast/easy setup and commissioning
No software required
Low cost analog I/O
Reset I/O to “zero” or “last known” state on bus failure
Compact I/O
•
•
•
•
316
Automation
“On module” diagnostics
Operating Mode display
Remote forcing
Remote Run/Stop capability
Incorporates buscoupler and I/O into one package
Suitable for small I/O count nodes
Supports Profibus and DeviceNet
No analog I/O supported
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
MachinePoint™ I/O
HMI & Machine Control
Ordering Information and Part Numbers
Bus Interface
Model #
Buscoupler Ethernet
Buscoupler Profibus-DP
Economy Buscoupler Profibus-DP
Buscoupler DeviceNet
Economy Buscoupler DeviceNet
W83-034-0000-1
W83-030-0000-1
W83-030-0001-1
W83-032-0000-1
W83-032-0001-1
Bus 24 VDC I/O and Interface*
Model #
Compact 16I Profibus-DP
Compact 8I/O Profibus-DP
Compact 16O Profibus-DP
Compact 8I 8I/O Profibus-DP
Compact 16I DeviceNet
Compact 8I/O DeviceNet
Compact 16O DeviceNet
Compact 8I 8I/O DeviceNet
W83-030-1000-1
W83-030-1100-1
W83-030-1200-1
W83-030-1300-1
W83-032-1000-1
W83-032-1100-1
W83-032-1200-1
W83-032-1300-1
24 VDC I/O**
Model #
Digital 16 I
Digital 8 I/O
Digital 16O
Digital 8I 8I/O
DC 2 amp Digital Output
Input, NPN Support 24 VDC
W83-035-3000-1
W83-035-3100-1
W83-035-3200-1
W83-035-3300-1
Consult Factory
Consult Factory
AC I/O**
Model #
230 VAC - 4 Inputs
115 VAC - 4 Inputs
W83-035-5005-1
W83-035-5000-1
Relay**
Model #
Relay Output - 4 SA/250V**
W83-035-5200-1
Analog**
Model #
Analog 4I +/- 10V
Analog 4I 0..10V
Analog 4I 20mA
Analog 4I/4O +/- 10V
Analog 4I/4O 10V
Analog 4I/4O 20mA
Analog 4I/4O 4-20mA
W83-035-4000-1
W83-035-4001-1
W83-035-4010-1
W83-035-4100-1
W83-035-4101-1
W83-035-4110-1
W83-035-4111-1
Specialty**
Model #
Specialty Module 4I Pt100/Pt1000 (RTD Input)
Specialty Module 4I Type J/K Thermocouple
Specialty Module 4I Counter
Specialty Module 4I Quadrature Inputs
W83-035-4040-1
W83-035-4050-1
W83-035-5400-1
W83-035-5410-0
B
MachinePoint I/O Products
* Expansion Modules are not compatible with Compact I/O family.
** Modular I/O is not compatible with Compact I/O family.
For complete specifications for each I/O module, please visit www.ctcusa.com.
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
317
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
HMI & Machine Control
Human-Machine Interface
MotionPanel™ for the 6K
Controller and Gemini
Drive/Controllers
Cut Your Motion/HMI Setup Time From
Hours To Minutes
Features
With MotionPanel’s menu-driven interface, you can manage
multiple 6K motion programs without having to write and
debug additional code. Unlike two and four line alphanumeric
displays, MotionPanel provides easy-to-read touchscreens
(optional color displays are available) with more understandable
menus for the user. With the Windows-based Interact development software, you can even customize panels to simplify and
enhance screens for the operator. Try doing that with a
proprietary alphanumeric display device!
This PC-based flexibility, combined with high speed Ethernet
communications, provides the most advanced, easy-to-use
motion/HMI package available for machine control today!
• Automatically detects up to 8 axes of 6K motion
• Automatically detects digital and analog expansion I/O
• Instantly uploads motion programs from solid-state
Compact FLASH disk - including scaling
• PC-based hardware/software with an upgrade path to
advanced HMI functionality
Software
Plug and Play Setup
1.
2.
3.
4.
Connect Ethernet cable.
Power up MotionPanel
Enable Compumotor 6K Ethernet
connection
Touch the pre-configured panels
and go!
•
•
•
•
•
•
•
•
PC-Based, Factory-Hardened Platform
• 6" Flat Panel Computer
• Easy Field Maintenance
• 1/4 VGA Monochrome or Color STN Display
• NEMA 4, 4x
Compact Flash Storage
• MotionPanel and 6K Program Backup
• 8 MB capacity
• Accessible from Outside of Unit
• Eliminates the Need for Serial Downloads
Communications
•
•
•
•
318
Automation
On-line Diagnostics in Graphical Format for Easy Maintenance
One-Touch 6K Backups with Download/Upload to
MotionPanel - with Scaling!
Brick I/O Setup and Easy to Read Status Information
Clear Layout of Task Status Information
Ability To Test Applications Without Downloading
On-line Help Provided for Each Panel
Includes MachineShop for MotionPanel Software for Easy
Customization of Panels [TR6]
Seamless Upgrade Path to CTC’s Interact with Advanced
HMI Functionality
High Speed Connections for Multiple 6Ks
Ethernet Port
2 Serial Ports (1-RS232 & 1 RS 232/422/485)
1 Parallel Port
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Human-Machine Interface
HMI & Machine Control
Compatible Compumotor Controllers
For complete information on the 6K controller, please see
the Controller section of this catalog.
Compumotor controllers compatible with MotionPanel HMI include the
6K Controller (above), the GT6K Drive/Controller (below, left), the GV6K Drive/
Controller, the GV6 Drive/Controller (below, right) and GT6 Drive/Controller.
B
For complete information on the Gemini GV6K, GT6K,
GV6 or GT6 drive/controllers, please see the Gemini
product information in both the Servo Drive and Stepper
Drive sections of this catalog.
Ordering Information
MotionPanel Configurations
Description
Model #
Mono LCD - FLASH
Color STN - FLASH
PMP-014DM
PMP-314DM
Adding Options to an Existing MotionPanel Runtime
The base MotionPanel unit includes Runtime software for Interact’s Panel Toolkit Module (PTM). To add alarming and free-form
graphics functionality, purchase the MotionPanel upgrade that includes Runtime software for Interact’s Graphics Monitoring
Module (GMM) and Alarm Management Module (AMM). Adding this option converts the base MotionPanel unit to a P1 Runtime
system.
Description
Model #
MotionPanel Upgrade to P1 (NET, GMM, AMM)*
PP1-5160
* MotionPanel Upgrade is for runtime software only. MachineShop
Development (MSP-1N00-P or equivalent) must be purchased/used to
create NET, AMM and GMM functionality and use additional communications drivers.
For More Information on HMI & Machine Control Products, Call 1-800-233-3329.
319
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com