null null

Catalog 8000-4/USA
Drive Selection
Drive/Controllers
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.
ua
ir
e
Compumotor Drives
Drive Selection
Motor Type
Language Type
Support Software
Robustness
SLVD
HPD
OEM770
Dynaserv G2
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)
Mnemonic
command
language
(binary format)
Parameterbased
command
(ASCII format)
Parameterbased
command
(ASCII format)
NA
NA
Motion Planner
SLVD Utility
HPD Utility
NA
G2 Utility
Moderate for light
industrial
application
Moderate for light
industrial
application
High for industrial
application
Moderate for light
industrial
application
Moderate for light
industrial
application
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
pn
e
Power Input
GV
Shaft Power
continuous @ 3000 RPM
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
Feedback Choices
Front Panel
Inputs/Outputs
92
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
Drive/Controllers
Drive/Controller Selection
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.
ua
ir
e
Why Drive/Controllers?
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
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
40W - 7.1kW
40W - 7.1kW
118W - 17kW
(@1500 RPM)
30W - 200W
NA
Encoder
Dynaserv
feedback
only
NA
NA
RS232
DeviceNet
Profibus
pn
e
Robustness
Shaft Power
continuous
@ 3000 RPM
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
ua
ir
e
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.
pn
e
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
ua
ir
e
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
pn
e
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.
Physical
•
Features
Performance
•
•
•
•
•
•
•
•
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
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
•
•
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
B
The Gemini GV
Digital Servo Drive
Catalog 8000-4/USA
GEMINI
ua
ir
e
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.
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
•
Protection
•
•
•
Drive under-voltage (brownout) protection
Drive and motor over-temperature protection
Current-foldback protection
Regeneration protection
Physical
pn
e
•
Protection, continued
Short-circuit protection – phase-to-phase and phase-toground
Inrush current protection
Drive over-voltage protection
•
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
•
•
•
•
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
ua
ir
e
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
•
pn
e
•
•
•
•
•
•
Features
Performance
•
•
•
•
•
•
•
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
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
•
•
•
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
•
•
•
•
•
•
I/O Capabilities
ua
ir
e
Connectivity
•
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
•
•
•
•
•
•
Servo
Gemini Family Summary
GV
GV6
Stepper
GV6K
GT
GT6
GT6K
CE, UL Recognition
RS232/485
Encoderless
Encoderless Stall Detect
pn
e
•
•
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
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)
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
ua
ir
e
GEMINI
GV/GV6 Common Specifications
Specifications
Drive Input Power
Voltage
Phase
Frequency
24V Keep Alive (Optional)
Drive Output Power
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
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
Inputs – GV
Enable, Reset
Neg/Pos Limits
User Fault
Encoder
Inputs – GV6
8 Programmable
Enable, Reset
Encoder
Analog Input
Outputs – 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
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)
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
pn
e
Fault, At Limit
Position Error
Analog Monitors
Encoder
Relay
12 bit, +/- 10 V
Step & Direction/CW & CCW/Encoder Tracking
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
B
Velocity and Torque Mode
Position Mode
Catalog 8000-4/USA
GEMINI
ua
ir
e
GV6K Common Specifications
GV6K Common Specifications
Specifications
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
Inputs – Onboard
8 Programmable
1 Analog
Enable, Reset
Encoder
Inputs – Expansion
(Optional)
Outputs – Onboard
6 Progammable
2 Analog Monitors
Encoder / Resolver
Relay
Outputs – Expansion
(Optional)
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
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.
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
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
pn
e
Communications
GV6K-L3
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
ua
ir
e
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
Rx- Tx(RD A) (TD A)
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
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
Motor Output Connections
MOTOR
VBUS+
L1
pn
e
U
V
Black #3
W
MOTOR FEEDBACK
L2/N
DRIVE
Black #2
W
VBUS–
Terminals: #8 (M4)
Mating Terminals: spade fork, 0.325” max width
Compumotor Cable
Color Code:
Black #1
V
DRIVE I/O
WARNING: Hazardous voltage may exist for up to
30 seconds after power is removed.
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
GV6K-H20n at 208/
240VAC 1-phase
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/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
ua
ir
e
Gemini GV6 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
Gemini
Servo
---
Profibus connector
Profibus Connector Pin Out
Pin
Name
Housing
1
2
3
4
5
6
7
8
9
Termination switch
Function
Shield
Not connected
Not connected
B-Line
RTS
GND BUS
+5V BUS
Not connected
A-Line
Not connected
Hardware address settings
Protective earth
--Positive Rx/TxD
Request to send*
Isolated GND*
Isolated +5V*
-Negative Rx/TxD
--
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
Off
Green
Red
pn
e
FB3
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
FB4
--
Green
Red
--
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
OFF
ON
OFF
ON
102
Automation
See Also:
The Profibus or DeviceNet
User Guide
for complete specifications
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
GV6K Specifications
RS-232 Connector – COM2 – Port 2
ua
ir
e
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.
COMPUMOTOR
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
pn
e
Fuses
Fuses
Fuses
N/C
L3
VBUS–
L2
L2/N
N
95 — 132VAC
95 — 264VAC
L1
L1
GV6K-U3n/6n/12n
at 120/240VAC
GV6K-L3n
at 120VAC
165 — 264VAC,
1-phase
L1
GV6K-H20n at 208/
240VAC 1-phase
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
L3
165VAC —
264VAC
3-phase
L2
L1
GV6K-H20n/H40n at
208/240VAC 3-phase
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
VBUS+
MASTER ENCODER
W
ETHERNET
Black #3
W
MOTOR FEEDBACK
Black #2
V
DRIVE I/O
Compumotor DRIVE
Servo Cable
Color Code:
U
Black #1
MOTOR
U
Motor Output Connections
V
50 Pin DRIVE I/O Connector
SERVO
WARNING: Hazardous voltage may exist for up to
30 seconds after power is removed.
If drive is faulted or disabled,
relay will open. (Typical use:
control of motor brake.)
EXPANSION I/O
+24V DC
+24V DC
When drive is enabled, it
holds relay closed.
Catalog 8000-4/USA
GEMINI
Gemini Dimensions
ua
ir
e
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)
1.00
(25.4 )
0.88
(22.2)
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)
pn
e
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
ua
ir
e
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)
pn
e
•
•
•
•
•
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
ua
ir
e
Ordering Information
Cables and Accessories
Gemini to
6K Controller
(GV only)
50-Pin
High Density
(Entire Family)
26-Pin
HighDensity
(Entire Family)
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)
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)
Part Number
Product Description
GC-26
GFB-KIT
Gemini connector with 26-pin terminal strips
26-pin Gemini connector kit
Part Number
Product Description
71-016939-10
GPDM
10' cable, RS232/485 null modem, CE(LVD&EMC)
Gemini Power Dissipation Module
pn
e
Additional
Accessories
(Entire Family)
Part Number
106
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
Cables
ua
ir
e
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
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
pn
e
U6R
Cable Sets
U12E
70GR CABLE-nn
H40R
92GR CABLE-nn
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
92GS CABLE-nn
105GS CABLE-nn
For complete motor and cable information, please
refer to the Motor Cable Table at the end of the
Servo Motors section.
● Each cable set comes with 1 motor cable and 1 feedback cable.
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.
● 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 motors with brake option, refer to the motor/cable table for
approriate cable part numbers.
107
Automation
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
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Power Level Motor
Catalog 8000-4/USA
GEMINI
Speed-Torque Curves
ua
ir
e
Motor Speed-Torque Peformance Curves
Gemini with SM motors, 16 and 23 frame, encoder feedback, 120 VAC*
SM161A with GV/6/6K-L3E
0.71
80
0.56
60
0.42
40
0.28
0.07
20
0.14
0
0
0.28
30
0.21
20
0.14
10
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)
Torque (oz-in)
Torque (oz-in)
0.71
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
0.35
50
0
0
1000
(17)
2000
(33)
3000
(50)
4000
(67)
Speed – RPM (rps)
5000
(83)
0
0
0
0
500
(8.3)
1000
(17)
1500
(25)
2000
(33)
2500
(42)
3000
(50)
0
Speed – RPM (rps)
CONTINUOUS
PEAK
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.
pn
e
•
•
•
•
80
Torque (Nm)
1.06
100
Torque (Nm)
1.41
150
NOTES:
0.85
1.76
200
0
120
SM233A with
with GV/6/6K-L3E
GV(GV6)-L3E
SM233A
2.12
250
1.13
0
Speed – RPM (rps)
SM232A with GV/6/6K-L3E
300
0
Torque (oz-in)
100
160
•
*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)
0.42
0.35
40
0
0.85
Torque (Nm)
50
120
Torque (Nm)
Torque (oz-in)
60
SM231A with GV/6/6K-L3E
SM162A with GV/6/6K-L3E
0.49
Torque (oz-in)
70
Catalog 8000-4/USA
GEMINI
Speed-Torque Curves
ua
ir
e
Motor Speed-Torque Peformance Curves
Gemini with BE motors, 16 and 23 frame, encoder feedback, 120/240 VAC*
.42
50
.35
40
.28
30
Torque (oz-in)
60
.21
20
.14
10
0
0
1000
2000
3000
Speed (RPM)
.84
100
.70
80
.56
60
.42
40
.28
20
.14
0
5000
4000
0
0
1000
2000
3000
Speed (RPM)
4000
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 (Nm)
Torque (oz-in)
BE162C with GV/6/6K-U3E
.56
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)
BE230D with GV/6/6K-U3E
Torque (oz-in)
Torque (oz-in)
.28
40
.14
20
0
0
1000
2000
3000
4000
5000
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)
4000
BE232D with GV/6/6K-U3E
150
1.05
100
.70
50
.35
0
3000
4000
5000
Torque (oz-in)
pn
e
Torque (oz-in)
1.4
400
2.8
300
2.1
200
1.4
100
.70
0
0
6000
0
1000
2000
Speed (RPM)
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
4000
5000
0
6000
Torque (oz-in)
600
3000
3.5
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
2000
0
6000
BE233F with GV/6/6K-U6E
700
1000
5000
Speed (RPM)
4.9
0
4000
400
0
6000
700
0
3000
500
Speed (RPM)
BE233D with GV/6/6K-U3E
Torque (oz-in)
3000
2000
Torque (Nm)
200
2000
1000
BE232F with GV/6/6K-U6E
3.5
Torque (Nm)
1.75
Torque (Nm)
250
1000
0
Speed (RPM)
500
2.1
0
5000
Speed (RPM)
BE231F with GV/6/6K-U3E
300
3000
0
0
6000
Torque (Nm)
.42
60
BE231D with GV/6/6K-U3E
120
Torque (Nm)
.56
80
Torque (Nm)
.70
100
PEAK (340V)
BE230F with GV/6/6K-U3E
.84
120
PEAK (170V)
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
B
0
Torque (oz-in)
40
Torque (oz-in)
Torque (oz-in)
200
Catalog 8000-4/USA
GEMINI
Speed-Torque Curves
ua
ir
e
Motor Speed-Torque Peformance Curves
Gemini with BE motors, 34 frame, encoder feedback, 120/240 VAC*
BE341F with GV/6/6K-U6E
500
3.5
400
2.8
300
2.1
2.8
2.1
300
1.4
200
.70
100
0
0
1000
2000
3000
4000
5000
1.4
200
100
0
6000
.70
0
0
1000
Speed (RPM)
3000
4000
5000
Torque (oz-in)
Torque (oz-in)
8.4
900
6.3
600
4.2
300
2.1
0
0
1000
2.1
0
1000
2000
3000
4000
5000
0
6000
Torque (oz-in)
Torque (oz-in)
0
4000
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
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)
4.2
Torque (Nm)
6.3
300
3000
3000
BE344J with GV/6/6K-H20E
.84
600
2000
2000
0
0
6000
Speed (RPM)
10.5
900
1000
BE343L with GV/6/6K-H20E
1200
12.6
1200
1.4
0
10.5
BE344L with GV/6/6K-U12E
1500
2.8
200
Speed (RPM)
1500
Speed (RPM)
1800
4.2
400
Torque (Nm)
2000
5000
Torque (Nm)
1000
4000
5.6
600
BE343J with GV/6/6K-U12E
6.3
5.6
4.9
4.2
3.5
2.8
2.1
1.4
.70
0
6000
Torque (Nm)
0
3000
800
Speed (RPM)
BE342K with GV/6/6K-U12E
900
800
700
600
500
400
300
200
100
0
2000
7.0
0
0
6000
Torque (oz-in)
400
1000
Torque (oz-in)
3.5
Torque (oz-in)
4.2
Torque (Nm)
600
Torque (Nm)
500
BE342H with GV/6/6K-U12E
BE341J with GV/6/6K-U12E
4.2
Torque (Nm)
Torque (oz-in)
600
0
6000
Speed (RPM)
Speed (RPM)
PEAK
120 VAC
MECHANICAL LIMIT
pn
e
CONTINUOUS
*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
ua
ir
e
Motor Speed-Torque Peformance Curves
Gemini with NeoMetric and J series motors, 70mm and 34 frame, encoder feedback, 120/240 VAC*
200
1.41
400
2.82
150
1.06
300
2.12
100
.71
200
1.41
0.35
50
0.35
100
0.71
0
0
0
0
.71
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
0
0
Speed – RPM (rps)
1.41
100
0
0.71
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Speed – RPM (rps)
Torque (oz-in)
200
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
NOTES:
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)
0
Speed – RPM (rps)
PEAK
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.
pn
e
•
•
•
•
120V Limit
1000
•
Torque (Nm)
2.12
0
N0704G with G/6/6K-U12E
800
Torque (Nm)
300
Torque (Nm)
Torque (oz-in)
2.82
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
3.53
400
0
0
Speed – RPM (rps)
N0702F/J0702F with GV/6/6K-U6E
500
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Torque (oz-in)
50
Torque (oz-in)
1.41
Torque (oz-in)
3.53
Torque (Nm)
500
1.06
100
0
1.76
Torque (Nm)
150
250
Torque (Nm)
Torque (oz-in)
200
N0702E/J0702E with GV/6/6K-U6E
N0701F/J0701F with GV/6/6K-U6E
1.76
*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
B
N0701D/J0701D with GV/6/6K-U6E
250
Catalog 8000-4/USA
GEMINI
Speed-Torque Curves
ua
ir
e
Motor Speed-Torque Peformance Curves
Gemini with NeoMetric and J series motors, 92mm frame, encoder feedback, 120/240 VAC*
N0921F/J0921F with GV-U6E
4.24
600
4.24
1200
8.47
400
2.82
800
5.65
1.41
200
1.41
400
2.82
0
0
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
0
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)
400
0
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
5000
(83)
6000
(100)
0
0
1000
(17)
2000
(33)
3000
(50)
4000
(67)
5000
(83)
0
Speed – RPM (rps)
21.2
11.30
2500
17.6
2000
14.1
1500
10.6
1000
7.1
500
3.5
0
0
0
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
0
Speed – RPM (rps)
pn
e
0
Torque (oz-in)
Torque (oz-in)
4000
(67)
N0924K with GV-H20E
1000 2000 3000 4000 5000 6000 7000 8000
(17) (33) (50) (67) (83) (100) (117) (133)
Speed – RPM (rps)
3000
(50)
3000
2.82
0
0
2000
(33)
Torque (Nm)
0
1000
(17)
14.12
5.65
400
N0924J with GV-U12E
Speed – RPM (rps)
8.47
800
0
1600
0
Torque (Nm)
1200
6000
(100)
17.65
N0923K/J0923K with GV-H20E
1600
5000
(83)
2000
Speed – RPM (rps)
2000
4000
(67)
2500
Torque (Nm)
5.65
Torque (Nm)
800
3000
(50)
14.12
2000
8.47
2000
(33)
Torque (Nm)
1200
1000
(17)
Speed – RPM (rps)
N0923H/J0923H with GV-U12E
11.30
1600
0
0
Speed – RPM (rps)
Torque (oz-in)
200
Torque (oz-in)
11.30
Torque (oz-in)
1600
Torque (Nm)
5.65
2.82
400
0
800
Torque (Nm)
600
N0922G/J0922G with GV-U12E
N0921G/J0921G with GV-U12E
5.65
Torque (Nm)
Torque (oz-in)
800
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
ua
ir
e
Motor Speed-Torque Peformance Curves
Gemini with M series motors, 105, 145 and 205mm frame, encoder feedback, 240 VAC*
60
6.73
40
150
16.8
100
11.2
4.48
5.60
50
20
2.24
2000 3000 4000
Speed (RPM)
5000
0
0
6000
0
M1054K with GV/6/6K-H20E
30
0
0
1000
2000
3000
4000
5000
22.4
400
44.8
150
16.8
300
33.6
6.73
100
11.2
200
22.4
3.36
50
5.60
100
11.2
Torque (Lb-in)
56.0
200
0
6000
0
0
0
0
500 1000 1500 2000 2500 3000 3500 4000
Speed (RPM)
M1454N with GV/6/6K-H40E
Torque (Lb-in)
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
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
600
Torque (Lb-in)
pn
e
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)
Torque (Nm)
500
0
Speed (RPM)
M2052P with GV/6/6K-H40E
67.3
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 (Nm)
0
500 1000 1500 2000 2500 3000 3500 4000
800
700
600
500
400
300
200
100
0
Torque (Nm)
Torque (Nm)
Torque (Lb-in)
0
0
500 1000 1500 2000 2500 3000 3500 4000
Speed (RPM)
M1455P with GV/6/6K-H40E
0
M1453L with GV/6/6K-H40E
67.3
Speed (RPM)
800
700
600
500
400
300
200
100
0
Speed (RPM)
500
5.60
0
0
6000
28.0
11.2
0
5000
250
16.8
50
4000
78.5
22.4
100
3000
600
28.0
150
2000
33.6
33.6
200
1000
300
39.2
250
0
20.2
M1454N with GV/6/6K-H20E
300
0
6000
700
Speed (RPM)
350
2.24
39.2
10.1
60
4.48
20
M1453L with GV/6/6K-H20E
13.5
90
6.73
40
350
16.8
120
8.97
60
Torque (Nm)
150
5000
Torque (Nm)
180
2000 3000 4000
Speed (RPM)
11.2
80
23.5
Torque (Nm)
Torque (Lb-in)
210
1000
Torque (Lb-in)
1000
Torque (Lb-in)
0
13.5
100
0
Torque (Lb-in)
0
Torque (Lb-in)
Torque (Lb-in)
8.97
Torque (Lb-in)
80
120
Torque (Nm)
11.2
M1054K with GV/6/6K-U12E
22.4
Torque (Nm)
100
Torque (Nm)
Torque (Lb-in)
M1053K with GV/6/6K-H20E
200
13.5
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
M1053K with GV/6/6K-U12E
120
Catalog 8000-4/USA
Introduction
ua
ir
e
COMPAX
Digital Servo Drive/Controllers
(EMC and LVD)
COMPAX Family Features
pn
e
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.
•
•
•
•
•
•
•
•
•
•
•
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
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)
* Input power range depends on COMPAX model
† Optional feature; standard on COMPAX 1000SL
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Introduction
•
•
•
•
•
•
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
•
•
•
•
•
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)
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‡
* Not available on COMPAX 1000SL
‡ Standard on COMPAX 1000SL
pn
e
•
•
•
•
•
•
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
Connectivity
Software variants available for specialized applications,
including:
Complete position-based following
Electronic cam generation and profiling
Electronic gearing
Cut-on-the-fly applications
For More Information on COMPAX Digital Servo Sytems, Call 1-800-358-9070 Today.
115
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
•
ua
ir
e
Protection
COMPAX
Catalog 8000-4/USA
Applications
COMPAX
ua
ir
e
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
pn
e
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
ua
ir
e
COMPAX
COMPAX -S (Standalone) Specifications
Performance
Resolver Accuracy
Resolution
Output Power
Voltage
Frequency Current
Current
Cont. (max rms per phase)
Peak (max rms per phase)
Power Dissipation
Input Power
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
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
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
Velocity
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)
pn
e
Outputs Analog
230-460VAC, 3-Phase
50/60 Hz
+10%, -15%
+24VDC ±10%, ripple
<1V p-p
16 amp
Physical
For More Information on COMPAX Digital Servo Sytems, Call 1-800-358-9070 Today.
117
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Parameter
Catalog 8000-4/USA
Modular Specifications
ua
ir
e
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
10 kHz
5 kHz
6.5A
11.5A
25A
50A
Peak (max rms per phase)
8.5A
17A
50A
100A
120 W
250 W
250 W
610W
Voltage
NMD10
No NMD Module
required for
COMPAX 3500M
1 amp max per brake
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
Short Circuit
Phase to phase, Phase to earth
Brownout
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)
Absolute: 8V = 6,000 rpm
pn
e
Outputs Analog
NMD20
+24VDC ±10%, ripple <1V p-p; 1 amp max per drive,
Output
Outputs Digital
5 kHz
100-480VAC 3 Phase +10%, -15%
Input—Control
Inputs
COMPAX3500M
10 kHz
Input—AC Supply
Protection
COMPAX1500M
Continuous (max rms per phase)
Power Dissipation
Power Supply
Module
COMPAX500M
650VDC from NMD power supply module; see NMD module specs below for additional info
(X8, pin 11)
Physical
Environment
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
ua
ir
e
COMPAX1000SL Dimensions
Dimensions in inches (mm)
3.35 (85)
5.73 (145.5)
COMPAX2500S
2.16 (55)
6.85 (174)
Attach with four 5mm
hex socket head screws.
7.20 (183)
COMPAX4500S and COMPAX8500S
Dimensions in inches (mm)
Dimensions in inches (mm)
5.71
(145)
3.03
(77)
10.67 (271)
8.70 (221)
12.79
(325)
0.39
(10)
1.18
(30)
Status
10.83
(275)
2.56
(65)
0.94
(24)
2.56 (65)
pn
e
0.63 (16)
5.12 (130)
3.86 (98)
Number
Value
+
Ready
Enter
Error
X6
RS232
X8
X10
13.82
(351)
14.88
(378)
Input
COMPAX S
Output
15.55
(395)
Test
Control
X9
X11
4.33 (110)
11.42 (290)
10.63 (270)
9.45 (240)
-
Attach with four 5mm
hex socket head screws.
2.56
(65)
0.43
(11)
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.
119
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
7.78 (197.5)
7.07 (180)
8.13 (206.5)
0.63 (16)
0.17 (5)
Catalog 8000-4/USA
Modular Specifications
COMPAX
ua
ir
e
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)
3.35
(85)
1.97
(50)
1.97
(50)
Mounting
plate
pn
e
3.23
(82)
1.67
(424)
3.78
(96)
17.3
(441,5)
16.1
(408)
1.67
(424)
1.97
(50)
1.97
(50)
Panel cut-out
dimensions
Mounting
plate
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
ua
ir
e
Ordering Nomenclature
COMPAX 25
SL /
S/
COMPAX 45
S/
COMPAX 85
COMPAX 2
COMPAX 5
COMPAX 15
S/
M/
M/
COMPAX 35
/
/
/
/
/
/
/
M/
M/
(Required for COMPAX 200M,
500M and 1500M)
NMD 10
NMD 20
/
Class
S or SL - Standalone unit
M - Modular unit
Application Variant
pn
e
00 - Standard drive/controller
30 - Indexing table control
60 - Following / electronic gearing
70 - Electronic cam following
Power Supply Module
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.
121
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
COMPAX 10
Catalog 8000-4/USA
NMD Power Supplies
ua
ir
e
NMD
COMPAX
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:
• Control voltage:
• Control current:
VDE0160
+24 VDC ±10%, ripple
<1V p-p
• Undervoltage protection:
DC output <80V
See ratings below
• Overvoltage protection:
Braking resistor switched in
at preset level
• Phase failure monitoring:
Red LED flashes on phase
failure, system disabled
after 40 seconds
• Standby contact rating:
0.5 A, 125V, 30 W
• Overheating protection:
Heatsink temperature >85°C
pn
e
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
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Accessories
COMPAX
ua
ir
e
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/
(Entire Family)
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)
pn
e
Part
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
For More Information on COMPAX Digital Servo Sytems, Call 1-800-358-9070 Today.
123
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
EMC Accessories
Catalog 8000-4/USA
NMD Power Supplies
COMPAX
ua
ir
e
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
For complete motor and cable information, please
refer to the Motor Cable Table at the end of the
Servo Motors section.
Cable Set
SM231AR-NMSN
SM232AR-NMSN
SM233AR-NMSN
BE230DR-NMSN
BE231DR-NMSN
BE232DR-NMSN
BE233DR-NMSN
BE341FR-NMSN
BE342HR-NMSN
BE343JR-NMSN
BE344JR-NMSN
JO341FR-NMSN
JO342GR-NMSN
JO343GR-NMSN
JO701FR-NMSN
JO702GR-NMSN
JO703GR-NMSN
NO701FR-NMSN
NO702FR-NMSN
NO703GR-NMSN
NO704GR-NMSN
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
34CX CABLE-xx
34CX CABLE-xx
34CX CABLE-xx
34CX CABLE-xx
34CX CABLE-xx
34CX CABLE-xx
34CX CABLE-xx
70CX
70CX
70CX
70CX
70CX
70CX
70CX
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
92CX
92CX
92CX
92CX
92CX
92CX
92CX
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CABLE-xx
CALL
CALL
CALL
CALL
CALL
CALL
CALL
FACTORY
FACTORY
FACTORY
FACTORY
FACTORY
FACTORY
FACTORY
pn
e
JO921JR-NMSN
JO922HR-NMSN
JO923JR-NMSN
NO921GR-NMSN
NO922JR-NMSN
NO923HR-NMSN
NO924JR-NMSN
23CX
23CX
23CX
23CX
23CX
23CX
23CX
M1053KR-KMSN
M1054KR-KMSN
M1453KR-KMSN
M1454LR-KMSN
M1455NR-KMSN
M2052PR-KMSN
M2053RR-KPTN
124
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Speed-Torque Curves
COMPAX
ua
ir
e
Motor Speed-Torque Performance Curves
COMPAX with SM motors, 23 frame, resolver feedback. 120/240 VAC
.840
100
.700
80
.560
60
.420
40
Torque (oz-in)
120
2.10
250
1.75
200
1.40
150
1.05
100
.70
50
.35
.280
20
.140
0
0
1500
3000
4500
Speed (RPM)
6000
0
1500
CONTINUOUS
3000
4500
Speed (RPM)
PEAK
6000
400
2.80
300
2.10
200
1.40
100
.70
0
1500
3000
4500
6000
0
7500
Speed (RPM)
CONTINUOUS
170 VAC
3.50
0
0
7500
0
0
7500
500
Torque (Nm)
.980
SM233AR/COMPAX 1000SL
300
Torque (Nm)
140
Torque (Nm)
Torque (oz-in)
SM232AR/COMPAX 1000SL
1.12
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
1.75
200
1.40
150
1.05
100
.70
0
0
5000
0
BE233DR/COMPAX 1000SL
2000
3000
Speed (RPM)
300
2.10
200
1.40
.70
100
0
0
1000
2000
3000
4000
0
5000
40
4.48
30
3.36
20
2.24
10
1.12
0
1000
4000
3000
4000
0
5000
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)
3000
2000
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)
3000
2000
1000
BE342HR/COMPAX 2500S
5.60
0
Torque (Nm)
2000
.70
Speed (RPM)
50
BE343JR/COMPAX 2500S
1000
1.40
100
0
Speed (RPM)
80
70
60
50
40
30
20
10
0
200
0
0
5000
6.73
Speed (RPM)
0
4000
60
pn
e
Torque (Lb-in)
2.80
400
2.10
0
5000
Speed (RPM)
CONTINUOUS
PEAK
170 VAC
CONTINUOUS
PEAK
340 VAC
For More Information on COMPAX Digital Servo Sytems, Call 1-800-358-9070 Today.
125
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Torque (Nm)
3.50
500
1000
Torque (Nm)
4.20
600
2.80
300
BE341FR/COMPAX 2500S
4.90
Torque (Nm)
Torque (oz-in)
700
3.50
400
.35
50
Torque (Lb-in)
30
250
500
B
Torque (oz-in)
.42
60
2.10
Torque (Nm)
.63
90
BE232DR/COMPAX 1000SL
300
Torque (Nm)
.84
120
Torque (Nm)
Torque (oz-in)
BE231DR/COMPAX 1000SL
1.05
Torque (oz-in)
BE230DR/COMPAX 1000SL
150
Catalog 8000-4/USA
Speed-Torque Curves
COMPAX
ua
ir
e
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
.56
0
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
1.12
10
0
0
1500
3000
4500
6000
0
7500
40
3000
4000
0
1500
3000
4500
Speed (RPM)
6000
0
7500
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)
Torque (Lb-in)
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
4500
6.73
Speed (RPM)
5000
3000
50
1.12
0
1500
N0922JR/COMPAX 2500S
10
pn
e
Torque (Lb-in)
0
Torque (Nm)
2000
1.12
60
2.24
0
Torque (Nm)
1000
2.24
10
5.60
20
N0923HR/COMPAX 2500S
0
3.36
20
0
7500
3.36
30
Speed (RPM)
80
70
60
50
40
30
20
10
0
30
Speed (RPM)
50
Torque (Lb-in)
2.24
20
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)
5
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
ua
ir
e
Motor Speed-Torque Performance Curves
COMPAX with M series motors, 105mm, 145mm and 205mm, resolver feedback,
480 VAC
11.2
50
5.60
0
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
1000
22.4
200
0
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Torque (Lb-in)
44.8
400
0
6000
0
Speed (RPM)
800
89.7
600
67.3
400
44.8
200
22.4
0
Speed (RPM)
M2052PR/COMPAX 3500M
112
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Speed (RPM)
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
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)
500
1000
1500
2000
2500
Speed (RPM)
pn
e
0
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
Torque (Nm)
67.3
600
5000
Torque (Nm)
89.7
800
2000 3000 4000
Speed (RPM)
M1455PR/COMPAX 3500M
112
Torque (Nm)
Torque (Lb-in)
1000
1000
Torque (Lb-in)
100
250
800
700
600
500
400
300
200
100
0
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
16.8
Torque (Lb-in)
150
33.6
Torque (Nm)
22.4
M1453LR/COMPAX 3500M
300
Torque (Nm)
200
Torque (Nm)
Torque (Lb-in)
M1054KR/COMPAX 1500M
28.0
Torque (Lb-in)
M1053KR/COMPAX 1500M
250
Catalog 8000-4/USA
SLVD
ua
ir
e
SLVD
Small, Low-Voltage
Digital Servo Drive
SLVD Features
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.
•
•
•
•
•
•
•
•
pn
e
SLVD Part Numbering System
•
•
SLVD
Small, Low-Voltage Drive
Series
SLVD
Example: SLVD5
Additional control features
•
•
5
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
ua
ir
e
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
340VDC
340VDC
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
Drive Input Power
Voltage
Phase
Frequency
Bus voltage @ 240VAC
PWM
Peak current (RMS)
Commutation
Performance
Feedback
Inputs
Command velocity and torque mode
Command position mode
Digital inputs (8 inputs)
Encoder input
Analog input - Aux
Outputs
Digital outputs (6 inputs)
Analog output - Aux
Communication
Type
Daisychain
2.5A
5A
10A
Sinusoidal
Sinusoidal
Sinusoidal
Resolver
Resolver
Resolver
±10V
±10V
±10V
Step/direction input
800kHz max
Step/direction input
800kHz max
Step/direction input
800kHz max
24V
24V
24V
200kHz max
200kHz max
200kHz max
±10V (10 bit)
±10V (10 bit)
±10V (10 bit)
24V/100mA/PNP
24V/100mA/PNP
24V/100mA/PNP
±4.5V
±4.5V
±4.5V
RS422/485
RS422/485
RS422/485
Up to 32 units
Up to 32 units
Up to 32 units
pn
e
Power Dissipation
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
Environmental
Temperature
Protection
Grade
Compumotor Motors
Find Your Local Factory Authorized Distributor at www.compumotor.com or Call 1-800-358-9070.
129
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
B
Drive Output Power
Catalog 8000-4/USA
SLVD
SLVD Speed-Torque Curves
ua
ir
e
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.
.70
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
BE233FR/SLVD5
100
0
0
1000
2000
3000
4000
1.75
400
2.80
200
1.40
300
2.10
150
1.05
1.40
200
1.40
100
.70
.70
100
.70
50
.42
Torque (oz-in)
2.10
250
0
5000
0
0
1000
3000
0
6000
Speed (RPM)
1500
3000
4500
6000
0
7500
Speed (RPM)
Torque (oz-in)
800
700
600
500
400
300
200
100
0
pn
e
4500
4000
0
7500
0
1500
3000
4500
6000
5.60
4.90
4.20
3.50
2.80
2.10
1.40
.70
0
7500
Torque (Nm)
Torque (oz-in)
2000
0
0
5000
N0703FR/J0703FR/SLVD5
Torque (Nm)
3000
N0701DR/J0701DR/SLVD5
3.50
.70
1500
0
5000
500
1.40
0
4000
Speed (RPM)
Speed (RPM)
0
3000
2.45
2.10
100
2000
300
2.80
200
1000
4.20
3.50
300
0
600
4.20
400
0
5000
4.20
N0702ER/J0702ER/SLVD5
500
.70
350
Speed (RPM)
600
1.40
100
4.90
2.10
200
2.10
200
BE341FR/SLVD5
2.80
300
2.80
300
700
3.50
400
3.50
400
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)
500
4000
Torque (Nm)
600
2000
3000
Speed (RPM)
4.20
500
4.90
Torque (Nm)
Torque (oz-in)
700
1000
600
0
Torque (oz-in)
50
Torque (oz-in)
100
2.10
Torque (Nm)
1.05
BE232DR/SLVD5
300
Torque (Nm)
150
Torque (Nm)
Torque (oz-in)
BE231FR/SLVD5
1.40
Torque (oz-in)
BE230DR/SLVD5
200
Catalog 8000-4/USA
SLVD Connections
SLVD
- ECC
SIN +
SIN COS +
COS 0V
0V
IN 0
IN 1
ua
ir
e
+ ECC
1
2
3
4
5
6
7
8
9
TX
1
2
3
4
5
6
7
8
9
RX
/TX
/RX
CANH
+BR180
-BR180
CANL
0V
Terminal Board
X4 CMD/Analog I/O
1
2
3
4
5
6
7
8
9
10
PHA
/PHA
PHB
/PHB
PHC
/PHC
0V
Not used
Not used
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)
LIVE 3 (L3)
PE
OUT 1/IN 3
+ 24 V
0V
pn
e
1
2
3
4
5
6
7
8
9
10
DB9 Male
X3 Encoder In/Out
DB9 Female
X2 Com/Bus
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
B
Terminal Board
X1 Resolver/Input
Catalog 8000-4/USA
SLVD
SLVD Dimensions
ua
ir
e
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)
5.09
(129.0)
5.56
(141.2)
1.99
(50.5)
2.99
(76.0)
3.17
(80.5)
2.09
(53.0)
0.20
(5.0)
3.90
(99.2)
0.04
(1.0)
0.90
(22.9)
4.56
(115.7)
pn
e
0.20
(5.0)
0.20
(5.0)
132
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
Catalog 8000-4/USA
HPD
ua
ir
e
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)
pn
e
•
•
•
•
•
•
•
•
•
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
Parker Hannifin Corporation
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
ua
ir
e
HPD Specifications
HPD Common Specifications
Drive Input Power
Voltage
Phase
Frequency
HPD2N
HPD5N
HPD8N
HPD16N
HPD20N
90 - 480V
3∅
90 - 480V
3∅
90 - 480V
3∅
90 - 480V
3∅
90 - 480V
3∅
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 Output Power
Bus voltage @ 480VAC
PWM
Continuous current (peak of sine)
Continuous current (RMS)
Peak current* (peak of sine)
Peak current* (RMS)
Commutation
Performance
Feedback
Inputs
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
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)
Encoder input
Analog input - Aux
Outputs
Digital outputs (6 inputs)
Voltage-free output
Encoder output
Analog output - Aux
Communication
Type
Daisy chain
24V
24V
24V
24V
24V
200kHz max
200kHz max
200kHz max
200kHz max
200kHz max
±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
450Hz max
450Hz max
450Hz max
450Hz max
450Hz max
±10V (8 bit)
±10V (8 bit)
±10V (8 bit)
±10V (8 bit)
±10V (8 bit)
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
18W
18W
18W
18W
18W
25W
60W
89W
158W
200W
120W
120W
120W
120W
240W
45°C
45°C
45°C
45°C
45°C
Power Dissipation
Control stage
pn
e
Power stage
Internal braking resistor
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
ua
ir
e
HPD
HPD Common Specifications
Drive Input Power
Voltage
Phase
Frequency
HPD24N
HPD25N
HPD35N
HPD45N
HPD67N
90 - 480V
3∅
90 - 480V
3∅
90 - 480V
3∅
90 - 480V
3∅
90 - 480V
3∅
50/60 Hz
50/60 Hz
50/60 Hz
50/60 Hz
50/60 Hz
680VDC
680VDC
680VDC
680VDC
680VDC
8kHz
8kHz
8kHz
8kHz
8kHz
33.9A
35.4A
49.5A
63.6A
94.7A
Bus voltage @ 480VAC
PWM
Continuous current (peak of sine)
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
Digital inputs (2+2 inputs)
Encoder input
Analog input - Aux
Outputs
Digital outputs (2 inputs)
Voltage-free output
Encoder output
Analog output - Aux
Communication
Type
Daisy chain
24V
24V
24V
24V
200kHz max
200kHz max
200kHz max
200kHz max
±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
450Hz max
450Hz max
450Hz max
450Hz max
450Hz max
±10V (8 bit)
±10V (8 bit)
±10V (8 bit)
±10V (8 bit)
±10V (8 bit)
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
pn
e
Dissipation
24V
200kHz max
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
Environmental
Temperature
Protection
Grade
Compumotor Motors
IP20
IP20
IP20
IP20
IP20
M Series
M Series
M Series
M Series
M Series
Find Your Local Factory Authorized Distributor at www.compumotor.com or Call 1-800-358-9070.
135
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
B
Drive Output Power
Catalog 8000-4/USA
HPD
HPD Speed-Torque Curves
ua
ir
e
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
8.97
4.48
0
1000
2000
3000
4000
0
6000
5000
200
22.4
150
16.8
100
11.2
50
5.6
0
0
1000
Speed (RPM)
Torque (Lb-in)
Torque (Lb-in)
44.8
200
22.4
0
0
600
67.2
500
56.0
400
44.8
300
33.6
200
22.4
100
11.2
0
Torque (Lb-in)
Torque (Lb-in)
600
67.3
400
44.8
200
22.4
22.4
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
1200
134
1000
112
800
89.7
600
67.3
400
44.8
200
22.4
0
500 1000 1500 2000 2500 3000 3500 4000 4500
0
0
500
M2053RR/HPD67
800
89.7
400
44.8
0
2500
0
3000
Speed (RPM)
Torque (Lb-in)
134
1200
134
800
89.7
400
44.8
0
0
500
1000
1500
2000
2500
2500
0
3000
1600
0
3000
179
1200
134
800
89.7
400
44.8
0
0
Speed (RPM)
CONTINUOUS
2000
M2054SR/HPD67
179
Torque (Nm)
1200
1500
Speed (RPM)
1600
179
1000
500
1000
1500
2000
2500
Torque (Nm)
pn
e
0
Torque (Nm)
Torque (Lb-in)
200
M2052PR/HPD45
89.7
M2052PR/HPD67
2000
44.8
Speed (RPM)
1600
1500
67.3
400
Speed (RPM)
800
Speed (RPM)
1000
89.7
600
0
112
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
500
112
800
Torque (Nm)
22.4
0
1000
Torque (Nm)
Torque (Nm)
44.8
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
M1455PR/HPD67
67.3
0
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
1000
89.7
200
11.2
Speed (RPM)
M1455PR/HPD45
400
22.4
100
M1454NR/HPD67
78.5
Speed (RPM)
600
200
Speed (RPM)
700
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
800
33.6
Torque (Nm)
400
5000
Torque (Nm)
67.3
Torque (Nm)
89.7
600
4000
44.8
300
M1454NR/HPD45
112
800
3000
56.0
400
Speed (RPM)
M1453LR/HPD67
1000
2000
500
0
0
6000
Torque (Lb-in)
0
28.0
Torque (Lb-in)
40
250
Torque (Lb-in)
80
Torque (Lb-in)
120
33.6
Torque (Nm)
17.9
M1453LR/HPD35
300
Torque (Nm)
160
Torque (Nm)
Torque (Lb-in)
M1054KR/HPD24
22.4
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
pn
e
Find Your Local Factory Authorized Distributor at www.compumotor.com or Call 1-800-358-9070.
137
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
B
Front view
ua
ir
e
HPD2N - HPD24N
Catalog 8000-4/USA
HPD
ua
ir
e
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
Auxiliary reference high
Auxiliary reference low
Auxiliary analog output
0V
Tacho output
0V
Digital out 0
Digital out 1
Digital out 2
Digital out 3
Digital out 4
U PHASE
V PHASE
W PHASE
A-BUS
B-BUS
BRAKE COMMAND
INTER. BRAKE RESISTOR
+ DC BUS
- DC BUS
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Reference low
0V
LIVE 3 (L3)
Terminal Board X3
Reference high
0V
LIVE 2 (L2)
+ 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
pn
e
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
LIVE 1 (L1)
Digital out 5
Digital out 6 A
Digital out 6 B
+ 24V - OUT 200 mA
0V
D Type X5 (DB9 female)
1
2
3
4
5
6
7
8
9
RX
/TX
/RX
N.C.
+BR
-BR
0V
0V
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
TX
Digital input 5
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
pn
e
Rear view
Find Your Local Factory Authorized Distributor at www.compumotor.com or Call 1-800-358-9070.
139
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
B
Front view
ua
ir
e
HPD25N - HPD67N
Catalog 8000-4/USA
HPD
HPD Connections
1
2
3
4
5
6
7
8
9
10
Terminal Board X4
ua
ir
e
Terminal Board X1
Motor PTC + (24V)
Motor PTC -
L1
L2
L3
U
V
W
AB
BB
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
Auxilary reference high
Auxilary reference low
Auxilary analog output
0V
Tacho output
0V
Digital out 0
Digital out 1
Digital out 2
Digital out 3
Digital out 4
Motor, phase
Motor, phase
Motor, phase
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Reference low
0V
LIVE 3 (L3)
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
RX
/TX
/RX
N.C.
+BR
-BR
0V
0V
Auxiliary voltage
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
Auxiliary voltage
+ 10V - 10 mA max
X7 (DB9 male)
X6 (DB9 female)
1
2
3
4
5
6
7
8
9
TX
-DC BUS
R1
C1
R2
C2
220V~AUX a
220V~AUX b
Terminal Board X3
Reference high
0V
LIVE 2 (L2)
pn
e
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
LIVE 1 (L1)
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
ua
ir
e
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)
0.82
(20.8)
1.57
(40.0)
0.82
(20.8)
HPD25N-67N Dimensions in inches (mm)
0.30
(7.50)
11.91
(302.5)
2.44
(62.0)
0.31
(8.0)
pn
e
2.44
(62.0)
12.52
(318.0)
7.64
(194.0)
14.45
(367.0)
15.43
(392.0)
0.16
(4.0)
11.41
(290.0)
0.05
(1.3)
15.16
(385.0)
0.22
(5.7)
1.04
(26.3)
13.12
(335.0)
1.21
(30.7)
0.59
(14.9)
Find Your Local Factory Authorized Distributor at www.compumotor.com or Call 1-800-358-9070.
141
Automation
Parker Hannifin Corporation
Compumotor Division
compumoto.com
B
0.22
(5.5)
Catalog 8000-4/USA
OEM
ua
ir
e
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
pn
e
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.
142
Automation
See Also:
The OEM Family of
Stepper Drive Products
in the
Stepper Section
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM770
ua
ir
e
OEM
Compact, Low-Cost
Solutions
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.
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
•
•
•
•
•
•
•
•
•
•
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
•
pn
e
•
•
Packaging
Catalog 8000-4/USA
OEM
ua
ir
e
OEM770
OEM770 Specifications
Power Input
Power Output-Motor
Power Output-Hall Effect
Sensors
Parameter
Value
Voltage
Current
24–75 VDC
0–12 amps
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
Voltage
Current
Short-Circuit Protected
+5 VDC ±0.5 VDC
50 mA max
No
Voltage
+15 VDC ±1.5 VDC; -15 VDC ± 1.5 VDC
Current
10 mA max
Short-Circuit Protected
No
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
Low State
High State
Input Frequency
0-0.8 V
Internal 1 kΩ pull-up resistor to +5 V
0–2 kHz max
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
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
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
Power Output-to Controller
Output Stage
Control Inputs
Hall Inputs
Signal Outputs
Protective Circuits
pn
e
Motor Characteristics
144
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM770X
ua
ir
e
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
pn
e
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
ua
ir
e
OEM770X Specifications
OEM770X Specifications
Power Input
Power Output- Motor
Power Output-Hall
Effect Sensors
Hall Inputs
Inputs
Outputs
Performance
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
Low State
High State
Input Frequency
0-0.8 V
Internal 1 kΩ pull-up resistor to +5 V
0–2 kHz max
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: [email protected]; when disabled: Internal 2.49W pull-up resistor to +5VDC
2-phase differential (recommended) or single-ended (+5VDC TTL compatible), 960 kHz max
frequency
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
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
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
pn
e
Digital Servo Loop
146
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM770 & OEM770X Speed-Torque Curves OEM
ua
ir
e
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.
(0.30) 40
(0.15) 20
0
(0.15) 20
SM161B with OEM770
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
0
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
SM162A with OEM770
(N-m) oz-in
(1.14) 150
0
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
(0.95) 125
(0.76) 100
(0.76) 100
(0.57) 75
(0.57) 75
(0.38) 50
(0.38) 50
(0.19) 25
(0.19) 25
8000
(133)
0
(N-m) oz-in
(0.61) 80
1000
(17)
2000
3000
4000
(33)
(50)
(67)
Speed – RPM (rps)
0
5000
(83)
SM230B with OEM770
8000
(133)
SM162B with OEM770
(N-m) oz-in
(1.14) 150
(0.95) 125
0
SM230A with OEM770
0
8000
(133)
(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
8000
(133)
Torque
Torque
(0.46) 60
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
(0.30) 40
Torque
0
(N-m) oz-in
(0.61) 80
(N-m) oz-in
(0.76) 100
(0.15) 20
(0.08) 10
(0.08) 10
0
(0.46) 60
Torque
(0.15) 20
SM161A with OEM770
(N-m) oz-in
(0.61) 80
(0.23) 30
(0.23) 30
0
SM160B with OEM770
(N-m) oz-in
(0.30) 40
Torque
Torque
(0.30) 40
SM160A with OEM770
(0.30) 40
(0.57) 75
(0.38) 50
(0.15) 20
(0.15) 20
(0.19) 25
0
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
0
8000
(133)
0
2000
4000
6000
(33)
(67)
(100)
Speed – RPM (rps)
pn
e
0
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
SM231B with OEM770
Torque
Torque
(N-m) oz-in
(1.14) 150
0
8000
(133)
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
B
(N-m) oz-in
(0.38) 50
Catalog 8000-4/USA
OEM770 & OEM770X Speed-Torque Curves OEM
ua
ir
e
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.
N0701D/N0341D/J0701D/J0341D
with OEM670
(N-m) oz-in
(1.90) 250
(1.52) 200
(1.14) 150
Torque
Torque
(1.52) 200
(0.76) 100
(0.38) 50
0
N0701F/N0341F/J0701F/J0341F
with OEM670
(N-m) oz-in
(1.90) 250
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
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
(3.05) 400
(3.05) 400
(2.28) 300
Torque
Torque
(0.76) 100
(0.38) 50
(N-m) oz-in
(3.81) 500
(1.52) 200
(2.28) 300
(1.52) 200
(0.76) 100
(0.76) 100
0
(1.14) 150
0
500
(8)
1000
1500
2000
(17)
(25)
(33)
Speed – RPM (rps)
2500
(42)
0
500
(8)
1000 1500 2000 2500 3000
(17) (25) (33) (42) (50)
Speed – RPM (rps)
PEAK
pn
e
CONTINUOUS
0
1
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
ua
ir
e
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.
.14
1000
2000
3000
4000
.21
20
.14
10
.07
0
0
1000
Speed (RPM)
Torque (oz-in)
Torque (oz-in)
0
1000
2000
3000
4000
.84
120
.56
80
.28
0
0
5000
0
1000
Torque (oz-in)
Torque (oz-in)
0
1000
2000
3000
4000
120
.84
90
.63
60
.42
30
.21
1000
2000
3000
4000
.28
20
.14
0
1000
pn
e
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
1.05
0
4000
Speed (RPM)
150
Speed (RPM)
Torque (oz-in)
4000
0
0
5000
3000
Torque (Nm)
.35
0
3000
0
5000
Torque (Nm)
.70
Torque (Nm)
1.05
50
2000
2000
120
OEM770/BE164F
1.4
100
1000
Speed (RPM)
OEM770/BE164D
150
.14
OEM770/BE163F
1.12
Speed (RPM)
200
.28
20
Speed (RPM)
40
.14
0
.42
40
Torque (Nm)
20
.56
60
0
Torque (Nm)
.28
Torque (Nm)
.42
40
.70
80
OEM770/BE163D
.56
60
4000
160
.70
80
3000
.84
100
Speed (RPM)
OEM770/BE162F
100
2000
.98
120
0
0
5000
Torque (oz-in)
0
0
5000
30
Torque (oz-in)
0
.28
Torque (oz-in)
20
40
140
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
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
Catalog 8000-4/USA
OEM
OEM770 & OEM770X Dimensions
ua
ir
e
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
IVE
T
ORQU
SER
4.650 (118.11)
0.175 (4.45)
OEM
s
e
r
i
e
s
E
5.000 (127.00)
5500 Business Park Dr.
Rohnert Park, CA 94928
Compumotor
VO DR
Compumotor
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
2.000 (50.80)
Mounting Clearance
150
Automation
Exposed aluminum
for electrical
grounding
0.335
(8.51)
pn
e
1.000 (25.40)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM770 & OEM770X Connections
OEM
OEM
1
2
N.C.
Input #3
N.C.
VO DR
POWER
FAULT
VDC+
VDCHALL GND
HALL +5V
HALL 1
HALL 2
HALL 3
PHASE A
PHASE B
PHASE C
Customer
Equipment
OSITIO
IVE
Input #1
Input #2
N.C.
N SER
P
s
e
r
i
e
s
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 -
OEM770T Drive Connections
Inputs & Outputs
Command +
Command -
OEM770T Internal Connections
1
10KΩ
2
10KΩ
1
14
14
2
15
15
16
16
10KΩ
10KΩ
pn
e
+15VDC Output
-15VDC Output
GND
GND
7
Fault Output
Enable Input
GND
9
7
9
10
10
11
11
2.49KΩ
22KΩ
24
25
Current Monitor Current Monitor +
+5V
24
22KΩ
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
B
Compumotor
ua
ir
e
OEM770X Drive Connections
Catalog 8000-4/USA
OEM
ua
ir
e
OEM770 & OEM770X Ordering
Ordering Information
Drives
Accessories
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
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.
pn
e
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
ua
ir
e
(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
•
•
•
•
•
•
•
•
•
•
•
•
RS232 communication
Auto-tuning
Increased resolutions (up to 4,096,000 ppr)
Repeatability to ±1 arc second
Utility software
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!
pn
e
G2 — Small Packaged, Digital Servo
Drive!
DM Series — Best Accuracy and
Repeatability!
•
•
•
•
•
•
•
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:
ua
ir
e
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.
15.3
10
Torque (N • m)
Ripple (%)
15
14.7
Torque (Power)/Weight Comparison
5000
• Load 30 x Rotor Inertia
• Rotation: CW
• Speed Mode
15
Power (W)
5
3
2000
5%
5
0
+
V
ER
AS +
YN
D +
500
Max. Torque x Rated Speed
0.2
++
1000
AC
100
th
wi
(
or
+
200
+
S
v
er
o
Ac
tu
S
e
pe
d
Re
du
c
20
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
0.4
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
pn
e
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.
VERTICAL 5 AXES ROBOT
(µm)
Using Traditional Motors/Reducers
Distance
100
50
0
-20
Time (sec.)
-50
-100
0.8 Settling Time
0.25
Travel Time
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.
50
30
10
(µm)
SCARA 4 AXES ROBOT
100
Using “DYNASERV”
Distance
50
0
0
0.3
0.5
0.8
Diameter (µm)
Time (sec.)
-20
-50
0
0.2
0.2
Dust from Dynaserv (DM1045B)
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
Robots
• Handling
• Clean room
• Universal
Transport
• Turn table
• Belt conveyor
• Three-dimensional
warehouse
Material Handling
Inspection and Measuring
• Three dimensional
measuring
• Goniometer
• Non-destructive x-ray
Tool turret
Work
• Machining center work
table
• Press roll feed
• Grinder table
Commercial
• Printing machines
• Medical equipment
• Follow-up equipment
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.
Dynaserv motor for arm
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.
Dynaserv motor
for X axis
pn
e
Printed
circuit board
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.
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
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
155
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Assembly
• Base machine
• Pick and place
• Inserter/mounter
Indexing/Rotary Positioning
ua
ir
e
The Dynaserv has provided solutions to a variety
of applications such as:
Catalog 8000-4/USA
Introduction
DYNASERV
ua
ir
e
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
pn
e
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
156
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DYNASERV
Introduction
ua
ir
e
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)
111
(150)
74
(100)
DR1100A
37
(50)
0
0
1.0
Speed-RPS
1.5
2.0
0
Application Types and Ratios
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)
pn
e
Application Type
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.
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
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
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
157
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Inertia Matching
0.5
Catalog 8000-4/USA
Introduction
DYNASERV
ua
ir
e
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
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
pn
e
DR5000C
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.
158
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DYNASERV
ua
ir
e
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 - 500
Depending on motor type
Peak Torque (Nm)
004 - 400
Depending on motor type
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.
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
—
LM
—
pn
e
Model Series Name
M - Encoder
R - Resolver
M2 —
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.
—
—
—
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
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
159
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Motor Diameter
A - 10"
B - 6"
C - 4"
E - 8"
Catalog 8000-4/USA
G2 Drive
ua
ir
e
DYNASERV
Dynaserv G2 Digital
Servo Drives
pn
e
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
Compumotor Division
compumotor.com
Catalog 8000-4/USA
G2 Drive
ua
ir
e
DYNASERV
G2 Specifications
Features
DR1xxxB
Performance
Repeatability
Accuracy
Resolution
Power
Volts
+10% to -15%
DR1xxxE
DR1xxxA
± 3 arc sec ± 3 arc sec ± 3 arc sec
Communication
± 3 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%
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
RS232C
5V TTL, EIA-422 standard
Direction Input
5V TTL, EIA-422 standard
Encoder Output
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
Operating
Temperature
0 to 50 degrees C
Storage
Temperature
-20 to 85 degrees C
pn
e
Environmental
± 5 arc sec ± 5 arc sec ± 1 arc sec ± 1 arc sec
DM1004x
± 90
arc sec
Step Input
Inputs
DM1xxxA
± 30
arc sec
Serial
Command Interface
DM1xxxB
± 45
arc sec
Range
Power Level
DR5xxxC
± 45
arc sec
Frequency
Current
DR5xxxB
Humidity
20 to 90% RH without condensation
Power
Consumption
3.4KVA
.8KVA
Weight
7.9 lbs
3.7 lbs
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
161
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Model
Value
Catalog 8000-4/USA
G2 Drive
DYNASERV
ua
ir
e
G2
I/O Connections (CN4)
36-Pin Honda
I/O Signals
1
2
3
4
5
COMP1
COMN1
OUT_DRDY
OUT_SRDY
OUT_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
Signal Name
Description
Common power
Common ground
Driver ready
Servo ready
Busy
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
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
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%
pn
e
Pin No.
162
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
M2 Controller/Drive
ua
ir
e
DYNASERV
Dynaserv
Drive/Controller
•
•
•
•
•
•
•
•
•
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
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
163
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Features
pn
e
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
ua
ir
e
General Specifications
pn
e
Function Specifications
164
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
M2 Drive/Controller
DYNASERV
pn
e
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
165
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
ua
ir
e
Specifications, continued
Catalog 8000-4/USA
G2/M2 Drive
ua
ir
e
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
Peak torque
ft-lbs
(Nm)
Model
1100A
Model
1200A
Model
1300A
Model
1400A
74
(100)
148
(200)
221
(300)
295
(400)
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
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
pn
e
Motor weight
*
166
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
G2/M2 Drive
ua
ir
e
DYNASERV
DR5000 Series–Motor Data
ft-lbs
(Nm)
Rated speed
rps
Rotor inertia
oz-in2x102
(kgm2)x10-3
Resolution
Steps/rev
Motor weight
lbs
(kg)
Maximum static
axial load**
• Compression
• Tension
lbs
lbs
Maximum static
overhung load**
ft-lb
Maximum power
consumption
KVA
Application
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
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)
1124
674
1124
674
1124
674
6600
2200
6600
2200
8800
4400
8800
4400
15
15
15
148
148
296
296
1.0
1.0
1.0
3.1
3.1
5.5
7.5
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:
DM Series – Motor Data
Model
1015B
Model
1030B
Model
1045B
Model
1050A
Model
1100A
Model
1150A
Model
1200A
ft-lbs
(Nm)
11
(15)
22
(30)
33
(45)
37
(50)
74
(100)
111
(150)
148
(200)
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
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
Peak torque
pn
e
Rated speed
• rps
Rotor inertia
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
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
167
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Peak torque
Model
5005C
Catalog 8000-4/USA
G2/M2 Drive
ua
ir
e
DYNASERV
DM1004 Motor Data Specifications
Peak torque
Rated speed
• rps
Rotor inertia
Maximum step
Motor weight*
DM1004B
DM1004C
ft-lbs
(N-m)
3
(4)
3
(4)
115VAC
230VAC
2.5
2.5
2.5
2.5
oz-in2 x 102
(Kgm2) x 10-3
3.01
(5.5)
1.37
(2.5)
s/rev
655,360
655,360
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
1/3
1/5
1/10
pn
e
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
De-rate
Factor
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
ua
ir
e
Motor Speed-Torque Performance Curves
The speed-torque curves represent peak torque available.
DRG2/DRM2-A Series — 115V
lb-ft (N-m)
296 (400)
DR1400A
DR1400A
259 (350)
259 (350)
DR1300A
185 (250)
Torque
DR1200A
148 (200)
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)
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
pn
e
Speed-RPS
DRG2/DRM2-E Series — 115V
lb-ft (N-m)
222 (300)
148 (200)
74 (100)
37 (50)
DR1100E
DR1070E
0
0
0.5
1.0
1.5
2.0
Speed-RPS
Torque
Torque
DR1130E
DR1160E
111 (150)
DR1130E
74 (100)
DR1100E
37 (50)
DR1070E
0
0
0.5
1.0
1.5
Speed-RPS
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
169
Automation
2.0
185 (250)
148 (200)
111 (150)
1.5
DRG2/DRM2-E Series — 230V
lb-ft (N-m)
222 (300)
185 (250)
DR1160E
1.0
Speed-RPS
Parker Hannifin Corporation
Compumotor Division
compumotor.com
2.0
B
Torque
DR1300A
222 (300)
222 (300)
185 (250)
DRG2/DRM2-A Series — 230V
lb-ft (N-m)
296 (400)
Catalog 8000-4/USA
G2/M2 Drive
DYNASERV
ua
ir
e
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)
74 (100)
37 (50)
DM1150A
DM1100A
DM1050A
DM1100A
DM1050A
37 (50)
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)
35 (50)
DM1030B
21 (30)
14 (20)
DM1015B
7 (10)
0.5
1.0
Speed-RPS
1.5
46
(66)
37
(53)
28
(40)
19
(27)
9
(13)
1.0
Speed-RPS
1.5
2.0
DM-B Series — 230 VAC
DM1045B
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
3.00
4
Torque
pn
e
0
0.5
lb-ft (N-m)
56 (80)
DM1045B
28 (40)
Torque
DM1150A
111 (150)
74 (100)
0
0
DM1200A
148 (200)
Torque
111 (150)
185 (250)
DM1200A
Torque
Torque
148 (200)
DM-A Series — 230 VAC
lb-ft (N-m)
222 (300)
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
ua
ir
e
G2 Drive Dimensional Drawings
Dimensions in inches (mm)
Dynaserv G2/M2 2kW with Regen
9.06 .04 (230
1)
.08 (2)
(215 1)
Dynaserv G2/M2 2kW with Regen
2.76 .04 (70
.39 (10)
1.97 .02 (50
.63 (16)
.5)
5.91 .04
(150 1)
.08 (2)
8.46 .04 (215 1)
9.84 .04 (250 1)
9.41 .02 (239 .5)
pn
e
.28 (7)
1)
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
171
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
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)
Catalog 8000-4/USA
DR Drive
ua
ir
e
DYNASERV
Direct-Drive
Brushless
Servo Systems
(LVD and EMC*)
pn
e
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.
Features
•
•
•
•
•
•
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
•
•
•
•
•
•
•
•
•
•
Accessories
•
•
•
•
•
•
•
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
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
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DR Drive
DYNASERV
ua
ir
e
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
Environmental
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.
NOTE: Volts 115VAC 1 phase, all except DR5000A/B; 230VAC 1 phase, all except DR5000A; 200VAC 3 phase, DR5000A
Peak torque
Rated speed, 115/230VAC
Maximum power consumption
Rotor inertia
Max resolution
Motor weight*
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)
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)
lbs
(kg)
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
pn
e
Maximum static axial load**
• Compression
• Tension
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
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
173
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
DR Series Motor Data
Catalog 8000-4/USA
DR Drive
DYNASERV
ua
ir
e
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)
DR1400A
DR1400A
259 (350)
259 (350)
DR1300A
185 (250)
Torque
Torque
DR1300A
222 (300)
222 (300)
185 (250)
DR-A Series – 230V
lb-ft (N-m)
296 (400)
DR1200A
148 (200)
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
DR1045B
DR1045B
30.0 (40)
Torque
30.0 (40)
Torque
1.5
DR-B Series – 230V
lb-ft (N-m)
45.0 (60)
37.5 (50)
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
pn
e
0
0
0.5
1.0
1.5
0
2.0
0
0.5
Speed-RPS
185 (250)
148 (200)
DR1130E
DR1100E
37 (50)
DR1070E
0
0
0.5
1.0
1.5
2.0
Speed-RPS
174
Automation
Torque
148 (200)
111 (150)
DR-E Series – 230V
lb-ft (N-m)
222 (300)
185 (250)
DR1160E
1.0
Speed-RPS
DR-E Series – 115V
lb-ft (N-m)
222 (300)
Torque
2.0
DR1060B
DR1060B
74 (100)
1.5
Speed-RPS
DR1160E
111 (150)
DR1130E
74 (100)
DR1100E
37 (50)
DR1070E
0
0
0.5
1.0
Speed-RPS
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DR Drive
ua
ir
e
DYNASERV
Specifications
Value
Performance
Repeatability
Accuracy
Max stepping rate
Power
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
DR5000B
±10 arc-sec
±90 arc-sec
1,400,000 steps/sec
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)
DR5000A
±5 arc-sec
±45 arc-sec
1,600,000 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)
-20–85°C
20–85%–Non-condensing
atmosphere. The Dynaserv is not waterproof, oil proof or dust proof.
See below
pn
e
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
B
Parameter
Catalog 8000-4/USA
DR Drive
DYNASERV
ua
ir
e
Motor Speed-Torque Performance Curves
The speed-torque curves represent peak torque available, continuous torques are approximately 2/3 of the peak value.
518
444
DR5500A
296
DR5300A
148
74
0
(700)
49
(600)
42
(60)
(500)
35
(50)
0.5
1.0
1.5
Speed (RPS)
(70)
(40)
DR5030B
(30)
(300)
21
(200)
14
(20)
(100)
7
(10)
2.5
2.0
DR5070B
28
0
0
(N-m)
(80)
lb-ft
56
(400)
222
0
1.0
2.0
3.0
Speed (RPS)
4.0
5.0
DR5000C Series
16
DR1015C
14
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
pn
e
Torque (N-m)
Torque
370
DR5000B Series-230 VAC
(N-m)
(800)
Torque
DR5000A Series-200 VAC
lb-ft
592
176
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DR Drive
DYNASERV
DR-A Series
ua
ir
e
DR Series Dimensional Drawings
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)
DR-E Series
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)
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)
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)
pn
e
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)
4.72 +0/-0.002
(120 -0.02/-0.06)
5.12 +— 0.008
(130 +— 0.2)
5.91 +0/-0.012
(150 +0/-0.3)
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)
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
177
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
7.48 +0/-0.12
(190 +0/-0.3)
Catalog 8000-4/USA
DR Drive
DYNASERV
ua
ir
e
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)
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)
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)
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)
pn
e
4.72 +0/-0.002
(120 -0.02/-0.06)
5.12 +— 0.008
(130 + 0.2)
120
(3048)
Resolver cable
DR5000C Series
122
(3100)
0.0
Encoder Cable
178
Automation
.2
)1
(24) 0.94
(50
4.21 +0/
-0.01 107 ( 0 )
-0.3
2.36 +0/
-0.02
)
-0.002 60 (
-0.05
0.2 +0.04/-0
(5 +1 )
0
4-M6 0.51 (13) Deep
+/-
Stator
0.2
Motor Cable
Rotor
1.02 (26) Hole
0
)
.2
-0
+/
-0.02
2.91 +0/-0.002 (74 -0.06)
4
(8
3.94 +0/-0.01 (100 -0.3 )
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
ua
ir
e
DR Series Pinout Lists
Indexer
50-pin Honda
Signal
1–8
9–12
Pin No.
1
2
3
4
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
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
pn
e
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
Signal
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
fc
LINE
(MN)~
115 VAC
LIM
8.46
(215 ±1)
ON
TEST
OFF
GND
MOTOR
∫
AC GAIN
VA
DC GAIN
VB
VEL
POSN
AGND
TORQ
VC
GND
TB1
CN2
4.25
(108 ±1)
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
179
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Pin No.
Motor
Screw Terminal
Catalog 8000-4/USA
DR Drive
DYNASERV
ua
ir
e
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
Signal
Power
Screw Terminal
Power
Screw Terminal
DR5000A (200VAC 3φ)
DR5000B (230VAC 1φ)
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
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
pn
e
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)
0.28
(7 ±0.5)
11.89
(302)
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)
0.27
(7)
Phase 1 (main)
Phase 2 (main)
Phase 3 (main)
Line (control)
Neutral (control)
GND
Motor A
Motor B
Motor C
GND
Pin No.
9.05
(230)
3.35
(85)
Pin No.
Resolver
Honda Connector
Dimensions in inches (mm)
3.35
(85)
Signal
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
0.08
(2)
TB1
CN2
8.66
(220)
DR5000 A
4.25
(108 ±1)
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
ua
ir
e
DYNASERV
Direct-Drive
Brushless
Servo Systems
pn
e
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.
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
181
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
(LVD and EMC*)
Catalog 8000-4/USA
DM Series
ua
ir
e
DYNASERV
DM Series – Motor Data
Model
1015B
Model
1030B
Model
1045B
Model
1050A
Model
1100A
Model
1150A
Model
1200A
ft-lbs
(Nm)
11
(15)
22
(30)
33
(45)
37
(50)
74
(100)
111
(150)
148
(200)
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
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
Peak torque
Rated speed
• rps
Rotor inertia
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
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
pn
e
Peak torque
Maximum static axial load**
• Compression
• Tension
lbs (kg)
lbs (kg)
Maximum static overhung load**
ft-lb (kg-m)
Maximum power consumption
KVA
* 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
Application
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
ua
ir
e
DYNASERV
DM Series – Specifications
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
Outputs
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
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)
185 (250)
DM1200A
74 (100)
37 (50)
DM1150A
DM1100A
Torque
Torque
111 (150)
1.0
Speed-RPS
1.5
0
Torque
DM1030B
14 (20)
Torque
DM1045B
21 (30)
46
(66)
37
(53)
28
(40)
19
(27)
9
(13)
0
0
0.5
1.0
Speed-RPS
1.5
2.0
1.0
Speed-RPS
1.5
2.0
DM-B Series — 230 VAC
DM1045B
DM1030B
DM1015B
7 (10)
0.5
lb-ft (N-m)
56 (80)
35 (50)
28 (40)
DM1050A
0
2.0
DMG2/DMM2-B Series — 115 VAC
lb-ft (N-m)
42 (60)
DM1100A
37 (50)
0
0.5
DM1150A
111 (150)
74 (100)
DM1050A
0
DM1200A
148 (200)
pn
e
148 (200)
DM-A Series — 230 VAC
lb-ft (N-m)
222 (300)
DM1015B
0
0
0.63
1.25
1.88
2.5
Speed-RPS
Please refer to the ordering information matrix on page 159
Integrate Direct Drive Servo Systems Into Your Next Application. Call 1-800-358-9070 Today.
183
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Parameter
Catalog 8000-4/USA
DM Series
DYNASERV
DM-A Series
ua
ir
e
DM Series Motor Dimensions
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)
Dimensions in inches (mm)
5.748 ±0.008
(146 ±0.2)
0.04
0.04
0.04
0.04
(113
(138
(163
(188
±
±
±
±
0.12
(3)
6 M6 depth (8)
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
pn
e
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
fc
LINE
(MN)~
115 VAC
MOTOR
LIM
∫
GND
ON
TEST
OFF
VA
DC GAIN
8.46
(215 ±1)
AC GAIN
VB
VEL
POSN
AGND
TORQ
VC
GND
TB1
CN2
4.25
(108 ±1)
184
Automation
1)
1)
1)
1)
Stator
A
6 M6 depth (8)
4.45 ±
5.43 ±
6.42 ±
7.40 ±
120
(3048)
Rotor
DM-B Series
A
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
DM Series
DYNASERV
ua
ir
e
DM1004B & DM1004C Motor Dimensions
DM1004B
Dimensions in inches (mm)
6.3
(160)
5.51
(140)
0.39 (10)
1.77
(45)
6 - M4 Thread
depth 0.24 (6)
5.75 +
- 0.008
(146 +
- 0.2)
6.3
(160)
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)
- 0.001
5.35 - 0.002
- 0.02)
(136 - 0.06)
5.51
(140)
Encoder Cable
1.38 (35)
DM1004C
0.12
(3)
4 - 0.28 (7) Dia. Hole
Dimensions in inches (mm)
3.03 +
- 0.019
(77 +
- 0.5)
6 - 0.18 (4.5) Dia. Hole
0.32 (8) Dia. C'sink
Depth 0.2 (5)
6 - M4 Thread
depth 0.24 (6)
5.04 +
- 0.008
(128 +
- 0.2)
0.55 (14)
0.39
(10)
0.12
(3)
- 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°
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.
pn
e
DM1004B & DM1004C Drive Dimensions
2.76
(70)
1.97
(50)
1.38
(35)
9.41
(239)
8.46
(215)
0.28
(7)
0.67
(17)
Torque
9.84
(250)
DMG2/DMM2-1004 Series
lb-ft N-m
3.70 5
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
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
B
0.39 (10)
Catalog 8000-4/USA
DM Series
DYNASERV
ua
ir
e
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
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
Pin No.
1
2
3
4
Signal
Motor A
Motor B
Motor C
GND
Encoder
16-pin Honda
Pin No.
186
Automation
Signal
Motor
Screw Terminal
pn
e
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
1
2
3
4
5
6
7
8
9
10
11
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
ua
ir
e
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.
LM1000 Series
•
LM5000 Series
pn
e
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
•
•
•
•
•
•
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
B
(EMC and LVD) pending
Catalog 8000-4/USA
LINEARSERV
Linearserv
ua
ir
e
LM1000 Series Motor Specifications
LM1000 Series Motor Data
LM1050
Performance
Maximum force
lb
N
Positional accuracyB
Maximum speed
Encoder resolution
Repeatability
Parallelism
Max load*
LM1100
LM1300
11.25
50
22.5
100
67.5
300
3.9C
10C
3.9C
10C
3.9C
10C
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
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
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
in x 10-5
µm
39
10
39
10
39
10
lb
N
45
200
45
200
225
1,000
ft-lb
N-m
3.69
5.0
5.16
7.0
45.73
62.0
ft-lb
N-m
5.16
7.0
5.16
7.0
45.73
62.0
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
lb/in
kg/m
0.73
13
0.84
15
1.40
25
pulse/in
pulse/mm
1/0.0806
1/2.048
1/0.0806
1/2.048
1/0.0806
1/2.048
in
mm
1.9–59
50–1,500
1.9–59
50–1,500
1.9–59
50–1,500
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)
in x 10-4
µm
Max transportable moment loads*
Rolling moment
Pitching moment
Yaw moment
Slider weight
Rail weight
Z-channel
Stroke length
pn
e
Life
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
Slider
DRIVER
Base
Encoder Cover
LED
Encoder
Up
Direction
Scale
Application
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
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
ua
ir
e
LM5000 Series Motor Specifications
LM5000 Series Motor Data
Maximum force
lb
N
Positional accuracyB
Maximum speed
Encoder resolution
Repeatability
Parallelism
Max load*
Max transportable
moment loads*
Rolling moment
Pitching moment
Yaw moment
Slider weight
Rail weight
Z-channel
Stroke length
A
Notes:
B
C
*
LM5270
9.0
40
20.2
90
60.7
270
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
in/s
m/s
78
2.0
78
2.0
78
2.0
in x 10-5/pulse
µm/pulse
3.9
1.0
3.9
1.0
3.9
1.0
in x 10-5
µm
±3.9
±1
±3.9
±1
±3.9
±1
in x 10-5
µm
39
10
39
10
39
10
lb
N
45
200
45
200
225
1,000
ft-lb
N-m
3.69
5.0
5.16
7.0
45.73
62.0
ft-lb
N-m
5.16
7.0
5.16
7.0
45.73
62.0
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
lb/in
kg/m
0.73
13
0.84
15
1.40
25
1/0.161
1/4.096
1/0.161
1/4.096
1/0.161
1/4.096
in
mm
1.9–59
50–1,500
1.9–59
50–1,500
1.9–59
50–1,500
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)
in x 10-4
µm
pulse/in
pulse/mm
pn
e
Life
LM5090
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
Slider
DRIVER
Base
Encoder Cover
LED
Encoder
Up
Direction
Scale
Application
Smooth, rotary motion
Intermittent press loading
Repetitive shock loading
De-rate
Factor
1/3
1/5
1/10
Linear Guide
PDA
Down
Direction
HEAD AMPLIFIER
Find Your Local Factory Authorized Distributor at www.compumotor.com or Call 1-800-358-9070.
189
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
LM5040
Performance
Catalog 8000-4/USA
LINEARSERV
Linearserv
ua
ir
e
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
Operation Temperature
Operation Humidity
Storage Temperature
Storage Humidity
Environment
Driver
Note
0–45°C
0–50°C
20–85% RH
20–90% RH
-20–85°C
-20–85°C
20–85% RH
No condensing
20–90% RH
No condensing
No corrosive gases; dust-free atmosphere
LM1050/LM5040 Motor Dimensions
pn
e
Dimensions in inches (mm)
0.83 (21)
From
slider
side suf.
1.81 (46)
1.34
(34)
0.81 (20.5) from
base side suf.
0.20 (5)
0.59 (15)
0.26 (6.5)
1.97
(50)
Encoder
4 - M6 Thread,
3.0
0.39 (10) depth 2.2 (76)
(55)
for load
5.4
attached
(136)
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)
1.97 (50) Interval Length x N
L (Overall length of motor) L= Ls + 6.69 (170)
190
Automation
1.38
(35)
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
ua
ir
e
Linearserv Dimensional Drawings
LM1100/LM5090 Motor Dimensions
Dimensions in inches (mm)
1.81 (46)
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.
0.20 (5)
0.59 (15)
0.26 (6.5)
1.38 (35)
Connector 4 & 12
terminal / AMP Co.
1.97
(50)
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
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
pn
e
1.38 (35)
From
slider
side suf.
0.98 (25) from
base side suf.
0.20 (5)
0.59 (15)
3.94
(100)
Connector 4 & 12
terminal / AMP Co.
Stopper
4 - M8 Thread,
0.39 (10) depth
for load
attached
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)
9–M3 Depth 0.2 (5)
2.56 (65)1
2.48 (63)
2.56 (65)
0.91
(23)
0.59 (15)
L
0.39 (10)
3.94 (100) Interval Length x N
L (Overall length of motor) L= Ls + 9.06 (230)
4.92
(125)
6.30
(160)
8.74
(222)
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
2.17
(55)
0.83 (21)
From
slider
side suf.
Catalog 8000-4/USA
LINEARSERV
Linearserv
(N)
lb
27.0 (120)
LM1100 Series
22.5 (100)
Force
18.0 (80)
LM1300 Series
67.5 (300)
54.0 (240)
13.5 (60)
LM1050 Series
40.5 (180)
27.0 (120)
9.0 (40)
13.5 (60)
4.5 (20)
0
(N)
81.0 (360)
Force
lb
ua
ir
e
Linearserv Speed-Force Performance Curves
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
(N)
67.5 (300)
110 - 115 VAC
56.3 (250)
LM5270 Series
Force
45.0 (200)
0.4
0.5
0.7
0.8
200 - 230 VAC
Head Amplifier
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
0.6
Slider Velocity (m/s)
Slider Velocity (m/s)
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
pn
e
Dimensions in inches (mm)
2.76 (70)
1.97 (50)
0.28 (7)
2.24
(57)
1.18
(30)
Cable Option #1
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)
192
Automation
3 3 m (10 ft) Encoder Cable
Parker Hannifin Corporation
Compumotor Division
compumotor.com

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project