OEM650/OEM650X
OEM350/OEM350X
Drive and Drive/Indexer
User Guide
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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 product’s 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 Compumotor’s 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. Compumotor’s 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 motor’s 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 23—1/2 Stack Stepping Motor
Size 23—1 Stack Stepping Motor
Size 23—2 Stack Stepping Motor
Size 34—1 Stack Stepping Motor
Size 34—2 Stack Stepping Motor
Size 34—3 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 separately—they 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 selection—the following types are available)
• 21.0KΩ 1% Resistor
• 5.76KΩ 1% Resistor
• 15.8KΩ 1% Resistor
• 2.05KΩ 1% Resistor
• 12.7KΩ 1% Resistor
• 0.00KΩ 5% Resistor
• 9.53KΩ 1% Resistor
• 4.87KΩ 1% Resistor
• 1.27KΩ 1% 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 drive’s 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 Wiring—Series
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 1—see 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 OEM’s 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 OEM650’s 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 OEM’s 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 CCW—if 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 OEM’s 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)
S—Series Configuration
P—Parallel 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
drive’s 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.
19
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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 indexer’s 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 motor’s 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 system’s 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
464Ω
+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 VDC—to 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 681Ω current 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 681Ω current 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 limits’ status. 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
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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-232C—Tx (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 encoder—see 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 series—it
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 35Ω, 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
motor’s 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 OEM650X’s 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 motor’s 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 motor’s 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 motor’s 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 motor’s r es on a n ce s p eed by placing your fingertips on
the motor shaft and adjusting the motor’s 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 arcminutes—0.0334° (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 Inertia—OEM 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)
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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 system’s 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 screws—do 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 table—measure 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 continuity—check the
series connections for an 8-leaded
motor
The drive has detected a short
circuit in the motor wiring
Check for miswiring—carefully 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 first—decrease 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 computer’s transmit (Tx) wire is wired to the
peripheral’s receive (Rx) connection, and the host computer’s
receive (Rx) wire is wired to the peripheral’s 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 host’s transmit and receive lines together and send
another character. You should receive the echoed character. If
not, consult the manufacturer of the host’s 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:
RA—Limit Switch Status Report
R—Report 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 Compumotor’s 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 Range—OEM350
Inductance Range—OEM650
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
49
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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
464Ω
+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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