Parker Products Network Card OEM650 User Manual

OEM650/OEM650X  
OEM350/OEM350X  
Drive and Drive/Indexer  
User Guide  
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FAULT  
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Compumotor Division  
Parker Hannifin Corporation  
p/n 88-013157-02 A  
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OVERVIEW OEM650/OEM650X  
Contents  
How To Use This User Guide .................................................................................. iv  
Assumptions ........................................................................................................ iv  
User Guide Contents ........................................................................................... iv  
Installation Process Overview .............................................................................. iv  
Installation Preparation ......................................................................................... v  
Software Reference Manual ................................................................................. v  
Warnings & Cautions ............................................................................................ v  
1 Introduction  
1
Chapter Objective ..................................................................................................... 1  
OEM650 Description ................................................................................................. 1  
OEM650X Description .............................................................................................. 1  
OEM350/350X Description ....................................................................................... 1  
Features .................................................................................................................... 2  
2 Installation  
3
Chapter Objectives ................................................................................................... 3  
OEM650/OEM650X Ship kit ..................................................................................... 3  
Quick Test (OEM650/OEM650X).............................................................................. 4  
Quick Test: OEM650 with Separate Indexer...................................................... 10  
Quick Test: OEM650X ....................................................................................... 11  
OEM650/OEM650X Mounting ................................................................................ 13  
Panel Layout ....................................................................................................... 14  
Jumper Functions ................................................................................................... 19  
Jumper #1: Motor Current Range ..................................................................... 19  
Jumpers #2 - #5: Motor Resolution ................................................................... 19  
Jumpers #6 - #8: Motor Waveform Shape ........................................................ 20  
Jumpers #9 - #10: Auto Standby ...................................................................... 20  
Jumper #11: Auto Test...................................................................................... 21  
Motor Mounting ....................................................................................................... 22  
Attaching the Load .............................................................................................. 22  
Couplings ............................................................................................................ 23  
OEM650 Inputs and Outputs .................................................................................. 24  
Step Input Signal Specification ........................................................................... 24  
Direction Input Signal Specification ................................................................... 24  
OEM650X Inputs and Outputs ................................................................................ 26  
Step (Signal 1) & Direction (Signal 2) Outputs................................................... 26  
CW (Signal 3) & CCW (Signal 4) Limit Inputs ..................................................... 27  
Home Position Input (Signal 5) ........................................................................... 27  
Reserved (Signal 6) ............................................................................................ 27  
Output #1 (Signal 10) and Output #2 (Signal 8)................................................ 27  
Dedicated Fault Output (Signal 9)....................................................................... 27  
Sequence Inputs #1 - #3 (Signals 11 - 13) ......................................................... 28  
RS-232C—Tx (Signal 14), Rx (Signal 15), and Ground (Signal 7) ..................... 28  
Shutdown Output (Signal 16) .............................................................................. 28  
Closed Loop Operation ....................................................................................... 28  
Trigger Inputs #1 - #3 (Signals 20 - 22) .............................................................. 29  
Address Signals #1 - #3 (Signals 23 - 25) .......................................................... 29  
Sizing Power Supply ............................................................................................... 31  
ii  
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OEM650/OEM650X OVERVIEW  
3 Tuning & Specifications  
33  
Chapter Objectives ............................................................................................. 33  
Short-Circuit Protection ........................................................................................... 33  
Resonance .............................................................................................................. 33  
Mid-Range Instability .............................................................................................. 33  
Tuning Procedures.............................................................................................. 33  
Gauging Motor Resonance ................................................................................. 34  
Tuning the Drive to the Motor ............................................................................. 35  
Motor Waveforms................................................................................................ 35  
Performance Specifications .................................................................................... 36  
Accuracy ............................................................................................................. 36  
Repeatability ....................................................................................................... 36  
Hysteresis ........................................................................................................... 36  
Rotor Inertia ........................................................................................................ 36  
Motor Performance ............................................................................................. 36  
4 Troubleshooting  
41  
Chapter Objectives ................................................................................................. 41  
Drive Maintenance .................................................................................................. 41  
Motor Maintenance ................................................................................................. 41  
Problem Isolation .................................................................................................... 41  
Front Panel LEDs.................................................................................................... 42  
Common Problems and Solutions ...................................................................... 42  
Testing the Motor ................................................................................................ 45  
RS-232C Problems ............................................................................................. 45  
Software Debugging Tips.................................................................................... 46  
Returning the System ......................................................................................... 46  
Index  
49  
iii  
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OVERVIEW OEM650/OEM650X  
How To Use This User Guide  
This user guide is designed to help you install, develop, and maintain  
your system. Each chapter begins with a list of specific objectives  
that should be met after you have read the chapter. This section will  
help you find and use the information in this user guide.  
Assumptions  
To use this product and its instructions effectively, you should have  
a fundamental understanding of the following information.  
Electronics concepts (voltage, switches, current, etc.)  
Motion control concepts (torque, velocity, distance, force, etc.)  
User Guide Contents  
Chapter 1: Introduction  
This chapter provides a description of the product and a brief  
account of its specific features.  
Chapter 2: Installation  
This chapter contains a ship kit list of items you should have  
received with your OEM650 or OEM650X. Instructions to mount  
and connect the system properly are included. Upon completion of  
this chapter, your system should be completely installed and ready  
to perform basic operations.  
Chapter 3: Tuning & Specifications  
This chapter contains information on system performance specifica-  
tions (speed/torque curves, environmental specifications, etc.).  
Tuning procedures that are designed to help you operate your  
system at peak performance are also provided.  
Chapter 4: Troubleshooting  
This chapter contains information on identifying and resolving  
system problems. Descriptions of LED signals, debugging tools,  
problems/solutions table are included.  
Installation Process Overview  
To ensure trouble-free operation, pay special attention to the envi-  
ronment in which the equipment will operate, the layout and mount-  
ing, and the recommended wiring and grounding. These recommen-  
dations will help you easily and safely integrate the OEM650/OEM-  
650X into your manufacturing facility. If your environment contains  
conditions that may adversely affect solid-state equipment (electrical  
noise or atmospheric contamination), be sure to follow any special  
instruction to ensure the safety and long life of your equipment.  
iv  
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OEM650/OEM650X OVERVIEW  
Installation Preparation  
Before you install this product, complete the following steps:  
1. Review this user guide. Become familiar with the user guide’s  
contents so that you can quickly find the information you need.  
2. Develop a basic understanding of all system components, their  
functions, and interrelationships.  
3. Complete the basic system configuration and wiring instructions  
(in a simulated environment, not a permanent installation) pro-  
vided in Chapter 2, Installation.  
4. Perform as many basic functions as you can with the preliminary  
configuration. Try to simulate the task(s) that you expect to  
perform when you permanently install your application (however,  
do not attach a load at this time). This will give you a realistic  
preview of what to expect from the complete configuration.  
5. After you have tested the system’s functions and become familiar  
with the system’s basic features, carefully read Chapter 2.  
6. After you have read Chapter 2 and clearly understand what must  
be done to properly install the system, begin the installation  
process. Do not deviate from the instructions provided.  
7. Before you customize your system, check all of the system func-  
tions and features to ensure that you have completed the installa-  
tion process correctly.  
The successful completion of these steps will prevent subsequent  
performance problems and allow you to isolate and resolve potential  
system difficulties before they affect your system’s operation.  
Software Reference Manual  
A separate Software Reference Manual contains descriptions for all  
software commands applicable to the OEM650X and OEM350X.  
Warnings & Cautions  
Warning and caution notes alert you to problems that may occur if  
you do not follow the instructions correctly. Situations that may  
cause bodily injury are presented as warnings. Situations that may  
cause system damage are presented as cautions.  
WARNING  
Do not touch the motor immediately after it has been in use for an extended period of  
time. The motor may be hot.  
v
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OVERVIEW OEM650/OEM650X  
vi  
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OEM650/OEM650X INTRODUCTION  
1 Introduction  
Chapter Objective  
The information in this chapter will enable you to:  
Understand the products basic functions and features  
OEM650 Description  
The OEM650 Drive is intended to be a high-performance basic  
engine around which the original equipment manufacturer (OEM)  
designs his motion control system. Its single-power DC input makes  
it a convenient and cost effective motion control module. The drive  
offers a basic set of customer configurable features. These features  
are designed to meet the needs of most customers. The OEM650 is  
optimized to operate size 23 and 34 motors.  
The OEM650 is a bipolar, recirculating, microstepping drive designed  
to drive two-phase permanent magnet hybrid step motors. The drive  
uses a custom ASIC, surface mount, and MOSFET technologies to  
give high performance in a small package while providing short  
circuit protection. The OEM650 is compatible with all Compumotor  
indexers.  
The mechanical design is a fully enclosed product that uses a  
heatplate technique to provide a heat dissipation path. The user  
must attach the OEM650 module to a suitable mounting surface.  
OEM650X Description  
The OEM650X Drive/Indexer is the same drive product as the  
OEM650, but it includes an indexer (position controller). The  
OEM650X is the same size as the OEM650 and it incorporates the  
same design technologies (bipolar, recirculating, microstepping drive  
designed to drive two-phase permanent magnet hybrid step motors,  
custom ASIC, surface mount, and MOSFET technologies).  
The indexer utilizes commands from Compumotors popular and  
easy-to-use X Series Language. The indexer also provides additional  
I/O control and communication  
OEM350/350X Description  
The OEM350/OEM350X is a low power version of the OEM650 drive.  
It is designed for use with step motors that have lower current  
ratings and higher inductance (10 mH to 80 mH) than Compumotor  
1
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INTRODUCTION OEM650/OEM650X  
step motors. Operation of the OEM350/OEM350X is identical to that  
of the OEM650/OEM650X. For clarity, instructions in this manual  
use only the name OEM650/OEM650X. Except where differences are  
specifically noted (resistor values for motor current settings, for  
example), OEM650 instructions also apply to the OEM350, and  
OEM650X instructions also apply to the OEM350X.  
Features  
The OEM650 requires an external power supply. It uses 24VDC -  
75VDC for its power input. Compumotors motors are two-phase  
hybrid motors (permanent magnet type). Four, six, or eight leaded  
motors may be used with the internal phases connected for either  
parallel or series operation. The motors inductance cannot drop  
below 0.5 mH. For best performance, motor inductance should be  
between 1 mH and 10 mH, but motors with inductance ratings as low  
as 0.5 mH may be used. Use the OEM350/OEM350X with motors  
whose inductance is in the 10 mH to 80 mH range. The OEM650/  
OEM650X provides the following features:  
Microprocessor controlled microstepping provides smooth opera-  
tion over a wide range of speeds  
Full short circuit protection for phase-to-phase and phase-to-  
ground short circuits  
Motor regeneration protection  
Over-temperature protection  
Uses low-inductance motors for improved high-speed performance  
(23, 34 frame size motors available with torques from 65 - 400 oz-  
in)  
Three-state current control for reduced motor/drive heating  
LED status indicators: POWER and FAULT (latched)  
Optically coupled step, direction, and shutdown inputs are  
compatible with all Compumotor indexers (25-pin D connector)  
A fault output to signal other equipment if a fault occurs  
24VDC - 75VDC single power input  
16 jumper selectable motor resolutions (200 - 50,800 steps/rev)  
2 Mhz step input  
Waveform correction and phase offset for improved smoothness  
Built-in indexer (position controller)  
-M2 option allows users to store programmed sequences in  
nonvolatile memory  
I/O for motion and basic machine coordination  
2
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OEM650/OEM650X INSTALLATION  
2 Installation  
Chapter Objectives  
The information in this chapter will enable you to:  
Verify that each component of your system has been delivered  
safely and completely  
Become familiar with components and their interrelationships  
Ensure that each component functions properly by bench testing  
Mount unit within recommended thermal specifications  
OEM650/OEM650X Ship kit  
Inspect the OEM650 or OEM650X upon receipt for obvious damage  
to its shipping container. Report any such damage to the shipping  
company. Parker Compumotor cannot be held responsible for  
damage incurred in shipment. You should receive either a drive  
(OEM650) or drive/indexer (OEM650X). Compare your order with  
the units shipped.  
Part  
Part Number  
OEM650  
OEM650X  
OEM Microstepping Drive  
OEM Microstepping Drive/Indexer  
Table 2-1. OEM650 Drive & OEM650X Drive/Indexer  
The following options may be used with the OEM650X.  
Option  
Description  
-M2  
Nonvolatile Memory (2k BBRAM)  
Table 2-2. OEM650X Options  
The following motor(s) may be used with the OEM650 and  
OEM650X. Compare your order with the motors shipped.  
Part  
Part Number  
Size 231/2 Stack Stepping Motor  
Size 231 Stack Stepping Motor  
Size 232 Stack Stepping Motor  
Size 341 Stack Stepping Motor  
Size 342 Stack Stepping Motor  
Size 343 Stack Stepping Motor  
OEM57-40-MO  
OEM57-51-MO  
OEM57-83-MO  
OEM83-62-MO  
OEM83-93-MO  
OEM83-135-MO  
Table 2-3. OEM650 & OEM650X Motors  
The standard OEM650 Series motor is single-shafted. Motors can be  
purchased with a double-shaft option.  
3
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INSTALLATION OEM650/OEM650X  
Option  
-DS23  
-DS34  
Description  
Double Shaft Size 23 Motors  
Double Shaft Size 34 Motors  
Table 2-4. Double Motor Shaft Option  
The following accessories are available.  
Accessories  
Part Number  
OEM650/OEM650X User Guide  
OEM Series Software Ref. Guide  
Low Current Heatsink  
88-013157-02  
88-013785-01  
OEM-HS1  
High Current Heatsink  
OEM-HS2  
Table 2-5. OEM650/OEM650X Accessories  
Evaluation kits  
Evaluation kits include all items necessary to evaluate the OEM650  
(OEM650-EK) and OEM650X (OEM650X-EK) in a simulated produc-  
tion environment. The kits are intended to be used to prototype a  
machine or operation before production units are purchased. The  
following items are included in an evaluation kit. Motors must be  
ordered separatelythey are not included in the kit. If a component  
is missing, contact Compumotor's Customer Service Department.  
Part  
Part Number  
Drive or Drive/Indexer  
OEM650/OEM650X User Guide  
OEM Series Software Ref. Guide  
High Current Heatsink  
Ship kit Items:  
OEM650 or OEM650X  
88-013157-02  
88-013785-01  
OEM-HS2  
Resistors (for current selectionthe following types are available)  
21.0K1% Resistor  
5.76K1% Resistor  
15.8K1% Resistor  
2.05K1% Resistor  
12.7K1% Resistor  
0.00K5% Resistor  
9.53K1% Resistor  
4.87K1% Resistor  
1.27K1% Resistor  
Screwdriver  
12-008319-01  
12-008265-01  
12-008307-01  
12-008222-01  
12-008298-01  
12-003645-01  
12-008286-01  
12-008258-01  
12-008202-01  
58-013155-01  
43-001989-01  
25-Pin D Mating Connector  
X-Ware Support Disk (OEM650X-EK Only)  
3 1/2" Disk  
95-013066-01  
5 1/4" Disk  
95-013067-01  
Table 2-6. OEM650 Series Evaluation kit Contents  
Quick Test (OEM650/OEM650X)  
Use the following steps to set the drives jumpers, wire the unit, and  
test your system. You will need the following tools:  
Needle nose pliers or tweezers  
Flathead screw driver (1/10")  
4
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OEM650/OEM650X INSTALLATION  
WARNING  
The drive and motor should be mounted to a heatsink. Drive mounting does not affect  
the following tests, but if you operate the OEM650/OEM650X for extended periods  
without proper mounting, it will damage the drive and/or motor. When you complete  
the quick tests, remove power to the drive.  
Perform installation and test procedures in a properly grounded  
environment. Compumotor recommends the use of a grounding  
strap.  
1. Remove the cover by applying pressure to the 25-pin D connector.  
To remove cover,  
push the 25-pin D  
connector in while  
holding the sides of  
the unit.  
When the cover is  
removed, the  
jumpers will be  
visible at the upper  
portion of the unit.  
A
B
Jumpers  
Compumotor  
Compumotor  
Made In USA  
Made In USA  
Prod: Ø571Ø2-2-6-Ø17-Ø1Ø  
Prod: Ø571Ø2-2-6-Ø17-Ø1Ø  
5500 Business Park Dr.  
Rohnert Park, CA 94928  
5500 Business Park Dr.  
Rohnert Park, CA 94928  
11 10  
9
8
7
6
5
4
3
2
1
Enlarged view of jumpers  
Auto Auto  
Motor  
Motor  
Motor  
Test Standby Waveform  
Shape  
Resolution Current  
Range  
Figure 2-1. OEM650/OEM650X Jumpers  
2. To test the system, you will use the Automatic Test function,  
jumper 11. Remove jumper 11 to enable the function (save for  
later installation). Do n ot r em ove a n y ot h er ju m p er s . When  
power is applied to the drive with jumper 1 1 removed, the Auto-  
matic Test function will rotate the motor in an Alternating mode  
approximately 6 revolutions at 1 rps.  
5
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INSTALLATION OEM650/OEM650X  
3. Slide the drive cover back on.  
4. Attach the motor (to A+, A-, B+, B-). Do not connect the motor to  
the load at this time (refer to Figure 2-2 for 23 size motors or  
Figure 2-3 for 34 size motors). OEM size 23 motors may be wired  
in a series or parallel configuration. If you are using a 75VDC  
power supply (OEM300) with the drive or drive indexer, Compumo-  
tor recommends that you use a series configuration, however; a  
parallel configuration should be used when the power supply is  
24VDC - 48VDC. Parallel configurations will cause the drive to  
dissipate slightly more heat than a serial configuration. This  
increase in drive temperature will not affect the unit's performance,  
but it may adversely affect heat-sensitive devices that are stored  
within the same enclosure.  
Size 23 motors may be wired in series or parallel configurations  
(OEM57-40-MO, OEM57-51-MO, OEM57-83-MO)  
OEM  
s
e
r
i
Size 23 OEM650 Motors: Series Wiring  
e
s
POWER  
FAULT  
RED  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
A+  
A-  
BLUE  
GREEN  
ORANGE  
YELLOW  
BLACK  
Top View  
B-  
BROWN  
WHITE  
B+  
B-  
}
OEM  
s
e
r
i
Size 23 OEM650 Motors: Parallel Wiring  
e
s
POWER  
FAULT  
RED  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A+  
A-  
BLUE  
GREEN  
ORANGE  
A-  
B+  
B-  
YELLOW  
Top View  
BLACK  
BROWN  
WHITE  
B+  
}
B-  
Figure 2-2. NEMA 23 Size OEM Motor Wiring—Series & Parallel  
6
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OEM650/OEM650X INSTALLATION  
OEM size 34 motors are internally wired in parallel. A 75VDC  
power supply (OEM300) must be used to achieve maximum perfor-  
mance; however, lower voltage power supplies may be used (less  
than 75VDC but must be greater than 24VDC). The lower voltage  
power supply will not adversely affect the system's low-speed  
performance, but it will not yield the optimum high-speed perfor-  
mance achieved by using the 75VDC power supply.  
Size 34 motors are internally wired in a parallel configuration  
(OEM83-62-MO, OEM83-93-MO, OEM83-135-MO)  
OEM  
s
e
r
i
Size 34 OEM Series Motors: Parallel Wiring  
e
s
POWER  
FAULT  
RED  
REMOTE  
A+  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
BLACK  
A-  
Top View  
B+  
B-  
WHITE  
B+  
GREEN  
}
B-  
Figure 2-3. NEMA 34 Size OEM Motor WiringSeries  
5. Set motor current. Table 2-7 contains the proper motor current  
settings for Compumotor OEM motors. A 1/4 watt resistor  
connected between REF and CURRENT sets m ot or cu r r en t .  
Adjust the drive current to match the motor that you are using.  
Motor Current  
Selection Resistor  
OEM  
s
e
r
i
REMOTE  
REF  
e
s
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
For best installation  
results, be sure that the  
resistor lead wire is long  
enough for easy insertion  
into the REF and  
POWER  
FAULT  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
B-  
CURRENT terminals.  
A-  
B+  
B-  
OEM650/OEM650X  
Terminals  
Figure 2-4. Motor Current Selection Resistor  
7
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INSTALLATION OEM650/OEM650X  
Motor Size  
Current  
2.65A  
5.3A  
3.3A  
6.6A  
3.8A  
7.5A  
4.4A  
5.6A  
Resistor  
21.0 kΩ  
5.76 kΩ  
15.8 kΩ  
2.05 kΩ  
12.7 kΩ  
0.00 kΩ  
9.53 kΩ  
4.87 kΩ  
Voltage  
OEM57-40-MOS  
OEM57-40-MOP  
OEM57-51-MOS  
OEM57-51-MOP  
OEM57-83-MOS  
OEM57-83-MOP  
OEM83-62-MO*  
OEM83-93-MO*  
48 - 75VDC  
24 - 48VDC  
48 - 75VDC  
24 - 48VDC  
48 - 75VDC  
24 - 48VDC  
24 - 75VDC  
24 - 75VDC  
OEM83-135-MO*  
6.9A  
1.27 kΩ  
24 - 75VDC  
S: Series Configuration P: Parallel Configuration  
*34 size motors are internally wired in parallel  
Table 2-7. OEM Drive Motor Current (Compumotor Motors)  
If you use a non-Compumotor motor, carefully follow the motor  
manufacturer's instructions regarding motor wiring and the  
proper operating current. Compumotor recommends a motor  
inductance of 2 mH measured in series or parallel (0.5 mH - 10  
mH is acceptable). Table 2-8 shows resistor values that you must  
use to properly set motor current when using the OEM6 5 0 /  
OEM6 5 0 X with a non-Compumotor motor. When the m ot or  
cu r r en t r a n ge ju m p er (jumper 1see Figure 2-1) is installed, the  
drive can generate 2.5 to 7.5 amps. When jumper 1 is removed,  
the drive can generate 0.83 to 2.5 amps. If you use the OEM3 5 0 /  
OEM3 5 0 X, use Table 2-9 for resistor and current values to use  
with high-inductance (10 mH to 80 mH), low current motors.  
Jumper #1 Installed  
Jumper #1 Removed  
Current Resistance  
(Amps) (Ohms)  
Current Resistance  
(Amps) (Ohms)  
Current Resistance  
(Amps) (Ohms)  
7.5  
7.4  
7.3  
7.2  
7.1  
7.0  
6.9  
6.8  
6.7  
6.6  
6.5  
6.4  
6.3  
6.2  
6.1  
6.0  
5.9  
5.8  
5.7  
5.6  
5.5  
5.4  
5.3  
5.2  
5.1  
5.0  
0 Ω  
4.9  
4.8  
4.7  
4.6  
4.5  
4.4  
4.3  
4.2  
4.1  
4.0  
3.9  
3.8  
3.7  
3.6  
3.5  
3.4  
3.3  
3.2  
3.1  
3.0  
2.9  
2.8  
2.7  
2.6  
2.5  
7.32 kΩ  
7.68 kΩ  
8.06 kΩ  
8.45 kΩ  
8.87 kΩ  
9.53 kΩ  
10.0 kΩ  
10.5 kΩ  
10.0 kΩ  
11.5 kΩ  
12.1 kΩ  
12.7 kΩ  
13.3 kΩ  
13.7 kΩ  
14.3 kΩ  
15.0 kΩ  
15.8 kΩ  
16.5 kΩ  
17.4 kΩ  
18.2 kΩ  
19.1 kΩ  
20.0 kΩ  
20.5 kΩ  
21.5 kΩ  
22.6 kΩ  
2.5  
2.4  
2.3  
2.2  
2.1  
2.0  
1.9  
1.8  
1.7  
1.6  
1.5  
1.4  
1.3  
1.2  
1.1  
1.0  
0.9  
0.83  
0 Ω  
205 Ω  
619 Ω  
412 Ω  
1.27 kΩ  
2.05 kΩ  
2.80 kΩ  
3.57 kΩ  
4.53 kΩ  
5.49 kΩ  
6.49 kΩ  
7.68 kΩ  
8.87 kΩ  
10.5 kΩ  
12.1 kΩ  
13.7 kΩ  
15.8 kΩ  
18.2 kΩ  
20.5 kΩ  
22.6 kΩ  
619 Ω  
825 Ω  
1.02 kΩ  
1.27 kΩ  
1.54 kΩ  
1.78 kΩ  
2.05 kΩ  
2.26 kΩ  
2.55 kΩ  
2.80 kΩ  
3.09 kΩ  
3.32 kΩ  
3.57 kΩ  
3.92 kΩ  
4.22 kΩ  
4.53 kΩ  
4.87 kΩ  
5.11 kΩ  
5.49 kΩ  
5.76 kΩ  
6.19 kΩ  
6.49 kΩ  
6.81 kΩ  
Table 2-8. OEM650/650X Resistor Selection for Motor Current  
8
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OEM650/OEM650X INSTALLATION  
Jumper #1 Installed  
Current Resistance Current Resistance  
(Amps) (Ohms) (Amps) (Ohms)  
Jumper #1 Removed  
Current Resistance  
(Amps) (Ohms)  
2.0  
1.9  
1.8  
1.7  
1.6  
1.5  
1.4  
0 Ω  
1.3  
1.2  
1.1  
1.0  
0.9  
0.8  
0.7  
7.32 kΩ  
8.87 kΩ  
10.7 kΩ  
13.0 kΩ  
15.4 kΩ  
18.2 kΩ  
21.5 kΩ  
0.7  
0.6  
0.5  
0.4  
0.3  
0.2  
0 Ω  
787 Ω  
2.21 kΩ  
5.36 kΩ  
10.0 kΩ  
16.2 kΩ  
27.4 kΩ  
1.62 kΩ  
2.49 kΩ  
3.57 kΩ  
4.64 kΩ  
5.90 kΩ  
Table 2-9. OEM350/350X Resistor Selection for Motor Current  
6. Connect a 24VDC - 75VDC power supply to VDC+ and VDC-.  
Refer to Figure 2-5 for a diagram of this connection and the  
complete OEM650 test configuration.  
OEM  
s
e
r
i
e
s
POWER  
FAULT  
REMOTE  
REF  
Power  
Supply  
CURRENT  
+
DUMP  
-
VDC+  
VDC-  
A+  
A-  
B+  
B-  
OEM  
Series  
Refer to Figures 2-2 and  
Motor  
2-3 for specific motor  
wiring instructions  
Figure 2-5. OEM650 Test Configuration  
WARNING  
Reversing VDC+ and VDC- can seriously damage the drive.  
7. Apply power. The OEMs green power LED should be on. If the  
red FAULT LED is on, consult Chapter 4, Troubleshooting. After  
verifying that the motor moves CW and CCW, turn off power.  
Disconnect cables and resistor.  
Snap off cover.  
Install jumper 1 1 .  
Replace cover.  
9
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INSTALLATION OEM650/OEM650X  
Quick Test: OEM650 with Separate Indexer  
1. Complete steps 1- 6 from the OEM650 Quick Test, bu t d o n ot  
r em ove ju m p er # 1 1 (Au t o Tes t Fu n ct ion ).  
2. To connect a Com p u m ot or in d exer to the OEM650s 25-pin D  
connector refer to Figure 2-6.  
To connect a n on -Com p u m ot or in d exer to the OEM650's 25-pin  
D connector, refer to Figure 2-7.  
3. Apply power. The OEMs green power LED should be on. If the  
red FAULT LED is on, consult Chapter 5, Troubleshooting.  
Th is t es t a s s u m es t h a t you r in d exer s m ot or r es olu t ion is s et t o  
2 5 ,0 0 0 s t ep s /r ev. Th is is t h e d efa u lt m ot or r es olu t ion s et t in g  
for t h e OEM6 5 0 .  
4. Using the indexer, send step pulses to the drive that will rotate the  
motor one CW revolution (25,000 step pulses) at 1 rps (25,000  
steps per second).  
5. Using the indexer, send step pulses to the drive that will rotate the  
motor one CCW revolution at 1 rps. The drive's default direction  
is CCW (i.e., if the the direction input is not activated, the motor  
will rotate CCWif the direction input is activated, the motor will  
rotate CW). If the motor does not rotate in the desired direction,  
reverse the direction sense for your system by reversing the leads  
going to the A+ and A- terminals.  
WARNING  
Never connect or disconnect any component to or from the drive with power  
applied. System damage or personal injury may occur.  
6. After verifying that the motor moves CW and CCW, turn off power.  
Disconnect cables and resistor.  
10  
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OEM650/OEM650X INSTALLATION  
To connect the OEM650 to the Compumotor  
indexer, use the cable provided with the  
OEM  
indexer. The cable should fit into the OEM650's  
25-pin D connector as shown in this figure. No  
additional wiring is necessary. Refer to the  
indexer's user guide for any specific instructions  
associated with the Compumotor indexer.  
s
e
r
i
e
s
POWER  
FAULT  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
Power  
Supply  
+
-
Drive  
A-  
B+  
B-  
Compumotor  
OEM  
Series  
Refer to Figures 2-2 and  
2-3 for specific motor  
wiring instructions  
Motor  
Figure 2-6. OEM650 with Compumotor Indexer Test Configuration  
1 Step+  
2 Direction+  
14 Step—  
15 Direction—  
OEM  
s
e
r
i
e
s
POWER  
FAULT  
REMOTE  
REF  
Power  
Supply  
CURRENT  
+
DUMP  
-
VDC+  
VDC-  
A+  
A-  
B+  
B-  
To connect the OEM650 to a non-  
Compumotor indexer or pulse generator,  
use the pinouts of the OEM650's 25-pin D  
connector as shown in this figure. Refer to  
the indexer or pulse generator's user guide  
for any specific instructions associated with  
the device.  
OEM  
Series  
Motor  
Refer to Figures 2-2 and  
2-3 for specific motor  
wiring instructions  
Figure 2-7. OEM650 with non-Compumotor Indexer or Pulse Generator Test Configuration  
Quick Test: OEM650X  
1. Complete steps 1- 6 from the OEM650 Quick Test. bu t d o n ot  
r em ove ju m p er # 1 1 (Au t o Tes t Fu n ct ion )  
2. Connect the OEM650X to an RS-232C communications device  
(i.e., computer, PLC, etc.). The OEM650X's communication  
parameters are listed below:  
❏❏ Baud Rate: 9600  
❏❏ Data Bits: 8  
❏❏ Stop Bit: 1  
❏❏ Parity: None  
11  
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INSTALLATION OEM650/OEM650X  
Handshaking is not supported. Terminals should be set for full  
duplex mode.  
3. Apply power. The OEMs green power LED should be on. If the  
red FAULT LED is on, consult Chapter 4, Maintenance & Trouble-  
shooting.  
Th is t es t a s s u m es t h a t you r in d exer s m ot or r es olu t ion is s et t o  
2 5 ,0 0 0 s t ep s /r ev. Th is is t h e d efa u lt m ot or r es olu t ion s et t in g  
for t h e OEM6 5 0 X.  
4. Enter and run the following command sequence to test the  
system.  
Command  
Description  
MN  
Sets unit to Normal mode  
Disables CW & CCW Limits  
Set acceleration to 10 rps  
Set velocity to 10 rps  
Set move distance to 1 CW revolution  
Initiate move (Go)  
LD3  
A1Ø  
V1Ø  
D25ØØØ  
G
2
H
G
Reverse move direction (CCW)  
Initiate move (Go)  
5. After verifying that the motor moves CW and CCW, turn off power.  
CAUTION  
RS-232C signals are not on pins 2, 3, and 7 on the 25-pin D connector.  
14 Tx  
Rx  
OEM  
15 Rx  
Tx  
s
e
GND  
7 GND  
r
i
e
s
POWER  
FAULT  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
Power  
Supply  
+
-
A-  
B+  
B-  
OEM  
Series  
Motor  
Refer to Figures 2-2 and  
2-3 for specific motor  
wiring instructions  
Figure 2-8. OEM650X Test Configuration  
12  
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OEM650/OEM650X INSTALLATION  
OEM650/OEM650X Mounting  
The OEM Drive mounting is designed to minimize panel area or  
footprint (refer to Figure 2-9). An optional heatsink can also be used  
to configure the drive for minimum depth.  
This surface must be  
thermally coupled to a  
cold plate in most  
applications  
2x 0.177 Thru  
(Clearance for  
#8 PHP Screw)  
1.625  
0.812  
3.555  
3.315  
Compumotor  
Compumotor  
OEM  
s
e
r
i
e
s
5500 Business Park Dr.  
Rohnert Park, CA 94928  
POWER  
FAULT  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
B-  
1.000  
2.000  
Mtg Clearance  
Exposed aluminum  
for electrical  
grounding  
Figure 2-9. OEM650/OEM650X Dimensions  
13  
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INSTALLATION OEM650/OEM650X  
Panel Layout  
If you mount the OEM650/OEM650X in an enclosure, observe the  
following guidelines:  
Do not mount large, heat-producing equipment directly beneath  
the OEM650 or OEM650X.  
Do not mount the OEM650 directly below an indexer (the drive  
produces more heat than an indexer).  
Fan cooling may be necessary.  
Refer to the subsequent instructions and diagrams in this section for  
specific mounting information about your configuration.  
Mounting Without a Heatsink  
If you are operating the OEM650/OEM650X without a heatsink, use  
the panel layout recommendations provided in Figure 2-10 to mount  
the unit(s) in an enclosure.  
0.375"  
OEM  
OEM  
s
e
r
i
s
e
r
i
e
s
e
s
4.65"  
2.35"  
POWER  
FAULT  
POWER  
FAULT  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
B-  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
B-  
2"  
OEM  
OEM  
s
e
r
i
s
e
r
i
e
s
e
s
POWER  
FAULT  
POWER  
FAULT  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
A-  
B+  
B-  
B-  
2"  
Minimum  
Figure 2-10. OEM650/OEM650X Without a Heatsink  
Figure 2-11 shows the heat generated by the OEM650/OEM650X  
that needs to be dissipated by the mounting surface.  
The OEM uses a heatplate design to dissipate heat. The drive should  
never be operated for more than a few minutes without properly  
mounting the drive to an adequate thermal heatsink.  
The total thermal dissipation in the OEM650/OEM650X is almost  
constant, regardless of whether the motor is stationary or in motion.  
The motor current output jumper settings determine the motor  
phase currents that cause the power losses shown in Figure 2-11.  
The cabinet's thermal resistance is approximately 0.35°C/Watt in  
still air with the heatplate vertically oriented.  
14  
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OEM650/OEM650X INSTALLATION  
40  
35  
30  
25  
20  
15  
10  
5
2
3
4
5
6
7
8
Drive Current  
(Amps)  
SSeries Configuration  
PParallel Configuration  
*34 size motors are internally wired in Parallel  
Figure 2-11. OEM650/OEM650X Power Dissipation  
Over-Temperature Protection  
The OEM650/OEM650X is over-temperature protected. The drive will  
shut down if its heatplate temperature exceeds 58°C (136°F). To  
measure drive temperature under operating conditions, position a  
thermal probe on the left edge of the heatplate, approximately 1.5"  
from the top of the drive, as shown in Figure 2-12.  
Compumotor  
Measure heatplate temperature  
on left side, 1.5" from top of drive.  
OEM  
s
e
r
Figure 2-12. Heatplate Temperature Measurement  
To keep the drive cool, and ensure that over-temperature protection  
does not unexpectedly shut down the drive, the temperature of the  
mounting surface adjacent to the drive should not exceed 55°C  
(131°F).  
15  
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INSTALLATION OEM650/OEM650X  
Two types of optional heatsinks can be used for applications that do  
not have an adequate mounting surface.  
Mounting With OEM-HS1  
The small heatsink (OEM-HS1) is intended to be used with a current  
setting up to 5A in still, ambient (25°C) air. If the drive is to be  
mounted in an ambient environment hotter than 25°C, active cooling  
(forced air) will be required to maintain the heatsink temperature  
below 55°C. This heatsink may be purchased as an option.  
Two #8-32 screws are needed to mount the OEM650/OEM650X to  
the OEM-HS1 heatsink. Use a star washer on the bottom screw to  
ensure proper electrical grounding. Two #8 screws should be used  
to mount the OEM-HS1 to the cabinet heatsink.  
Do not use a star washer between the back of the OEM or heatplate  
and the mounting surface. The mounting surface must be flat. Use  
thermal grease or thermal pads to facilitate heat transfer from the  
drives heatplate to your mounting surface.  
A heatsink with holes tapped for metric screws is available. Its part  
number is OEM-HS1-M4. Consult your Compumotor sales guide for  
more information.  
1.175"  
2x #8-32 UNC-2B  
Thru One Fin  
0.200"  
0.175"  
4.650"  
4.650"  
2x Ø0.187 Thru  
2x #8-32 UNC-2B Thru  
0.637"  
0.450"  
0.175"  
1.287"  
2.100"  
0.200"  
2.000"  
5.000"  
Figure 2-13. OEM-HS1 Dimensions  
16  
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OEM650/OEM650X INSTALLATION  
With the OEM-HS1, the drive may be mounted in two different  
configurations (refer to Figures 2-14 and 2-15). One configuration  
provides the maximum amount of panel or mounting space (mini-  
mum area). The other configuration provides minimum depth.  
Panel layout for minimum area is shown in Figure 2-14.  
0.5"  
OEM  
OEM  
s
e
r
i
s
e
r
i
e
s
e
s
4.65"  
2.35"  
POWER  
FAULT  
POWER  
FAULT  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
B-  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
B-  
2"  
OEM  
OEM  
s
e
r
i
s
e
r
i
e
s
e
s
POWER  
FAULT  
POWER  
FAULT  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
A-  
B+  
B-  
B-  
2.5"  
Minimum  
Figure 2-14. OEM650/OEM650X OEM-HS1 Minimum Area Panel Layout  
Panel layout for minimum depth is shown in Figure 2-15.  
3"  
4.65"  
2"  
2.35"  
6.32"  
Minimum Betwen Mounting Holes  
Figure 2-15. OEM650/OEM650X OEM-HS1 Minimum Depth Panel Layout  
17  
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INSTALLATION OEM650/OEM650X  
Mounting With OEM-HS2  
The large heatsink (OEM-HS2) is intended to be used with a current  
setting up to the drive maximum of 7.5A in still, ambient (25°C) air.  
If the drive is to be mounted in an ambient environment hotter than  
25°C, active cooling (forced air) will be required to maintain the  
heatsink temperature below 55°C. This heatsink may be purchased  
as an option to provide adequate drive cooling when adequate  
cooling cannot otherwise be achieved (refer to Figures 2-16 and 2-  
17). Secure the drive or drive/indexer to the heatsink with #8  
screws. Use thermal grease or a thermal pad between the unit and  
the heatsink to facilitate heat transfer. Secure the drive and heat-  
sink to your mounting surface with two #8 screws.  
2.62"  
2x #8-32 UNC-2B Thru  
0.37"  
2x Ø0.187 Thru  
1.175"  
4.650"  
4.50"  
2.25"  
0.500"  
6.000"  
7.000"  
Figure 2-16. OEM-HS2 Dimensions  
18  
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OEM650/OEM650X INSTALLATION  
1"  
OEM  
OEM  
s
e
r
i
s
e
r
i
e
s
e
s
4.65"  
2.0"  
6.0"  
3.0"  
POWER  
FAULT  
POWER  
FAULT  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
B-  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
B-  
OEM  
OEM  
s
e
r
i
s
e
r
i
e
s
e
s
POWER  
FAULT  
POWER  
FAULT  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
A-  
B+  
B-  
B-  
5.5"  
Minimum  
Figure 2-17. OEM650/OEM650X OEM-HS2 Minimum Area Panel Layout  
Jumper Functions  
Figure 2-1 shows the location and function of the 11 OEM650/  
OEM650X jumpers. When the unit is shipped to you, all 11 jumpers  
are installed. Each jumper's function is defined in this section.  
Jumper #1: Motor Current Range  
This jumper sets the range of user configurable motor current  
settings. Refer to Tables 2-8 and 2-9 for motor current values with  
jumper 1 installed and removed.  
Jumpers #2 - #5: Motor Resolution  
These jumpers control motor resolution (how many steps are in one  
revolution). Although higher resolutions typically result in finer  
positioning and improved low-speed smoothness, it does not necessar-  
ily result in improved accuracy.  
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INSTALLATION OEM650/OEM650X  
Resolution  
JU2  
on  
on  
on  
on  
on  
on  
on  
on  
off  
off  
off  
off  
off  
off  
off  
off  
JU3  
on  
on  
on  
off  
off  
on  
off  
off  
on  
on  
on  
on  
off  
off  
off  
off  
JU4  
on  
off  
off  
on  
on  
on  
off  
off  
on  
on  
off  
off  
on  
on  
off  
off  
JU5  
off  
on  
off  
on  
off  
on  
on  
off  
on  
off  
on  
off  
on  
off  
on  
off  
50,800 Steps/Rev  
50,000 Steps/Rev  
36,000 Steps/Rev  
25,600 Steps/Rev  
25,400 Steps/Rev  
25,000 Steps/Rev *  
21,600 Steps/Rev  
20,000 Steps/Rev  
18,000 Steps/Rev  
12,800 Steps/Rev  
10,000 Steps/Rev  
5,000 Steps/Rev  
2,000 Steps/Rev  
1,000 Steps/Rev  
400 Steps/Rev  
200 Steps/Rev  
* Default Setting  
Table 2-10. Motor Resolution Jumper Settings  
Your indexer (if you are using an OEM650) and drive should be set to  
the same resolution. If the drive and indexers motor resolution  
settings do not match, commanded accelerations and velocities will  
not be performed accurately.  
Jumpers #6 - #8: Motor Waveform Shape  
These jumpers control the shape or waveform of the commanded  
motor current. Motor waveforms can reduce resonance problems  
and allow the motor to run smoothly. This function will not operate  
when the 200-step or 400-step motor resolutions are used.  
Motor Waveform  
Pure sine  
JU6  
off  
off  
on  
off  
off  
on  
on  
on  
JU7  
off  
on  
on  
off  
on  
off  
off  
on  
JU8  
on  
off  
on  
off  
on  
off  
on  
off  
-2% 3rd Harmonic  
-4% 3rd Harmonic*  
-4% 3rd Harmonic  
-4% 3rd Harmonic  
-6% 3rd Harmonic  
-8% 3rd Harmonic  
-10% 3rd Harmonic  
* Default Setting  
Table 2-11. Motor Waveform Jumper Settings  
Jumpers #9 - #10: Auto Standby  
The Automatic Standby function allows the motor to cool when it is  
not moving. This function reduces the current to the motor when  
the drive does not receive a step pulse for one second. Full current  
is restored upon the first step pulse that the drive receives. Do not  
use this function in systems that use an indexer and an encoder for  
position maintenance. If used in this environment, the system will go  
in and out of the Auto Standby mode.  
20  
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OEM650/OEM650X INSTALLATION  
Standby Current  
Full Current*  
75% Current  
50% Current  
25% Current  
JU9  
on  
off  
on  
off  
JU10  
on  
on  
off  
off  
* Default Setting  
Table 2-12. Auto Standby Jumper Settings  
Jumper #11: Auto Test  
The Automatic Test function turns the motor shaft slightly less than  
six revolutions in Alternating mode at 1 rps. The Automatic Standby  
function and motor resolution settings are disabled when you use  
the Automatic Test function.  
Auto Test  
Enabled  
JU11  
off  
Disabled*  
on  
* Default Setting  
Table 2-13. Auto Test Jumper Settings  
21  
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INSTALLATION OEM650/OEM650X  
Motor Mounting  
Rotary stepper motors should be mounted with flange bolts and  
positioned with the centering flange on the front face. Foot-mount or  
cradle configurations are not recommended because the motor's  
torque is not evenly distributed around the motor case and they offer  
poor registration. Any radial load on the motor shaft is multiplied by  
a much longer lever arm when a foot mount is used rather than a  
face flange.  
WARNING  
Improper mounting can reduce system performance & jeopardize personal safety.  
The motors used with the OEM650/OEM650X can produce very  
large torques. These motors can also produce high accelerations.  
This combination can shear shafts and mounting hardware if the  
mounting is not adequate. High accelerations can produce shocks  
and vibrations that require much heavier hardware than would be  
expected for static loads of the same magnitude. The motor, under  
certain profiles, can produce low-frequency vibrations in the mount-  
ing structure. These vibrations can cause metal fatigue in structural  
members if harmonic resonances are induced by the move profiles  
you are using. A mechanical engineer should check the machine  
design to ensure that the mounting structure is adequate.  
CAUTION  
Consult a Compumotor Applications Engineer [800-358-9070] before you machine the  
motor shaft. Improper shaft machining can destroy the motors bearings. Never  
disassemble the motor (it will cause a significant loss of torque).  
Attaching the Load  
This section discusses the main factors involved when attaching the  
load to the motor. The following three types of misalignments can  
exist in any combination.  
Parallel Misalignment  
The offset of two mating shaft center lines, although the center lines  
remain parallel to each other.  
Angular Misalignment  
When two shaft center lines intersect at an angle other than zero  
degrees.  
End Float  
A change in the relative distance between the ends of two shafts.  
22  
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OEM650/OEM650X INSTALLATION  
Couplings  
The motor and load should be aligned as accurately as possible. Any  
misalignment may degrade your systems performance. There are  
three types of shaft couplings: single-flex, double-flex, and rigid.  
Like a hinge, a single-flex coupling accepts angular misalignment  
only. A double-flex coupling accepts both angular and parallel  
misalignments. Both single-flex and double-flex, depending on their  
design, may or may not accept end-play. A rigid coupling cannot  
compensate for any misalignment.  
Single-Flex Coupling  
When a single-flex coupling is used, one and only one of the shafts  
must be free to move in the radial direction without constraint. Do  
n ot u s e a d ou ble-flex cou p lin g in t h is s it u a t ion ; it will a llow t oo  
m u ch fr eed om a n d t h e s h a ft will r ot a t e eccen t r ica lly, wh ich  
will ca u s e la r ge vibr a t ion s a n d im m ed ia t e fa ilu r e.  
Double-Flex Coupling  
Use a double-flexed coupling whenever two shafts are joined that are  
fixed in the radial and angular direction (angular misalignment). Do  
n ot u s e a s in gle-flex cou p lin g wit h a p a r a llel m is a lign m en t ;  
t h is will ben d t h e s h a ft s , ca u s in g exces s ive bea r in g loa d s a n d  
p r em a t u r e fa ilu r e.  
Rigid Coupling  
Rigid couplings are generally not recommended. They should be  
used only if the motor is on some form of floating mounts, which  
allow for alignment compensation.  
23  
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INSTALLATION OEM650/OEM650X  
OEM650 Inputs and Outputs  
Internal Connections  
+5V  
464  
+5V  
243Ω  
8
2
3
6
Inputs & Outputs  
+5V  
464Ω  
5
HCPL-2601  
243Ω  
Step Input  
ILQ2  
1
2
11  
12  
5
14  
15  
6
Direction Input  
Remote Input  
16  
17  
681Ω  
10  
9
8
7
+5V  
464Ω  
ILQ2  
21  
23  
4N35  
15  
16  
9
Fault Output  
1
2
11  
Gear Shift Input  
+5V  
ILQ2  
ILQ2  
10kΩ  
BS170  
681Ω  
14  
13  
25 Pin  
D-Connector  
on OEM650  
4
HPCL-2631  
3
Figure 2-18. OEM650 Inputs & Output Schematic  
Step Input Signal Specification  
The OEM650's inputs are optically isolated and may be driven  
(activated) by providing a positive pulse to the plus input with  
respect to the minus input. This input may also be differentially  
driven. The input driver must provide a minimum of 6.5 mA—  
approximately 3.5 VDC (15 mA maximum).  
Step Pulse Input  
Operate the step pulse input within the following guidelines:  
200 nanosecond-pulse minimum  
40% - 60% duty cycle (2 MHz maximum pulse rate  
Direction Input Signal Specification  
The OEM650's inputs are optically isolated and may be driven  
(activated) by providing a positive pulse to the plus input with  
respect to the minus input. The input may also be differentially  
driven. The input driver must provide a minimum of 10 mA—  
approximately 3.5 VDCto ensure adequate operation.  
Direction Input  
The direction may change polarity coincident with the last step  
pulse. The direction input must be stable for at least 120 µsec  
before the drive receives the first pulse.  
24  
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OEM650/OEM650X INSTALLATION  
Remote Input  
The Remote input is an optically isolated input that uses an ILQ2  
quad OPTO isolator. The REMOTE+ terminal is connected to the  
anode of the OPTO lead via a 681current limiting resistor. The  
REMOTE- terminal is connected to the cathode of the OPTO lead.  
The OPTO requires a minimum of 3.5 mA (3.5VDC) to ensure proper  
system operation.  
This input allows you to reduce current to a motor from a remote  
location. This is accomplished by changing the current select  
resistor via the remote input. When the remote input is enabled, the  
open collector transistor connected to the REMOTE screw terminal  
will conduct to ground. If the CURRENT and REMOTE terminals are  
shorted together (with a wire) motor current will be reduced to zero.  
Motor current can also be reduced by a percentage if CURRENT and  
REMOTE are shorted with the appropriate resistor. A remote motor  
current value must be selected (see Table 2-8) to set the operating  
current. Identify the current resistor associated with the operating  
current you select. Use the resistor values to determine the remote  
resistor that must be installed between the CURRENT and REMOTE  
terminals. Use the following equation to detemine RREMOTE  
.
RREMOTE = -13,300 (3650 + RC) / (RC - RS)  
RC = Resistor associated with the operating current  
RS = Resistor associated with the desired standby current  
Fault Output  
This output is an open-collector, open emitter output from a ILQ2  
OPTO isolator. The output transistor will conduct when the drive is  
functioning properly. The transistor will not conduct properly when  
any of the following conditions exist.  
No power is applied to the drive  
There is insufficient voltage (<24VDC)  
The driver detects a motor fault  
The remote input is enabled  
This output has the following electrical characteristics:  
VCE = 35VDC  
VCESAT = 0.3VDC  
Collector Current = 10 mA maximum  
Dissipation = 100 mW maximum  
25  
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INSTALLATION OEM650/OEM650X  
Gear Shift Input  
The Gear shift input is an optically isolated input that uses and ILQ2  
quad OPTO isolator. The GS+ terminal is connected to the anode of  
the OPTO lead via a 681current limiting resistor. The GS- terminal  
is connected to the cathode of the OPTO lead. The OPTO requires a  
minimum of 3.5 mA (approximately 3.5VDC) to ensure proper system  
operation.  
This function allows a user with a limited frequency generator to  
achieve higher velocities while using high resolution settings. This is  
accomplished by the drive multiplying each step pulse that it re-  
ceives by a factor of 8. This function may be invoked on-the-fly;  
however, to prevent stalling and to keep track of motor position, it  
should only be invoked when the motor is not moving.  
OEM650X Inputs and Outputs  
1
Step Output  
Direction Output  
CW Limit  
14  
15  
16  
Tx  
2
3
4
5
6
Rx  
N.C.  
OEM  
s
e
r
i
Shutdown  
N.C.  
N.O.  
CCW Limit  
Home  
Encoder Channel A  
Encoder Channel B  
Encoder Channel Z  
17  
18  
e
s
Reserved  
19  
20  
GND Ref.  
7
8
N.C.  
N.C.  
N.C.  
N.C.  
N.C.  
N.C.  
Trigger Input #1  
Trigger Input #2  
Trigger Input #3  
Address Sel. #1  
Address Sel. #2  
Address Sel. #3  
POWER  
FAULT  
Output #2  
21  
22  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
Fault Output  
Output #1  
9
10  
11  
12  
23  
24  
N.C.  
N.C.  
N.C.  
Sequence #1  
Sequence #2  
Sequence #3  
A-  
B+  
B-  
25  
13  
Figure 2-19. OEM650X Inputs & Output Schematic  
CAUTION  
I/O is not OPTO isolated, I/O GND is common to VDC-.  
Step (Signal 1) & Direction (Signal 2) Outputs  
The OEM650X produces a step  
and direction output that is  
+5V  
Minimum high-level output: 4.26V  
(Source 24mA)  
identical to the indexer's internal  
step and direction signals.  
These outputs can be used to  
slave to another drive or to  
monitor the OEM650X's position  
and velocity. The Direction  
4.75k  
ACTØ4  
Maximum low-level output: 0.44V  
(Sinks 12 mA)  
output's default state is logic high. The Step output's default state is  
a high, pulsing low output. The figure represents a typical configu-  
ration of this output.  
26  
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OEM650/OEM650X INSTALLATION  
CW (Signal 3) & CCW (Signal 4) Limit Inputs  
The OEM650X has two dedicated  
hardware end-of-travel limits  
(CCW and CW ). When you  
power up the OEM650X, these  
inputs are enabled (high). To test  
the OEM650X without connect-  
ing the CCW and CW limits, you  
+5V  
Maximum low-level input: 0.8V  
(Sinks 1.2 mA)  
4.75k  
Minimum high-level input: 2V  
HCT244  
must disable the limits with the LD3 command. You can use the  
Limit Switch Status Report (RA) and Input Status (IS) commands to  
monitor the limitsstatus. The figure represents a typical configura-  
tion of these inputs.  
Home Position Input (Signal 5)  
The OEM650X has one dedicated  
+5V  
home input. The Home Limit  
Maximum low-level input: 0.8V  
input allows you to establish a  
home reference input. This input  
is not active during power-up.  
Refer to the Go Home command  
for more information on setting  
(Sinks 1.2 mA)  
4.75k  
Minimum high-level input: 2V  
HCT541  
up and using this function. The figure represents a typical configu-  
ration of this input. (Refer to the OS and GH commands.)  
Reserved (Signal 6)  
This signal cannot currently be used to perform any function in this  
release of the OEM650X. Additional functionality may be provided in  
future revisions.  
Output #1 (Signal 10) and Output #2 (Signal 8)  
The OEM650X has two dedicated  
programmable outputs. They  
ACTØ4  
Minimum high-level output: 4.26V  
may be used to signal peripheral  
(Source -24mA)  
devices upon the start or comple-  
Maximum low-level output: 0.44V  
(Sinks @ 23 mA)  
tion of a move. The default state  
for Outputs #1 and #2 is logic  
low. The figure represents a  
typical configuration of these outputs. (Refer to the O command.)  
Dedicated Fault Output (Signal 9)  
The OEM650X has one dedicated  
fault output. This output may be  
used to signal peripheral devices  
if a unit failure occurs. The Fault  
output's default state is logic  
+5V  
+4.75k  
Maximum low-level output: 0.8V  
(Sinks 1.2 mA)  
High-level output: 5V  
high. The figure represents a  
BS170  
27  
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INSTALLATION OEM650/OEM650X  
typical configuration of this output.  
Sequence Inputs #1 - #3 (Signals 11 - 13)  
The OEM650X has three dedi-  
+5V  
cated sequence inputs that allow  
you to control seven different  
Maximum low-level input: 0.8V  
(Sinks 1.2 mA)  
4.75k  
sequences. Refer to the X  
Minimum high-level input: 2V  
commands for information on  
how to control these inputs.  
Sequence #Ø is not a valid  
HCT244  
sequence.  
Sequences are executed remotely by using one of the following logic  
patterns. (1 represents a +5V signal, Ø represents a ØV signal.)  
Sequence #  
SEQ Input #1  
SEQ Input #2  
SEQ Input #3  
Ø
Ø
Ø
Ø
1
1
Ø
Ø
2
Ø
1
3
1
1
4
Ø
Ø
1
5
1
Ø
1
6
Ø
1
7
1
1
1
Ø
Ø
1
The figure represents a typical configuration of these outputs.  
RS-232CTx (Signal 14), Rx (Signal 15), and Ground (Signal 7)  
The OEM650X uses RS-232C as  
its communication medium. This  
Tx  
indexer does not support hand-  
Meets EIA RS-232C & CCITT  
shaking. A typical three-wire (Rx,  
V.28 specifications  
Tx, and Signal Ground) configu-  
ration is used). The figure  
represents a typical RS-232C  
configuration.  
Rx  
Signal ground  
Shutdown Output (Signal 16)  
The OEM produces a Shutdown  
output that is identical to the  
indexer's internal signal. This  
output may be used to slave to  
another drive or to monitor the  
OEM650X. The Shutdown  
+5V  
Minimum high-level output: 4.26V  
(Source -24mA)  
10k  
Maximum low-level output: 0.44V  
(Sinks @ 23 mA)  
output's default state is logic  
high. The figure represents a  
ACTØ4  
typical configuration of this output. (Refer to the ST command.)  
Closed Loop Operation  
Closed loop moves require an external encoder to provide position  
correction signals. Motor position may be adjusted to reach the  
desired position. To implement the closed loop functions, you must  
28  
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OEM650/OEM650X INSTALLATION  
connect a single-ended, incremental, optical encoder to the  
OEM650X. When an encoder is used, the following functions will be  
added to the system:  
Encoder referenced positioning  
Encoder position servoing  
Motor stall detection  
Higher accuracy homing function  
Multi-axis stop (also available without an encodersee FSF in  
command reference)  
Encoder Inputs A, B, Z (Signals 17-19)  
The OEM650X has three  
+5V  
dedicated inputs for use with a  
single ended incremental  
encoder. These inputs in  
Maximum low-level input: 0.8V  
(Sinks 1.2 mA)  
4.75k  
Minimum high-level input: 2V  
conjunction with the FS com-  
mands will determine the  
HCT244  
encoder functionality.  
Trigger Inputs #1 - #3 (Signals 20 - 22)  
The OEM650X has three dedi-  
cated Trigger inputs. These  
+5V  
Maximum low-level input: 0.8V  
(Sinks 1.2 mA)  
inputs are pulled up internally.  
These inputs are used with the  
4.75k  
Minimum high-level input: 2V  
Trigger (TR) command to control  
the OEM650X's trigger function.  
The figure represents a typical  
HCT541  
configuration of these inputs.  
Address Signals #1 - #3 (Signals 23 - 25)  
The OEM650X has three dedicated address inputs that allow you to  
specify a unique address for each OEM650X in your configuration.  
Units may be assigned a valid  
+5V  
address from 1 to 8. Each unit  
Maximum low-level input: 0.8V  
(Sinks 1.2 mA)  
in the configuration must have a  
4.75k  
unique address. The default  
Minimum high-level input: 2V  
address is 8 (all three inputs are  
internally pulled up. The address  
HCT541  
inputs are read only during  
power-up and when Restart (Z) commands are issued. Use the  
matrix below to assign unique address values. (Refer to the  
# command for more information.)  
Address #  
Address #1  
Address #2  
Address #3  
8
7
1
Ø
Ø
6
Ø
1
5
1
1
4
Ø
Ø
1
3
1
Ø
1
2
Ø
1
1
1
1
1
Ø
Ø
Ø
Ø
Ø
1
29  
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INSTALLATION OEM650/OEM650X  
Daisy Chaining  
You may daisy chain up to 8 OEM650Xs. Individual drive addresses  
are set with signals 23, 24, and 25 on the 25-pin D connector. When  
daisy chained, the units may be addressed individually or simulta-  
neously. You should establish a unique device address for each  
OEM650X. Refer to Figure 2-20 for OEM650X daisy chain wiring.  
Rx  
Tx  
Gnd  
Tx  
Rx  
Gnd  
Tx  
Rx  
Gnd  
Tx  
Rx  
Gnd  
OEM  
OEM  
OEM  
s
e
r
i
s
e
r
i
s
e
r
i
e
s
e
s
e
s
POWER  
FAULT  
POWER  
FAULT  
POWER  
FAULT  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
A-  
B+  
A-  
B+  
B-  
B-  
B-  
Figure 2-20. Daisy Chain Configuration  
Commands prefixed with a device address control only the unit  
specified. Commands without a device address control all units on  
the daisy chain. The general rule is: Any command that causes the  
drive to transmit information from the RS-232C port (such as a status  
or report command), must be prefixed with a device address. This  
prevents daisy chained units from all transmitting at the same time.  
Attach device identifiers to the front of the command. The Go (G)  
command instructs all units on the daisy chain to go, while 1 G tells  
only unit #1 to go.  
When you use a single communications port to control more than  
one OEM650X, all units in a daisy chain receive and echo the same  
commands. Each device executes these commands, unless this  
command is preceded with an address that differs from the units on  
the daisy chain. This becomes critical if you instruct any indexer to  
transmit information. To prevent all of the units on the line from  
responding to a command, you must precede the command with the  
device address of the designated unit. No OEM650X executes a  
device-specific command unless the unit number specified with the  
command matches the OEM650's unit number. Device-specific  
commands include both buffered and immediate commands.  
30  
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OEM650/OEM650X INSTALLATION  
Sizing Power Supply  
Table 2-14 contains power ratings to help system designers size a  
power supply. Combinations of motors and current levels other than  
those shown may result in power values that are not recommended.  
Connection  
OEM57 motors may be configured in parallel or series. OEM83  
motors must be wired in parallel. Refer to the OEM650 Quick Test.  
Motor Size  
(@75VDC)  
Motor  
Motor Heat +  
Avg. Shaft Power  
56 Watts  
Drive  
Supply  
Total**  
Current  
Heat  
OEM57-40-MOS 2.65A  
9 Watts  
19 Watts  
11 Watts  
25 Watts  
13 Watts  
31 Watts  
15 Watts  
20 Watts  
27 Watts  
65 Watts  
75 Watts  
86 Watts  
100 Watts  
99 Watts  
117 Watts  
128 Watts  
153 Watts  
182 Watts  
OEM57-40-MOP  
OEM57-51-MOS  
OEM57-51-MOP  
OEM57-83-MOS  
OEM57-83-MOP  
OEM83-62-MO*  
OEM83-93-MO*  
OEM83-135-MO*  
5.3A  
3.3A  
6.6A  
3.8A  
7.5A  
4.4A  
5.6A  
6.9A  
56 Watts  
75 Watts  
75 Watts  
86 Watts  
86 Watts  
113 Watts  
133 Watts  
155 Watts  
S: Series Configuration P: Parallel Configuration  
* 34 size motors are internal wired in Parallel ** User must supply this level of wattage  
Table 2-14. Power Sizing  
Use the following equation to determine drive heat.  
Drive Heat (Watts) = (0.31) (IM2) + (1.13 IM) + 3  
IM = Motor Current  
Calculations  
To convert watts to horsepower, divide by 7 4 6  
To convert watts to BTU/hour, m u lt iply by 3 .4 1 3  
To convert watts to BTU/minute, m u lt iply by 0 .0 5 6 9  
Motor Type  
OEM650/OEM650X motors are custom-made for use with these  
drives and drive/indexers. They are not available as a standard  
model from any other manufacturer. These motors are designed for  
low loss at rest and at high speed. Motors in the same frame size  
from other manufacturers may sustain considerably higher iron  
losses than an OEM650/OEM650X motor. OEM motors are wound  
to render inductances within a range suitable for OEM Series prod-  
ucts. If you do not use an OEM Series motor, you should consult  
Compumotor's Applications Engineering Department for assistance  
(800-358-9070). OEM650s/OEM650Xs are designed to run 2-phase  
PM step motors only. Do not use variable reluctance or DC motors.  
31  
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INSTALLATION OEM650/OEM650X  
Current (Amps)  
Compumotor has assigned the values shown in Table 2-14 for OEM  
Series motors to produce the highest possible torque, while main-  
taining smoothness. Higher currents will produce higher static  
torque; but, the motor will run roughly and may overheat. Do not  
run the parallel rated current into a motor that is wired in seriesit  
will destroy the motor's windings.  
Power Dump  
This drive has built-in power dump circuitry to monitor power supply  
surges caused by a regenerative load. The power dump circuit is  
used in conjunction with an externally mounted power resistor. The  
circuitry effectively closes a switch to ground when the power supply  
voltage exceeds 85VDC. This switch terminal is at the screw termi-  
nal labeled DUMP. The power dump feature dissipates the energy  
created by a regenerative load (100 joules maximum). The power  
dump is not designed to protect the unit from overvoltage caused by a  
poorly regulated or faulty power supply. A 35, 10 watt power  
resistor (such as a Dale RH-10) is the recommended power dump  
resistor. The resistor must be adequately heat sunk to meet its rated  
wattage. The power dump resistor must be connected between the  
DUMP and VDC+ screw terminals.  
CAUTION  
Never allow the voltage supplies by the power supply to exceed 80VDC. Damage to  
the power dump resistor may result.  
32  
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OEM650/OEM650X TUNING & SPECIFICATIONS  
3 Tuning & Specifications  
Chapter Objectives  
The information in this chapter will enable you to:  
Tune and operate your system at maximum efficiency.  
Use the information to compare system performance with different  
motor, power, and wiring configurations (speed/torque curves).  
Short-Circuit Protection  
The OEM Series is protected against phase-to-phase and phase-to-  
ground short circuits. The drive is designed to withstand short  
circuits during initial power up. Short circuits that occur while the  
motor is operating may damage the drive. Never short circuit the  
motor leads for motor braking.  
Resonance  
Resonance exists in all stepper motors and is a function of the  
motors mechanical construction. It can cause the motor to stall at  
low speeds. Most full step motor controllers jump the motor to a set  
minimum starting speed that is greater than the resonance region.  
The OEM650Xs microstepping capability allows you to operate a  
motor smoothly at low speeds.  
Motors that will not accelerate past 1 rps may be stalling due to  
resonance. You can add inertia to the motor shaft by putting a drill  
chuck on the shaft. The drill chuck may provide enough inertia to  
test the motor when it is not loaded. In extreme cases, a viscous  
damper may also be needed.  
Mid-Range Instability  
All step motors are subject to mid-range instability, also referred to  
as parametric oscillations. These oscillations may stall the motor at  
speeds from 6 to 16 rps.  
Tuning Procedures  
You can tune the OEM650X to minimize resonance and optimize  
smoothness by adjusting the small potentiometers (pots) on the top  
of the unit. Figure 3-1 shows the location of the potentiometers and  
their functions.  
Phase A Offset: Adjusts DC offset of the phase current for Phase A.  
Phase B Offset: Adjusts DC offset of the phase current or Phase B.  
Since tuning is affected by operating current, you may have to adjust  
these pots during the configuration or installation process. For best  
33  
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TUNING & SPECIFICATIONS OEM650/OEM650X  
results, the drive and motor should be on, connected to the load, and  
warmed up for 30 minutes prior to tuning.  
Phase B Offset  
Top View  
Phase A Offset  
Figure 3-1. Tuning Potentiometers  
Gauging Motor Resonance  
There are several methods that you can use to determine the level of  
motor resonance in your system.  
Tachometer Method  
Use an oscilloscope to gauge the output of a tachometer attached to  
the motor shaft. The tachometer will output a DC voltage, propor-  
tional to speed. This voltage will oscillate around an average voltage  
when the motor is resonating. The amplitude of this oscillation will  
be at its maximum when you run the motor at its resonance speed.  
The goal of this tuning method is to tune the motor for its lowest  
oscillation amplitude.  
Sounding Board Method  
You can practice your tuning skills with an unloaded motor placed  
on a sounding board or table. When you command a velocity that is  
near the motors resonance speed, the phenomenon will cause an  
audible vibration. The goal of this tuning method is to tune the  
motor for the least amount of vibration.  
Stethoscope Method  
When you tune your motor under loaded conditions, you can hear  
the audible vibration caused by the motors natural frequency by  
placing the tip of a screw driver against the motor casing and placing  
the handle of the screw driver close to your ear (as you would a  
stethoscope). You will also be able to hear the different magnitudes  
of vibration caused by the motors natural frequency. The goal of  
this tuning method is to tune the motor for the least amount of  
vibration.  
34  
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OEM650/OEM650X TUNING & SPECIFICATIONS  
Touch Method  
After you have had some experience with tuning, you should be able  
to locate the motors r es on a n ce s p eed by placing your fingertips on  
the motor shaft and adjusting the motors velocity. Once the r es o-  
n a n ce s p eed is located, you can tune the motor for maximum  
smoothness in the same way.  
Tuning the Drive to the Motor  
To tune the OEM650X, follow the directions below:  
1. Command the drive (via RS-232C or STEP & DIRECTION inputs)  
so that the motor is running at maximum roughness, as shown in  
Table 3-1 for the 1st speed motor resonance.  
Motor Size  
OEM57-40-MO  
OEM57-51-MO  
OEM57-83-MO  
OEM83-62-MO  
OEM83-93-MO  
OEM83-135-MO  
1st Speed Resonance  
1.8 rps  
2nd Speed Resonance  
3.6 rps  
1.8 rps  
1.8 rps  
1.4 rps  
1.4 rps  
3.6 rps  
3.6 rps  
2.8 rps  
2.8 rps  
1.4 rps  
2.8 rps  
Table 3-1. Motor Resonance for Unloaded Motors  
2. Adjust Offsets A and B for best smoothness.  
3. Double the motor speed (2nd speed resonance) until the motor  
runs rough again.  
4. Adjust offsets A and B again for best smoothness.  
5. Repeat above steps until no further improvement is noted.  
Motor Waveforms  
Step motor manufacturers make every effort to design step motors  
that work well with sinusoidal current waveforms. However, due to  
physical limitations, most motors operate best with a current wave-  
form other than a pure sine wave.  
The purpose of adjusting motor current waveforms is to cause the  
step motor to move with equal step sizes as the current waveforms  
are sequenced through the motor. This waveform matching will also  
help the motor run more smoothly. This can be changed with  
jumpers 6-8 (refer to Table 2-11).  
Motor waveforms are usually adjusted after the drive has been tuned  
to its motor. If you do not have precision measurement equipment,  
you may select the correct motor waveform with one of the three  
methods described previously in this chapter (Tachometer Method,  
Sounding Board Method, Stethoscope Method, and Touch Method).  
These empirical methods generally yield acceptable results.  
35  
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TUNING & SPECIFICATIONS OEM650/OEM650X  
Performance Specifications  
Accuracy  
5 arcminutes typical (unloaded, bidirectional) with OEM Series  
motors.  
Repeatability  
5 arcseconds typical (unloaded, bidirectional).  
Hysteresis  
Less than 2 arcminutes0.0334° (unloaded, bidirectional).  
Rotor Inertia  
Motor Size  
OEM57-40-MO  
OEM57-51-MO  
OEM57-83-MO  
OEM83-62-MO  
OEM83-93-MO  
OEM83-135-MO  
Rotor Inertia oz-in2  
Rotor Inertia Kg-cm2  
0.38  
0.65  
1.36  
3.50  
6.70  
10.24  
0.07  
0.12  
0.25  
0.64  
1.23  
1.87  
Table 3-2. Rotor InertiaOEM Series Motors  
Motor Performance  
The performance (speed/torque) curves in this section show that  
different levels of performance can be achieved by wiring your motor  
in series or parallel and the power supply used to run the system.  
Size 34 motors are internally wired in parallel and can only be  
operated in this configuration.  
OEM57 Motors (Series Configuration)  
OEM650/OEM650X with OEM57-40-MOS  
(75VDC @ 2.65A)  
40  
Shaft Power  
35  
30  
25  
20  
15  
10  
5
Torque  
0
0
10  
20  
30  
40  
50  
SPEED (RPS)  
36  
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OEM650/OEM650X TUNING & SPECIFICATIONS  
OEM650/OEM650X with OEM57-51-MOS  
(75VDC @ 3.3A)  
80  
70  
60  
50  
40  
30  
20  
10  
0
Torque  
Shaft Power  
0
10  
20  
30  
40  
50  
SPEED (RPS)  
OEM650/OEM650X with OEM57-83-MOS  
(75VDC @ 3.8A)  
150  
Torque  
120  
90  
60  
30  
0
Shaft Power  
0
10  
20  
30  
40  
50  
SPEED (RPS)  
37  
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TUNING & SPECIFICATIONS OEM650/OEM650X  
OEM57 Motors (Parallel Configuration)  
OEM650/OEM650X with OEM57-40-MOP  
(38VDC @ 5.3A)  
40  
Shaft Power  
35  
30  
25  
20  
15  
10  
5
Torque  
0
0
10  
20  
30  
40  
50  
SPEED (RPS)  
OEM650/OEM650X with OEM57-51-MOP  
(38VDC @ 6.6A)  
80  
70  
60  
50  
40  
30  
20  
10  
0
Torque  
Shaft Power  
0
10  
20  
30  
40  
50  
SPEED (RPS)  
38  
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OEM650/OEM650X TUNING & SPECIFICATIONS  
OEM650/OEM650X with OEM57-83-MOP  
(38VDC @ 7.5A)  
150  
120  
90  
60  
30  
0
Torque  
Shaft Power  
0
10  
20  
30  
40  
50  
SPEED (RPS)  
OEM83 Motors  
OEM650/OEM650X with OEM83-62-MO  
(75VDC @ 4.4A)  
150  
120  
90  
60  
30  
0
Torque  
Shaft Power  
0
10  
20  
30  
40  
50  
SPEED (RPS)  
39  
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TUNING & SPECIFICATIONS OEM650/OEM650X  
OEM650/OEM650X with OEM83-93-MO  
(75VDC @ 5.6A)  
250  
Torque  
200  
150  
Shaft Power  
100  
50  
0
0
10  
20  
30  
40  
50  
SPEED (RPS)  
OEM650/OEM650X with OEM83-135-MO  
(75VDC @ 6.9A)  
400  
350  
300  
250  
200  
150  
100  
50  
Torque  
Shaft Power  
0
0
10  
20  
30  
40  
50  
SPEED (RPS)  
40  
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OEM650/OEM650X TROUBLESHOOTING  
4 Troubleshooting  
Chapter Objectives  
The information in this chapter will enable you to:  
Maintain the system to ensure smooth, efficient operation  
Isolate and resolve system problems  
Drive Maintenance  
Ensure that the drive's heatplate has proper thermal contact with  
the mounting surface. Enclosures must be connected to earth  
ground through a grounding electrode conductor to provide a low-  
impedance path for ground-fault or noise-induced currents (use a  
star washer with the lower mounting screw on the drive). All earth  
ground connections must be continuous and permanent. Periodi-  
cally check the mounting screws to ensure they are tight.  
Motor Maintenance  
Inspect the motor regularly to ensure that no bolts or couplings have  
become loose during normal operation. This will prevent minor  
problems from developing into more serious problems.  
Inspect the motor cable periodically for signs of wear. This inspec-  
tion interval is duty-cycle, environment, and travel-length dependent.  
The cable should not have excessive tensile force applied to it and  
should not be bent beyond a one-inch radius of curvature during  
normal operation. Tighten all cable connectors.  
Reducing Electrical Noise  
For detailed information on reducing electrical noise in your system,  
refer to the current Compumotor Catalog.  
Problem Isolation  
When your system does not function properly (or as you expect it to  
operate), the first thing that you must do is identify and isolate the  
problem. When you accomplish this, you can effectively begin to  
resolve and eradicate the problem.  
The first step is to isolate each system component and ensure that  
each component functions properly when it is run independently.  
You may have to dismantle your system and put it back together  
piece by piece to detect the problem. If you have additional units  
available, you may want to use them to replace existing components  
in your system to help identify the source of the problem.  
41  
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TROUBLESHOOTING OEM650/OEM650X  
Determine if the problem is mechanical, electrical, or software-  
related. Can you repeat or re-create the problem? Random events  
may appear to be related, but they may not be contributing factors to  
your problem. Investigate the events that occur before the subse-  
quent system problem.  
You may be experiencing more than one problem. You must solve  
one problem at a time. Document all testing and problem isolation  
procedures. You may need to review and consult these notes later.  
This will also prevent you from duplicating your testing efforts.  
Once you isolate the problem, take the necessary steps to resolve it.  
Use the solutions in this chapter. If your systems problem persists,  
call Compumotor at 800-358-9070.  
Front Panel LEDs  
There are two LEDs on the front panel of the OEM650/OEM650X  
(refer to Figure 5-1).  
OEM  
s
e
r
i
e
s
Green POWER LED  
Red FAULT LED  
POWER  
FAULT  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
A-  
B+  
B-  
Figure 5-1. OEM650/OEM650X LEDs  
The FAULT LED is red and turns on when the amplifier is disabled.  
This LED is activated when any of the following conditions occur:  
Motor short circuit detected  
Drive over-temperature  
Motor winding open  
Internal fault detected  
The POWER LED is green and turns on when the internal bias  
supply is operating and providing +5V.  
Common Problems and Solutions  
The following table will help you eradicate most of the problems you  
might have with the OEM650/OEM650X.  
42  
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OEM650/OEM650X TROUBLESHOOTING  
Symptoms  
Possible Causes  
Solutions  
Power LED is not  
on (illuminated)  
The drive is not receiving  
adequate DC voltage  
Verify the VDC+ and VDC- connection  
Verify you power supply is producing  
adequate power  
Verify that there is DC voltage at the  
drive and at the VDC+ and VDC-  
connection  
Drive screw are terminals loose  
Tighten screwsdo not tin wires  
Power LED is  
flashing  
DC Line voltage is too low  
I/O incorrectly connected  
Check DC line voltage (24VDC  
minimum)  
Internal damage to the drive  
Remove 25-Pin D connector to isolate  
the problem  
Return drive to Compumotor for  
servicing  
There is little or no  
holding torque; the  
power LED is on;  
the motor fault LED  
is off  
The current select resistor is not  
installed or loose  
Check for current select resistor,  
tighten screws, check wiring  
The incorrect current select  
resistor is being used  
Verify the current selector resistor with  
the current tablemeasure the resistor  
with an ohmmeter  
Jumper #1 removed and you want  
between 7.5A - 2.5A  
Install Jumper #1. Double check the  
desired resistor value  
Remote input activated  
Remove 25-pin D connector to isolate  
the problem  
Auto standby function enabled  
Check jumpers #9 and #10  
Connect the motor  
The motor fault LED  
is on  
The motor is not connected  
A motor winding is open  
Measure winding continuitycheck the  
series connections for an 8-leaded  
motor  
The drive has detected a short  
circuit in the motor wiring  
Check for miswiringcarefully check  
the motor wires for loose strands  
shorting the windings  
The drive is overheating  
Verify that the drives heatsink does not  
exceed 55°C  
The drive may have internal  
damage  
Return the drive to Compumotor for  
servicing  
The motor moves  
erratically at low  
speeds  
Motor current is set incorrectly  
Check the current select resistor and  
verify that the current is set correctly  
Indexer pulses are being sent to  
the drive erratically  
Verify, with an oscilloscope, that the  
indexer pulses are being sent at a  
constant rate and are not being  
frequency modulated  
Motor resolution is set for 200 or  
400 steps per revolution  
Full and half step modes will cause the  
motor to run roughly at low speeds  
43  
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TROUBLESHOOTING OEM650/OEM650X  
Symptoms  
Probable Causes  
Solutions  
The drive loses  
pulses at high  
speed  
Indexer is overdriving step input  
Indexer is underdriving step input  
Indexer is sending pulses too fast  
Motor is out of torque  
Verify that the step input current is not  
greater than 15 mA  
Verify that the step input current is  
greater than 6.25 mA  
Verify that the indexer is not exceeding  
the 2 MHz maximum pulse rate  
Verify that the motor is sized correctly  
for your application  
The motor stalls at  
high speeds  
The velocity is too high  
The drive can handle a maximum pulse  
rate of 2 MHz or 50 rps, whichever  
comes firstdecrease the velocity  
Motor current is not set correctly  
Check the current select resistor and  
verify that the current is set correctly  
Motor is undersized for  
application  
Verify that the motor is sized correctly  
for your application  
The motor stalls  
during acceleration  
Motor current is not set correctly  
Check the current select resistor and  
verify that the current is set correctly  
The acceleration is set too high  
There is insufficient rotor inertia  
Motor is undersized for application  
Decrease the acceleration  
Add inertia to the motor shaft  
Verify that the motor is sized correctly  
for your application  
The motor  
(unloaded) stalls at  
nominal speed  
There is insufficient rotor inertia  
Mid-frequency resonance  
Add inertia to the motor shaft  
Add a damper to the shaft  
Motor does not  
move commanded  
distance  
Motor resolution is set incorrectly  
Determine the resolution on your  
indexer and verify that the drive  
resolution setting is the same  
Motor will not  
change direction as  
commanded  
The direction input is not being  
enabled  
Verify that the direction input is being  
enabled (6.4 mA to 15 mA)  
Indexer moves  
motor in wrong  
direction  
There is a direction conflict within  
the indexer  
Change direction within your indexer or  
by swapping motor leads A+ and A- at  
the drive connector  
When a move is  
commanded, no  
motion occurs  
A limit may be enabled and active  
Check hard limit or disable limits with  
the LD3 command  
You may be in Absolute mode and  
are already at the position you are  
commanding the motor to move to  
Try another distance and issue Go (G)  
command  
The unit may  
appear to not be  
responding to  
commands  
If you defined a sequence and  
never issued XT, the  
OEM650/OEM650X still thinks  
you are defining a sequence  
Issue an XT command at the end of the  
sequence to end sequence definition  
OEM650X may be off-line (F  
command)  
Issue an E command to bring the unit  
on-line  
44  
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OEM650/OEM650X TROUBLESHOOTING  
Testing the Motor  
If the motor fails to move, you should test the motor with an ohmme-  
ter to examine the resistance between the motor connections. If the  
motor is not malfunctioning, the source of the problem is probably  
within the drive. If you operate a faulty drive with a reliable motor,  
you may damage the motor. If you find that the motor is not faulty,  
remove power, and remove the motor from the drive. Use the follow-  
ing steps to test the motor.  
1. Remove power from the system. Detach the motor from the drive.  
2. With the motor detached from the system, use an ohmmeter to  
check the resistance across Phase A. It should be approximately 2  
ohms.  
3. Now use the ohmmeter to check the resistance across Phase B. It  
should be approximately 2 ohms too (the resistance across Phase  
A and Phase B should be nearly identical).  
4. Use the ohmmeter to check the resistance between Phase A and  
Phase B. It sh ou ld be in fin it e ().  
5. Use the ohmmeter to check the resistance between Phase A and  
Earth (the motor case shaft). It sh ou ld be in fin it e ().  
6. Use the ohmmeter to check the resistance between Phase B and  
Earth (the motor case shaft). It sh ou ld be in fin it e ().  
7. Turn the shaft manually. There should not be any torque.  
If the motor responds as described to each of these steps, it is  
functioning properly. The source of the problem is probably within  
the drive.  
RS-232C Problems  
Use the following procedure to troubleshoot communication prob-  
lems that you may have with the OEM650X.  
1. Be sure the host computers transmit (Tx) wire is wired to the  
peripherals receive (Rx) connection, and the host computers  
receive (Rx) wire is wired to the peripherals transmit (Tx) connec-  
tion. Switch the receive and transmit wires on either the host or  
peripheral if the problem persists.  
CAUTION  
OEM650X Rx, Tx, and GND pin outs are not 2, 3, and 7 like most devices.  
45  
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TROUBLESHOOTING OEM650/OEM650X  
2. Confirm that the host and peripheral are configured for the same  
baud rate, 8 data bits, 1 stop bit, and no parity.  
3. Use DC common or signal ground as a reference, not earth  
ground.  
4. Cable lengths should not exceed 50 ft. unless you are using some  
form of line driver, optical coupler, or shield. As with any control  
signal, be sure to shield the cable-to-earth ground at one end only.  
5. To test the terminal or terminal emulation software and the RS-  
232C cable for proper three-wire communication, unhook the  
OEM650X and enter a character. You should not receive an  
echoed character. If you do, you are in half duplex mode. Con-  
nect the hosts transmit and receive lines together and send  
another character. You should receive the echoed character. If  
not, consult the manufacturer of the hosts serial interface for  
proper pin outs.  
Software Debugging Tips  
This section offers helpful tips for debugging programs and under-  
standing errors and fault conditions. The OEM650/OEM650X has  
several tools that you can use to debug a problem in the system.  
The software tools are listed below:  
RALimit Switch Status Report  
RReport Status  
IS—Input Status Report  
BS—Buffer Status Report  
B—Buffer Status Report  
Returning the System  
If your OEM650/OEM650X system is faulty, you must return the  
drive and motor for replacement or repair. A failed drive can damage  
motors. If you must return your OEM650/OEM650X to effect  
repairs or upgrades, use the following steps:  
1. Get the serial number and the model number of the defective  
unit(s), and a purchase order number to cover repair costs in the  
event the unit is determined by Parker Compumotor to be out of  
warranty.  
2. Before you ship the drive to Parker Compumotor, have someone  
from your organization with a technical understanding of the  
OEM650/OEM650X and its application include answers to the  
following questions:  
What is the extent of the failure/reason for return?  
How long did it operate?  
How many units are still working?  
46  
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OEM650/OEM650X TROUBLESHOOTING  
How many units failed?  
What was happening when the unit failed (i.e., installing the unit,  
cycling power, starting other equipment, etc)?  
How was the product configured (in detail)?  
What, if any, cables were modified and how?  
With what equipment is the unit interfaced?  
What was the application?  
What was the system sizing (speed, acceleration, duty cycle,  
inertia, torque, friction, etc.)?  
What was the system environment (temperature, enclosure,  
spacing, unit orientation, contaminants, etc.)?  
What upgrades are required (hardware, software, user guide)?  
3. Call Parker Compumotors Applications Engineering Department  
[(800) 358-9070] for a Return Material Authorization (RMA)  
number. Returned products cannot be accepted without an RMA  
number.  
4. Ship the unit to: Parker Compumotor Corporation  
5500 Business Park Drive  
Rohnert Park, CA 94928  
Attn: RMA # xxxxxxx  
47  
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TROUBLESHOOTING OEM650/OEM650X  
48  
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OEM650/OEM650X INDEX  
Index  
M
Metric Heatsink 16  
mid-range instability 33  
misalignments 22  
motor  
motor waveform 35  
Motor Configuration  
A
Accessories  
High Current Heatsink  
Low Current Heatsink  
4
4
accessories  
Accuracy 36  
Attaching the Load 22  
Automatic Test  
4
parallel  
series  
6
6
5
motor current  
Motor Current Selection Resistor  
motor current.  
8
C
7
Closed Loop Operation 28  
Common Problems and Solutions 42  
Compumotor indexer 10  
Couplings 23  
7
Motor Maintenance 41  
Motor Performance 36  
Motor Resonance for Unloaded Motors 35  
Motor Type 31  
Current (Amps) 32  
Motor Waveforms 35  
Motor Wiring  
D
Daisy Chain Configuration 30  
debugging 46  
NEMA 23 Size OEM  
NEMA 34 Size OEM Motor  
Motors  
double-shaft option  
single-shafted  
motors  
Mounting  
screws 16  
Mounting With OEM-HS1 16  
6
7
Direction Input 24  
double-flexed coupling 23  
Drive Maintenance 41  
3
3
3
E
enclosure 14  
Encoder Compatibility 29  
end-of-travel limits 27  
Evaluation kits  
Mounting Without a Heatsink 14  
4
N
F
non-Compumotor indexer 10  
failed drive 46  
Fan cooling 14  
Fault LED 42  
non-Compumotor motor  
8
O
Fault Output 25  
flange bolts 22  
OEM-HS1 Minimum Area Panel Layout 17  
OEM-HS1 Minimum Depth Panel Layout 17  
OEM-HS2 Minimum Area Panel Layout 19  
G
OEM350 Description  
1
Gauging Motor Resonance 34  
tachometer 34  
OEM650 Inputs & Output Schematic 24  
OEM650/OEM650X Dimensions 13  
OEM650X Inputs and Outputs 26, 27, 28, 29  
Options  
Gear Shift Input 26  
H
heatplate 14  
Hysteresis 36  
-DS23  
-DS34  
4
4
-M2  
oscillation 34  
oscilloscope 34  
over-temperature protection 15  
3
I
I/O  
fault output 27  
Inductance RangeOEM350  
Inductance RangeOEM650  
1
2
P
Panel Layout 14  
J
parallel misalignment 23  
parametric oscillations 33  
Phase A Offset 33  
Phase B Offset 33  
potentiometers 33  
Power Dissipation 15  
Power Dump 32  
Jumper Settings  
Auto Standby 20  
Auto Test 21  
Motor Current Range 19  
Motor Resolution 19  
Motor Waveform Shape 20  
L
Power LED 42  
load 22  
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INDEX OEM650/OEM650X  
power supply  
9
Power Supply Sizing 31  
R
radial load 22  
Remote Input 25  
repair 46  
Repeatability 36  
resistor  
7
Resistors  
4
Resonance 33  
resonance speed 34, 35  
Return Material Authorization (RMA) 47  
Rigid coupling 23  
Rotor Inertia 36  
RS-232C 11, 45  
Baud Rate 11  
Daisy Chaining 30  
Data Bits 11  
Handshaking 12  
Parity 11  
Stop Bit 11  
S
shaft couplings 23  
double-flex 23  
rigid 23  
single-flex 23  
Ship kit  
3
sine wave 35  
single-flex coupling 23  
sinusoidal current waveforms 35  
Sizing Power Supply 31  
smoothness 35  
Step Pulse Input 24  
stepper motors 22  
T
tune 35  
tuning  
motor resonance 35  
potentiometers 33  
Tuning Potentiometers 34  
Tuning Procedures 33  
V
viscous damper 33  
W
waveform matching 35  
waveforms 35  
50  
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Internal Connections  
+5V  
464  
+5V  
8
243Ω  
Inputs & Outputs  
2
6
3
+5V  
464Ω  
5
HCPL-2601  
243Ω  
Step Input  
1
2
11  
12  
5
6
14  
15  
Direction Input  
Remote Input  
16  
17  
681Ω  
10  
9
8
7
+5V  
464Ω  
21  
23  
4N35  
15  
16  
9
Fault Output  
1
2
11  
Gear Shift Input  
+5V  
ILQ2  
ILQ2  
10kΩ  
BS170  
681Ω  
14  
13  
4
HPCL-2631  
3
25 Pin D-Connector  
Mounted on OEM650  
OEM650 Inputs & Outputs, and Internal Connections  
25 Pin D-Connector  
Mounted on OEM650  
1
Step Output  
Direction Output  
CW Limit  
14  
15  
16  
Tx  
2
3
4
5
6
Rx  
N.C.  
Shutdown  
N.C.  
N.O.  
CCW Limit  
Home  
Encoder Channel A  
Encoder Channel B  
Encoder Channel Z  
17  
18  
POWER  
FAULT  
Reserved  
19  
20  
REMOTE  
REF  
CURRENT  
DUMP  
VDC+  
VDC-  
A+  
GND Ref.  
7
8
N.C.  
N.C.  
N.C.  
N.C.  
N.C.  
N.C.  
Trigger Input #1  
Trigger Input #2  
Trigger Input #3  
Address Sel. #1  
Address Sel. #2  
Address Sel. #3  
Output #2  
21  
22  
Fault Output  
Output #1  
9
10  
11  
12  
23  
24  
N.C.  
N.C.  
N.C.  
A-  
B+  
B-  
Sequence #1  
Sequence #2  
Sequence #3  
25  
13  
OEM650X Inputs & Outputs  
Screw Terminal  
Connections  
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