Parker Compumotor APEX615 Series, Installation Manual

Page 1: ...nderutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In...

Page 2: ...Fa ul t Re ge n Ac tiv e To rq ue Cm d Te st Po in t Offs et Ba lanc e Ta ch Out pu t Ca lib ra tio n Sh ield Iso Gnd Z Z B B A A 5 V External Encoder Input 5 V Iso Gnd Rx Tx Sh ield RP 240 RS 232 Rx...

Page 3: ...to personnel North America and Asia Compumotor Division of Parker Hannifin 5500 Business Park Drive Rohnert Park CA 94928 Telephone 800 358 9070 or 707 584 7558 Fax 707 584 3793 FaxBack 800 936 6939 o...

Page 4: ...Calibration 70 Aligning the Resolver 70 Commutation Test Mode 71 Returning the APEX615n 71 Appendix A Servo Tuning 73 Appendix B Reducing Elec Noise 91 Appendix C Motor Specifications 95 Appendix D L...

Page 5: ...es with LVD you must follow the additional procedures described in Appendix D under LVD Installation Instructions If you do not follow these instructions the protection of the product may be impaired...

Page 6: ...ions DIP switch settings motor current device address autobaud feature Changing the COM 2 port from RS 232C to RS 485 Mounting the APEX615n Connecting all electrical components includes specifications...

Page 7: ...014533 01 Cable Jumper 2 included for AC power connector 71 015237 01 22 AWG 2 c c Yellow 4 included Jumper Wires 44 011061 01 22 AWG 8 c c White 1 included Jumper Wire 44 015830 01 This installation...

Page 8: ...Mount the APEX615n 4 Connect all electrical system components 5 Test the installation 6 Mount the motor and couple the load 7 Tune the APEX615n servo controller 8 Program your motion control function...

Page 9: ...340 VDC nominal 420 VDC maximum APEX6152 340 VDC nominal 420 VDC maximum APEX6154 340 VDC nominal 420 VDC maximum Frequency APEX6151 0 400 Hz fundamental 15 KHz PWM APEX6152 0 400 Hz fundamental 8 KH...

Page 10: ...to 5V to source current or connect IN P to Iso GND to sink current Voltage range 0 24V Triggers TRG A and TRG B Switching voltage levels based on V_I O internal 6 8 K pull ups to AUX P terminal connec...

Page 11: ...8 SW3 APEX6151 DIP Switch Location with Cover Closed and Open D A N G E R HIGH VOLTAGE L1 L2 L3 Earth Earth Control L1 Control L2 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3...

Page 12: ...7 8 1 2 3 4 5 6 7 8 SW 1 1 8 SW 2 1 8 SW 3 1 8 OFF APEX6151 DIPs APEX602 APEX603 SM231A SM232A SM233B 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 SW 1 1 8 SW 2 1 8 SW 3 1 8 OFF 1 2 3 4 5 6 7 8 1...

Page 13: ...OFF 6 4 5 OFF OFF OFF ON ON OFF ON OFF ON OFF 8 7 OFF ON ON ON ON OFF OFF ON ON ON ON 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 SW 1 1 8 SW 2 1 8 SW 3 1 8 OFF APEX6152 DIPs OFF OFF OFF 4 5 ON ON ON OFF ON OFF...

Page 14: ...OFF OFF ON ON ON ON 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 SW 1 1 8 SW 2 1 8 SW 3 1 8 OFF APEX6154 DIPs OFF OFF OFF 4 5 ON ON ON OFF ON OFF OFF OFF 7 8 ON ON ON OFF ON OFF 6 ON RESERVED POLE PAIR NUMBER RES...

Page 15: ...nal resistors Typically do this for a single unit or for the last unit in a multi drop If these resistor values are not appropriate for your application set the switches to OFF and connect your own ex...

Page 16: ...microprocessor The other is mounted within the power bridge If the internal temperature is too high perhaps because of blocked airflow a fan that has stopped working or external ambient temperatures...

Page 17: ...ting screw and this slot to help provide additional electrical grounding between the APEX615n and the mounting surface The drive must also be grounded through the Earth terminal on the AC power connec...

Page 18: ...ches millimeters A P E X 6 1 5 2 10 750 273 Unpainted for Grounding APEX6154 5 875 149 2 3 000 76 2 4X clearance for 10 M5 mounting screw 10 750 273 1 000 25 4 0 33 8 4 15 375 390 5 16 250 412 7 14 25...

Page 19: ...S2 Blk S3 Gr n S4 Blu R1 Br n R2 Wh t MT Ye l MT Or g Flt Re lay Flt Re lay NC NC Re se t Gn d NC En ab le In Fa ult Ou t Gn d NC NC Ta ch Ou t Gn d 1 5 V Gn d 15 V En ab le Di sa ble Br idg e Fa ult...

Page 20: ...and other equipment should be no less than 0 50 inches 12 7 mm Do not mount the APEX615n directly below heat sensitive equipment Large heat producing equipment such as transformers should not be moun...

Page 21: ...tor Encoder Connector Resolver Connector APEX6151 Compumotor Offset Balance Tach Output Calibration Torque Cmd Test Point Enable Disable Bridge Fault Drive Fault Motor Fault Over Voltage I2 T Limit Re...

Page 22: ...5V External Encoder Input Rx Rx Tx Tx Iso Gnd COM 2 COM 1 Rx Tx Iso Gnd Compumotor Rx Tx Shld 5V Iso Gnd Cos Sin Ref Programmable Inputs Outputs Encoder Output I 2 T Lim it External Encoder Input COM...

Page 23: ...l terminals labeled Shield excluding the Shield terminal on the Resolver connector Includes the terminal labeled Shld on the COM 2 port when it is used for RS 232 communications Motor Gnd Motor Ground...

Page 24: ...motor Shld Iso Gnd Auxiliary Iso Gnd Chassis Ground Shield Motor Ground Isolated Ground Earth Analog Ground Earth Mounting Slot Note Grounding connections shown on COM 2 port are for RS 232 communicat...

Page 25: ...ht row of connectors connect the internal grounds together by placing a jumper between Iso GND and GND As an example the next drawing shows the output OUT A controlling the RESET input on the Drive Au...

Page 26: ...er its terminals are labeled L1 L2 and L3 or L1 and L2 on the APEX6151 The other system provides low voltage power to the power amplifier s controller and the 6000 controller its terminals are labeled...

Page 27: ...Iso Ground Triggers Programmable I O Iso Gnd 5V isolated COM 1 COM 2 Limits You must connect AC power to both L1 L2 L3 and Control L1 Control L2 or to both L1 L2 and Control L1 Control L2 on the APEX6...

Page 28: ...drive to when the Drive Fault condition is communicated to the controller due to the time necessary to dissipate power from the drive bus capacitor This power dissipation rate is situation dependent W...

Page 29: ...A slow blow type Littelfuse p n 326 025 or equiv APEX6151 240 VAC 12 15A slow blow type Littelfuse p n 326 015 or equiv APEX6152 240 VAC 12A slow blow type Littelfuse p n 326 012 or equivalent APEX615...

Page 30: ...esistance is close within 10 to the characteristic impedance of the cable Zo no further adjustment of resistor values is required Example Assumptions The cable s characteristic impedance Zo 120 Rc and...

Page 31: ...ed logic ground Z Channel signal input Z Channel signal input B Channel quadrature signal input B Channel quadrature signal input A Channel quadrature signal input A Channel quadrature signal input 5V...

Page 32: ...itch to close indicating that the load has reached the home reference position The active level default is active low can be changed with the HOMLVL command The encoder s Z channel pulse can be used i...

Page 33: ...nk at least 1mA of current ISO GND APEX615n ISO Ground 10 0 K 12 1 K 18 2 K 20 0 K LM 339 6 8 K 10 0 K Ground Connection 5 24 VDC V_I O Pulled up sourcing GND External Supply Electronic Device Out 5 2...

Page 34: ...ound Connection 5VDC IN P 5V GND APEX615n ISO GND ISO GND Pulled up to 5V Optional External Supply up to 24VDC Outputs UDK2559 4 7 K Output Connection Ground Connection 5VDC OUT P 5V GND Pulled up to...

Page 35: ...n ISO GND V1 R1 R PROGRAMMING TIP Connecting to a sinking output Set the input s active level to low with the INLVL command active low Connecting to a sourcing output Set the input s active level to h...

Page 36: ...ctor V Output 2 Ground Connection Input Ground UDK2559 4 7 K ISO GND open collector Sourcing Input Sinking Input Connection to an Inductive Load active low Output Connection OUT P 5V GND APEX615n UDK2...

Page 37: ...RP240 to the COM 1 connector and connect the RP240 s 5V lead to the 5V terminal on the I O connector In addition you will have to issue these commands to configure the APEX615n to communicate success...

Page 38: ...tage AC wiring or motor cables Reducing noise on limit and trigger inputs If you are experiencing noise problems try adding resistors to reduce noise sensitivity see illustration below Long Cable Add...

Page 39: ...d 15 V Reset Input Internal Schematic Reset Gnd NC Enable In Fault Out Gnd NC NC Tach Out Gnd 15 V Gnd 15 V 6 81K 5VDC 74HC14 47 5K 1000pF ANA GND Active Low to reset drive hold RESET input at low vol...

Page 40: ...d while ENABLE IN is not grounded motion will not occur and the error message WARNING ENABLE INPUT INACTIVE will appear in the terminal emulator See the 6000 Series Software Reference for information...

Page 41: ...tput 10V at 15mA max Use DIP Switch 3 position 5 to scale output OFF 1V 1000 rpm for one speed resolvers ON 1V 1000 rpm for two speed resolvers 15V Output Internal Schematic Reset Gnd NC EnableIn Faul...

Page 42: ...er Output circuit and of the Hall Effect Input circuit are shown in the next sections Encoder Output to External Devices The encoder output can be used to send information to an external device In mul...

Page 43: ...s are translated into 4096 counts as the next figure shows Channel A Channel B Quadrature Detect Time 5 counts 5 counts 20 counts Channel A leads Channel B for clockwise motor shaft rotation Direction...

Page 44: ...tor position It derives encoder signals from the resolver inputs and sends the encoder signals out through the Encoder Output connector as described in the previous section Resolver Connector Jumpers...

Page 45: ...AWG 4 mm2 Shield Stator 3 Stator 1 Stator 2 Stator 4 Rotor 1 Rotor 2 Motor Temp Motor Temp Fault Relay Fault Relay No Connection No Connection Function Uninsulated Red Black Green Blue Brown White Yel...

Page 46: ...tput and illuminate the red LED labeled Motor Fault For APEX Series motors connect the yellow wire in the resolver cable to MT Connect the orange wire to MT For SM Series motors both wires are yellow...

Page 47: ...ay coil and holds the relay closed The relay is rated for 5 amps at 24VDC or 120VAC RESOLVER Connector Internal Schematic Shield Red Black Green Blue Brown White MT MT Flt Relay Flt Relay NC NC 5VDC F...

Page 48: ...5A at 24VDC or 5A at 120VAC Relay Type Normally Open Internal Schematic APEX615n Fault Relay with Mechanical Brake 24VDC is applied through the fault relay terminals to one of the flying leads on the...

Page 49: ...rn Wht M T M T Flt Relay Flt Relay Flt Relay NC NC Encoder Output Out P In P Aux P Programmable Inputs Outputs Programmable Inputs Outputs 1 2 50 49 Ref Sin Cos Phase C Phase B Phase A Motor Ground Mo...

Page 50: ...Motor Cable Wire Color Phase A Orange Red Yellow Phase B Blue White Yellow Phase C Gray Black Yellow Motor Ground Green Green Yellow Shield Unshielded Unshielded Motor Ground and Shield are connected...

Page 51: ...abeled Regen Active located on the APEX615n s front panel will be illuminated See Chapter 2 Troubleshooting for additional information about the regeneration LEDs See Appendix G for information on how...

Page 52: ...ed in your ship kit Both provide terminal emulation and program editor features Motion Architect is more popular because of its graphical interface and its ensemble of programming tools Using Motion A...

Page 53: ...ockwise direction using the default motor parameters A 10 0000 V 1 0000 D 4096 4 Enter the D command to change the move direction to counterclockwise D 4096 5 Enter the GO command to initiate motion T...

Page 54: ...l members A mechanical engineer should check the machine design to ensure that the mounting structure is adequate Use flange bolts to mount servo motors The pilot or centering flange on the motor s fr...

Page 55: ...les 1 2 76 70 0 0 06 0 00 1 5 0 0 2 76 70 0 0 06 0 00 1 5 0 0 0 228 5 80 thru four holes equally spaced on 2 953 75 00 Dia B C 0 197 5 00 0 433 11 00 Keyway Detail 0 551 0 0003 0 0001 14 00 0 008 0 00...

Page 56: ...P 4 holes equally spaced on 3 937 100 0 Diameter B C 0 69 17 5 Motor Receptacle 3 62 92 00 0 197 0 000 5 0 0 0 Square 0 276 0 014 0 000 7 00 0 36 0 00 Dia thru four holes equally spaced on 3 937 100 0...

Page 57: ...48 164 093 2 36 375 9 54 79 MIN 20 0 9 61 244 2 A 0014 A 0 003 TIR A 003 TIR 08 035 08 2 362 0 0005 0 0003 60 00 0 012 0 007 1 53 38 9 BRAKE OPTION 433 11 00 429 10 90 197 5 00 196 4 97 KEYWAY DETAIL...

Page 58: ...ced on 3 937 100 00 Dia B C Resolver and Thermostat Receptacle Motor Receptacle 3 62 92 00 Square 0 197 0 000 0 014 0 000 0 36 0 00 0 197 5 00 0 196 4 97 0 433 11 00 0 429 10 90 KEYWAY DETAIL Motor AP...

Page 59: ...A 369 354 9 36 9 00 Dia thru four holes equally spaced on 5 118 130 00 Dia B C Resolver and Thermostat Receptacle Motor Receptacle 3 98 0 08 101 00 2 0 3 04 77 10 4 53 115 00 0 15 0 00 0 3149 8 000 0...

Page 60: ...ed on 6 496 165 00 Dia B C Resolver and Thermostat Receptacle Motor Receptacle 5 23 0 08 132 9 2 0 3 93 99 8 5 59 142 00 KEYWAY DETAIL 3 3 0 0 0 69 17 5 0 009 0 004 0 13 0 00 0 10 0 040 0 0006 0 0004...

Page 61: ...rade your system s performance The three misalignment conditions which can exist in any combination are illustrated below The type of misalignment in your system will affect your choice of coupler des...

Page 62: ...cannot compensate for any misalignment They should be used only if the motor or load is on some form of floating mounts that allow for alignment compensation Rigid couplings can also be used when the...

Page 63: ...Create blocks or lines of 6000 controller code or copy portions of code from previous files You can save program editor files for later use in BASIC C etc or in the terminal emulator or test panel Te...

Page 64: ...ror message and debug tools Technical support Solutions to common problems RS 232C troubleshooting Faults caused by excessive regeneration Current foldback Offset balance adjustment Aligning the resol...

Page 65: ...also prevent you from duplicating your testing efforts If you are having difficulty isolating a problem be sure to document all occurrences of the problem along with as much specific information such...

Page 66: ...mmand Note 3 This fault condition is not latched It indicates that the APEX615n is in current foldback with its output current limited to the continuous current level An I2T Limit usually indicates th...

Page 67: ...d RESET is a software reset it resets the controller functions within the APEX615n The two reset functions are independent and do not directly affect each other This means that if you use the RESET in...

Page 68: ...on error 1 Issue DRIVE1 command 2 Issue DRIVE1 command LEDs ENABLE LED is off 1 No AC power 1 Check AC power Missing counts from feedback device 1 Improper wiring 2 Feedback device slipping 3 Feedback...

Page 69: ...IN P or AUXP input pullup not connected 2 If external power supply is used the grounds must be connected together 3 Improper wiring 1a When inputs will be pulled down to 0V by an external device conn...

Page 70: ...ted to COM 2 issue PORT2 and DRPCHK commands If RS 485 connected to COM 2 issue PORT2 and DRPCHK commands RS 232 Echo may be disabled enable with the ECHO1 command If using an RS 232 connection betwee...

Page 71: ...continuous power dissipation capabilities of the regeneration resistor have been exceeded When the resistor is on and dissipating power its temperature rises When the resistor turns off its temperatur...

Page 72: ...dissipation occurs at the moment the resistor turns on The peak power value is determined by the size of the resistor and the voltage across it APEX10 Peak Power V2 R 390VDC 2 150 1000W 1KW As soon a...

Page 73: ...ln 1 Icontinuous Iactual 2 Three variables affect this equation Icontinuous is the continuous current set by DIP switches Time Constant is the motor s time constant set by DIP switches Iactual is the...

Page 74: ...le hardwired limits LH 4 Disable monitoring of maximum allowable position error SMPER 5 Set all servo gains to zero SGP SGI SGV SGAF SGVF CAUTION If there is little or no load on the motor shaft any i...

Page 75: ...GV SGAF SGVF 4 For 2 pole pair motor Set offset voltage to negative one half volt SOFFS 5 For 3 pole pair motor Set offset voltage to positive one half volt SOFFS 5 5 Enable the APEX615n drive DRIVE1...

Page 76: ...set the servo gains to zero SGP SGI SGV SGAF SGVF Returning the APEX615n Step 1 Record the serial number and the model number of the defective unit and secure a purchase order number to cover repair c...

Page 77: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 78: ...e value of the control signal output The numerical terms of the equations consist of the current commanded and actual position values plus several values from the previous sampling period and a set of...

Page 79: ...produces motor current that is proportional to the voltage level of the analog signal It is possible that the digital control signal calculated by the control algorithm can exceed the 10V limit When t...

Page 80: ...time the position response see further discussion under Servo Response Terminology To view the actual position use the TFB Transfer Position of Feedback Device command the response represents the act...

Page 81: ...es is due to damping which is the suppression or cancellation of oscillation Response Description Profile position time Unstable Instability causes the position to oscillate in an exponentially diverg...

Page 82: ...e integral gain action trying to compensate for a position error that persists too long SGP Proportional Feedback Gain Sets the proportional gain in the PIV F servo algorithm SGSET Save a Set of Servo...

Page 83: ...ion intermediate position setpoint TPER and PER Position Error Transfers or assigns compares the error between the commanded position TPC and the actual position TFB TPE or TANI as measured by the fee...

Page 84: ...ory underdamped or in some cases unstable NOTE The proportional feedback gain SGP should never be set to zero except when open loop operation is desired Integral Feedback Control SGI Using integral fe...

Page 85: ...city Feedback Control SGV When velocity feedback control is used the control signal is proportional to the feedback device s velocity rate of change of the actual position The Servo Gain Velocity SGV...

Page 86: ...limit on how high the velocity feedforward gain SGVF can be set except when it saturates the control output tries to exceed the APEX615n s analog control signal range of 10V Acceleration Feedforward C...

Page 87: ...own the APEX615n during the tuning process for instance if the system becomes unstable or experiences a runaway issue the DRIVE command Step 1 Turn on AC power to energize the APEX615n Step 2 Use a co...

Page 88: ...determining the proper SSFR value is to first select the slowest servo sampling frequency that is able to give a satisfactory response This can be done by experiment or based on the closed loop bandw...

Page 89: ...ation to 999 units sec2 V3 Set velocity to 30 units sec D1 Set distance to 100 units b Start with an SGP command value of 0 5 SGP 5 or SGP 5 c Enter the GO1 or GO 1 command depending on which axis is...

Page 90: ...GP UNTIL OR Decrease SGV UNTIL Increase SGV UNTIL OR OR Decrease SGV UNTIL STOP OR Decrease SGP UNTIL OR Decrease SGV UNTIL Increase SGV UNTIL Artisan Technology Group Quality Instrumentation Guarante...

Page 91: ...result in the SGILIM command 2nd Check whether the 615n s analog output saturates the 10V limit you can do this by observing the signal from a digital oscilloscope If it saturates then lower the integ...

Page 92: ...e plot the response is slow In the next step we should increase SGP until the response is slightly underdamped SGP 2 Commanded Position Actual Position Step 2 With SGP equal to 15 the response becomes...

Page 93: ...t step should be to try raising the SGV to damp out the overshoot SGP 85 SGV 2 3 Step 8 After raising the SGV gain to 2 4 overshoot is reduced a little but chattering reappears This means the gains ar...

Page 94: ...Mode In this mode enabled with the STRGTE command the move cannot be considered complete until the actual position and actual velocity are within the target zone that is within the distance zone defi...

Page 95: ...sful Move Completion Time Time STRGTT Timeout Period Position Velocity Commanded Actual Commanded Time Time STRGTD Distance Zone STRGTV Velocity Zone Actual Move Completed Move Completed TSTLT Actual...

Page 96: ...red heaters transmitted and power line noise Valves motors motor drives transmitted and power line noise Welders electric transmitted and power line noise Power Line Noise Power line noise is usually...

Page 97: ...Co and may be purchased by contacting the manufacturer or the stocking distributor listed at the end of this appendix The suitable motor output filters are listed below The suggested AC line filters a...

Page 98: ...the very least wires should be run in twisted pairs to limit straight line antenna effects Installing the APEX615n in a NEMA enclosure ensures protection from this kind of noise unless noise producin...

Page 99: ...se an isolation transformer for worst case 8 Filter the lines between the drive output and the motor A noise problem must be identified before it can be solved The obvious way to approach a problem si...

Page 100: ...egrees unloaded Positional Accuracy Resolver Accuracy 10 arc minutes Resolver to Digital Converter Accuracy 10 arc minutes Resolver to Digital Converter Resolution 4096 counts rev Selecting Controller...

Page 101: ...r drive with 240VAC if you use an SM Motor 0 Speed SM 231A at 120VAC SM 232A at 120VAC 150 1 05 50 0 35 250 1 77 350 2 47 oz in N m 0 2000 33 4000 67 6000 100 8000 133 RPM rps 0 Speed 300 2 12 100 0 7...

Page 102: ...ent Duty Continuous Duty 240VAC Single Phase APEX620 MO at 240VAC Speed Torque 1000 17 2000 33 3000 50 4000 67 RPM rps 4000 3000 2000 1000 28 21 14 7 0 oz in N m 0 Intermittent Duty Continuous Duty 24...

Page 103: ...l Time Constant tth minutes 30 35 40 Electrical Time Constant te milliseconds 0 31 0 39 0 41 Mechanical Time Constant tm milliseconds 13 7 8 6 7 0 Rotor Inertia J lb in sec 2 kgm 2 1E 6 0 00048 54 23...

Page 104: ...ing Capacitance to Frame 0 000898 F max 33 IP Classification 65 8 rated standard 34 Shaft Radial Play At End At Faceplate 12E 6 68E 9 7 0E 6 40E 9 in lb m N in lb m N reference reference 35 Material 5...

Page 105: ...ing Capacitance to Frame 0 00122 F max 33 IP Classification 65 8 rated standard 34 Shaft Radial Play At End At Faceplate 14E 6 80E 9 8 0E 6 45E 9 in lb m N in lb m N reference reference 35 Material 5...

Page 106: ...e 135 C 275 F C F 10 C 31 Dielectric Strength Winding to Frame 1750 VAC min 32 Winding Capacitance to Frame 0 00122 F max 33 IP Classification 65 8 rated standard 34 Shaft Radial Play At End At Facepl...

Page 107: ...ature 135 C 275 F C F 10 C 31 Dielectric Strength Winding to Frame 1750 VAC min 32 Winding Capacitance to Frame 0 00122 F max 33 IP Classification 65 8 rated standard 34 Shaft Radial Play At End At Fa...

Page 108: ...ture 135 C 275 F C F 10 C 31 Dielectric Strength Winding to Frame 1750 VAC min 32 Winding Capacitance to Frame 0 00201 F max 33 IP Classification 65 8 rated standard 34 Shaft Radial Play At End At Fac...

Page 109: ...emperature 135 C 275 F C F 10 C 31 Dielectric Strength Winding to Frame 1750 VAC min 32 Winding Capacitance to Frame 0 00205 F max 33 IP Classification 65 8 rated standard 34 Shaft Radial Play At End...

Page 110: ...135 C 275 F C F 10 C 31 Dielectric Strength Winding to Frame 1750 VAC min 32 Winding Capacitance to Frame 0 0034 F max 33 IP Classification 65 8 rated standard 34 Shaft Radial Play At End At Faceplat...

Page 111: ...ature 135 C 275 F C F 5 C 31 Dielectric Strength Winding to Frame 1750 VAC min 32 Winding Capacitance to Frame 0 0038 F max 33 IP Classification 65 8 rated standard 34 Shaft Radial Play At End At Face...

Page 112: ...75 F C F 5 C 31 Dielectric Strength Winding to Frame 1750 VAC min 32 Winding Capacitance to Frame 0 0038 F max 33 IP Classification 65 rated standard 34 Shaft Radial Play At End At Faceplate 20E 6 114...

Page 113: ...mperature 135 C 275 F C F 10 C 31 Dielectric Strength Winding to Frame 1750 VAC min 32 Winding Capacitance to Frame 0 0082 F max 33 IP Classification 65 8 rated standard 34 Shaft Radial Play At End At...

Page 114: ...earth connection Attach or remove the APEX615n Controller Drive s power plug only while input power is OFF Using an Isolation Transformer The APEX615n Controller Drive s mains voltage is limited to 24...

Page 115: ...e conductor terminal to earth complete these steps 1 Use a spade lug in combination with a star washer to make good contact with the bare metal surface of the APEX615n Controller Drive 2 Use a green a...

Page 116: ...losure should be opened only by skilled or trained service personnel Servicing the APEX Drive Changing Firmware Only skilled or trained personnel should change firmware Changing Batteries The APEX615n...

Page 117: ...be affixed to the products discussed in this user guide Symbol Description Earth Terminal Protective Conductor Terminal Frame or ChassisTerminal Equipotentiality Caution Risk of Electric Shock Caution...

Page 118: ...ecommendations are based on expertise acquired during tests carried out on each of the product types it is impossible for Compumotor to guarantee the compliance of any particular installation This wil...

Page 119: ...o be as linear as possible without doubling back on itself this can negate the effect of the filter Mount the filter within 2 inches 50mm of the drive or transformer if required and run the input cabl...

Page 120: ...z 80 135 Impedance at 100MHz 120 210 Curie temperature 130 C 130 C the device should not be operated near this temperature Handling and installing the ferrite absorbers Take care when handling the abs...

Page 121: ...move outer jacket only do not cut braid Figure 2 P Clip Installation APEX615n Servo Controller Drive Applicable Products APEX6151 APEX6152 APEX6154 Please read this in conjunction with the general con...

Page 122: ...to accommodate MS style connections or an appropriate terminal gland which can be used for this purpose in the case of MS style connectors ensure that the cable braid is in full contact with the meta...

Page 123: ...tubing Remove a section of the braided shield cable s insulation to expose the braid and tie the braid to earth using the same P clip 360 bond as shown in Figure 2 Differential signals should use twi...

Page 124: ...NC NC Reset Gnd NC Enable In Fault Out Gnd NC NC Tach Out Gnd 15V Gnd 15V ANI ANI Trg A Trg B Out A Iso Gnd 5V Out P In P Aux P V_I O Iso Gnd Home Neg Pos Remove Paint behind this area Motor cable AC...

Page 125: ...ication cabling No connection is made to the cable screen at the drive itself Fit a ferrite absorber close to the communications connector and run the cable down to the mounting panel as shown in Figu...

Page 126: ...with Cover Closed and Open Switch 1 SW 1 REGEN FAULT 1 Set this switch in the OFF position for normal operation of the APEX6151 s internal regeneration circuit For most applications this switch should...

Page 127: ...These two switches set the motor thermal time constant which the foldback circuit uses to estimate motor behavior Consult your motor specifications to determine your motor s thermal time constant The...

Page 128: ...ur motor has Hall effect sensors instead of a resolver TACHOMETER SCALING 5 This switch scales the tachometer output If you use a motor that has a single speed resolver turn this switch OFF to scale t...

Page 129: ...15 mH to 25 mH 620 630 635 640 ON OFF Reserved ON ON Switch 2 SW 2 CONTINUOUS CURRENT 1 2 3 If the APEX615n goes into current foldback it reduces its output current down to the continuous current leve...

Page 130: ...Chapter Advanced Features for more information COMMUTATION TEST MODE 3 Turn this switch OFF If you need to operate the drive in commutation test mode during a troubleshooting procedure you will turn t...

Page 131: ...1 2 6 APEX615n Installation Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 132: ...for When Do You Need an External Regeneration Resistor The APEX6151 s regeneration control circuit was designed to automatically deal with regenerated power from almost all applications Occasionally...

Page 133: ...on and average power dissipation If peak power is greater than one kilowatt or average power is greater than 50W you should install an external regeneration resistor A NOTE ABOUT UNITS We want a solut...

Page 134: ...vious equations we obtain the equation for calculating peak power Ppeak 2 vmaxT 3 2 T kT 2 R 5 2 T kT Substitute values from your application into this equation If Ppeak is less than the Peak Power Di...

Page 135: ...tion Rating the internal resistor is adequate If Paverage is greater than the Continuous Power Dissipation Rating install an external resistor Installing an External Regeneration Resistor If you insta...

Page 136: ...ically dissipate half of the excess regenerated power in the external resistor provided that it is the the value indicated above CAUTION Do not install more than one external regeneration resistor wit...

Page 137: ...nstallation Guide for the toll free number for instructions on opening the cover and disconnecting the resistor and to obtain information about designing your external resistor network Sharing the Hig...

Page 138: ...cover of manual and schematics internal closed loop operation 75 COM 2 port function 10 command servo output 75 commanded position 77 communication Motion Architect 60 serial see serial communication...

Page 139: ...I I O cabling 35 I O GND 18 19 I2T limit 62 63 70 inductance motor 126 128 inductive load connecting outputs to 33 input power frequency range 4 input power current 4 voltage range 4 inputs enable 65...

Page 140: ...5 programming debug tools 64 error messages 64 programming tools available 60 proportional feedback control SGP 80 pseudo quadrature outputs 40 Q quadrature outputs 40 R regen fault 62 68 regen resis...

Page 141: ...ulating 25 DIP switch selection 10 test system installation 48 thermal time constant 122 124 thumbwheel connections 34 timeout error 91 torque speed curves 97 transient 79 transmitted noise 95 travel...

Page 142: ...see page 10 LIMITS Home Pos Neg V_I O sets switching volt age levels internal 6 8 K pull ups through AUX P to 5V or ext 0 24V supp see pg 27 See I O Device Interface pages 29 31 HCMOS compatibility L...

Page 143: ...differential recom mended or single ended HCMOS com patible Max freq 1 2MHz Min between transitions 833 ns see page 26 COM 2 Connections see pages 25 32 Configuring for RS 485 see page 10 LIMITS Home...

Page 144: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...