Emerson EMC DX-202 User manual

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EMERSON EMC
POSITIONING DRIVES & MOTORS
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Including IOM-1, PCM-1, PCM-5
T-16, Thumbwheels, and Parallel Programming
Other Manuals available, but bound separately:
T-21 Data Entry Panel
Information furnished by EMERSON EMC is believed to be
accurate and reliable. However, no responsibility is assumed
by MERSON EMC for its use. EMERSON EMC reserves the
right to change the design or operation of the equipment
described herein and any associated motion products without
notice. EMERSON EMC also assumes no responsibility for
any errors that may appear in this document. Information in
this document is subject to change without notice.
P/N 400221-00 REV: A7
DATE: 6/24/92
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TABLE OF CONTENTS
INTRODUCTION....................................................................................................................................................... 6
OVERVIEW ............................................................................................................................................................. 6
SYSTEM OVERVIEW ................................................................................................................................................... 7
INTRODUCTION TO THE BASIC POSITIONING DRIVE AMPLIFIER ................................................................................... 8
PERIPHERALS ............................................................................................................................................................. 9
OPERATOR INTERFACE............................................................................................................................................. 10
T-21 DATA ENTRY TERMINAL................................................................................................................................. 10
T-16 NUMERIC DISPLAY.......................................................................................................................................... 10
TW-XXX THUMBWHEEL INTERFACE...................................................................................................................... 10
POSITIONING DRIVE SPECIFICATIONS......................................................................................................... 12
DX-SERIES MOTORS AND AMPLIFIERS TYPICAL SPEED TORQUE CURVES ........................................ 15
INSTALLATION...................................................................................................................................................... 17
ASSEMBLY AND INSTALLATION CONSIDERATIONS ................................................................................ 17
TYPICAL 120 VAC LINE SIZING (SINGLE PHASE MODELS)....................................................................... 18
TYPICAL 230 VAC 3 PHASE MODELS.............................................................................................................. 19
Wiring Considerations .......................................................................................................................................................20
Safety Considerations ........................................................................................................................................................21
Brake Option......................................................................................................................................................................21
Power Line.........................................................................................................................................................................21
Grounding Considerations .................................................................................................................................................23
Electrical Noise..................................................................................................................................................................25
Magnetic Coil Noise ..........................................................................................................................................................25
Mechanical Consideration..................................................................................................................................................26
Load Coupling ...................................................................................................................................................................26
Selecting An Enclosure......................................................................................................................................................27
Amplifier Losses................................................................................................................................................................27
System Troubleshooting ....................................................................................................................................................27
AMPLIFIER MOUNTING INFORMATION ........................................................................................................ 27
AMPLIFER I/O LOCATIONS ............................................................................................................................... 32
MOTOR MECHANICAL INFORMATION.......................................................................................................... 36
MOTOR WIRING .................................................................................................................................................. 43
MAIN/AUXILIARY AX POWER ......................................................................................................................... 46
CABLE WIRING DIAGRAMS.............................................................................................................................. 48
TDS/TDL CABLE .............................................................................................................................................................48
TDT Cable .........................................................................................................................................................................48
Optional Bulkhead Connectors ..........................................................................................................................................49
OPERATING MODES............................................................................................................................................. 50
MODE SELECTION .............................................................................................................................................. 51
POSITIONING DRIVE CONFIGURATION AND PROGRAMMING ............................................................. 57
How To Start......................................................................................................................................................................58
PCX Program Revision......................................................................................................................................................58
Moving Through The Menus .............................................................................................................................................58
Changing Values In The Data Enter Screens .....................................................................................................................58
USING PCX DISK FILES...................................................................................................................................... 59
1. Data File........................................................................................................................................................................59
2. List File.........................................................................................................................................................................59
On-line Operations.............................................................................................................................................................60
ESTABLISHING COMMUNICATIONS .............................................................................................................. 62
DISK FILE OPERATIONS .................................................................................................................................... 63
DRIVE SETUP ....................................................................................................................................................... 64
LIMITS ................................................................................................................................................................... 68
INDEXING OPERATION MODE......................................................................................................................... 70
JOG ......................................................................................................................................................................... 75
HOME..................................................................................................................................................................... 76
OVERVIEW OF BASIC OPERATION MODES.................................................................................................. 84
Serial Mode........................................................................................................................................................................84
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Output Functions................................................................................................................................................................87
Input Functions ..................................................................................................................................................................88
DIAGNOSTICS......................................................................................................................................................... 98
F -POSITION ERROR FAULT............................................................................................................................ 100
FAULT INDICATOR CODES............................................................................................................................. 101
STABILIZATION OF HIGH INERTIA LOADS ................................................................................................ 106
INSTALLATION OF THE IOM-1 ....................................................................................................................... 107
INPUT/OUTPUT INTERFACE ........................................................................................................................... 108
Output Functions..............................................................................................................................................................110
Input Functions ................................................................................................................................................................111
EXAMPLES OF I/O CONNECTIONS TO THE IOM-1 ..................................................................................... 112
Detailed Description of Additional I/O Functions With the Addition of the IOM-1........................................................113
Input Functions ................................................................................................................................................................113
Output Function ...............................................................................................................................................................113
PARALLEL INTERFACE .................................................................................................................................... 114
CUSTOMER SUPPLIED THUMBWHEEL INTERFACE ................................................................................. 115
Thumbwheel Wiring ........................................................................................................................................................116
PARALLEL PROGRAMMING INTERFACE ................................................................................................... 123
THUMBWHEEL AND PARALLEL PROGRAMMING SETUP AND OPERATION................................... 129
THUMBWHEEL AND PARALLEL PROGRAMMING INTERFACE ............................................................. 129
DATA FIELD NUMBER ................................................................................................................................................129
DATA FIELD PURPOSE................................................................................................................................................130
INDEX NUMBER ................................................................................................................................................ 131
T-16 SETUP AND OPERATION ........................................................................................................................ 136
INSTALLATION AND CONNECTIONS OF THE PCM-1 ............................................................................... 138
INPUT/OUTPUT INTERFACE (PCM-1)............................................................................................................ 139
OVERVIEW ......................................................................................................................................................... 139
OUTPUT FUNCTIONS .............................................................................................................................................. 141
WHAT ARE PROGRAMS? ................................................................................................................................. 147
DESCRIPTION OF PROGRAMMING FUNCTIONS ........................................................................................ 149
WAIT FOR INPUT..........................................................................................................................................................149
DWELL TIME.................................................................................................................................................................149
UPDATE OUTPUTS.......................................................................................................................................................149
EXECUTE INDEX..........................................................................................................................................................149
EXECUTE PROGRAM...................................................................................................................................................149
EXECUTE COMPOUND INDEX ..................................................................................................................................149
END .................................................................................................................................................................................149
HOW TO CREATE A PROGRAM...................................................................................................................... 151
PROGRAMMING CAPABILITIES .................................................................................................................... 154
SUSPEND/RESUME FUNCTIONS...................................................................................................................... 155
EXTENDED SUSPEND/RESUME PROGRAMMING...................................................................................................... 156
INSTALLATION AND CONNECTIONS OF PCM-5........................................................................................ 158
SYNCHRONIZATION CABLE........................................................................................................................... 159
SCS-2 SYNC ENCODER..................................................................................................................................... 161
BASIC OPERATION ........................................................................................................................................... 162
Some Application Examples ............................................................................................................................................162
BI-POLAR SYNCHRONIZATION ..................................................................................................................... 168
ADDITIONAL PCM-5 PROGRAMMING .......................................................................................................... 177
PARAMETERS .................................................................................................................................................... 177
LEAD AXIS.......................................................................................................................................................... 177
SYNC RATIO....................................................................................................................................................... 177
SYNC VELOCITY SCALE FACTOR AND SYNC VELOCITY DECIMAL POINT ....................................... 178
BI-POLAR SYNC ENABLED ............................................................................................................................. 179
INDEX, HOME .................................................................................................................................................... 179
PROGRAMS......................................................................................................................................................... 180
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SERIAL INTERFACE ........................................................................................................................................... 182
EXAMPLE OF A SERIAL MULTI-DROP CONNECTION............................................................................... 183
SERIAL SIGNAL FLOW DIAGRAMS............................................................................................................... 183
SETTING UP THE SERIAL INTERFACE SWITCHES AND PROTOCOL ..................................................... 184
LOCATIONS OF SWITCHES ............................................................................................................................. 184
SERIAL CABLES ................................................................................................................................................ 186
Wiring Diagrams From Computer to Drive .....................................................................................................................186
Wiring Diagram for DD-XXX Multi-Drop Cable............................................................................................................187
SERIAL INTERFACE CONTROL ...................................................................................................................... 188
ASCII COMMANDS............................................................................................................................................ 189
SUMMARY OF SERIAL COMMANDS.............................................................................................................. 210
INDEX...................................................................................................................................................................... 216
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CUSTOMER SERVICE
Emerson EMC offers a wide range of services to support our customers’ needs. Listed below are
some examples of these services.
SERVICE SUPPORT [phone]
Emerson Electronic Motion Control’s products are backed by a team of professionals who will
service your installation wherever it may be. Our Customer Service Center in Minneapolis,
Minnesota, is ready to help you solve these occasional problems over the telephone. It’s there, at
the Center, that we are available 24 hours a day for emergency service to help speed any problem
solving. Also, all hardware replacement parts, should they ever be needed, are available through
our customer service organization. Need on-site help? Emerson provides on-site service, in
most cases, the next day. Just call Emerson’s Customer Service Center when on-site service or
maintenance is required.
TRAINING SERVICES [phone]
Emerson EMC maintains a highly trained staff of instructors to familiarize customers with
Emerson Electronic Motion Controls and their applications. A number of courses are offered,
many of which can be taught in your plant upon request.
APPLICATION ENGINEERING [phone]
An experienced staff of factory Application Engineers provides complete customer support for
tough or complex applications. Our engineers offer you a broad base of experience and
knowledge of electronic motion control applications.
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INTRODUCTION
OVERVIEW
The EMERSON EMC Positioning Drives are the first servo products specifically designed to
offer high performance position control without the maze of boards, wires, connectors, pot
adjustments and transformers normally associated with servo systems. The DX-Series drives
support brushless motors and range in size from 2 in-lbs. To 400 in-lbs., continuous. Special
care in motor selection has resulted in drives that have excellent torque to inertia ratios.
The drives consist of ruggedly constructed enclosures which contains all the required
components for position and velocity control. The drives also provide connections for
interfacing with external machine inputs and outputs, and logic control, along with a serial
interface port that is used to program the drive.
Calibration
Calibration of the Positioning Drive is virtually eliminated because all user potentiometer
adjustments have been eliminated. The potentiometer adjustments have been replaced by
firmware. The software pre-sets the compensation values and continuously adjusts these values
during motion. This allows the system to operate over a large inertial range without any manual
adjustments or tuning required.
Installation
Installation and wiring is fast and easy because the Positioning Drive operates in most
environments directly from an AC line source without requiring a separate isolation transformer.
The unit is designed to be back mounted within a standard Nema enclosure typically found in a
production facility. The size has also been minimized to allow users to reduce the space
requirements for incorporating a servo control into their production machinery.
Motor
Each Positioning Drive includes a high performance servo motor whose characteristics have
been matched to the drive amplifier. Thus, the chance for a mismatch between the motor and the
Positioning Drive is eliminated.
Programming and Troubleshooting
EMERSON EMC provides an easy to use software programming package with every drive that
operates on an IBM PC/XT/AT or compatible computer with 512K bytes of RAM and a serial
interface port. This software makes the Positioning Drive simple to program even for first time
servo users. It is almost essential that the user of the positioning servo drive have access to a
personal computer (PC). The PC can be used to change data, up and down load data and most
importantly, help solve problems during operation and startup.
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System Overview
Following are the specific model numbers used in configuring the Positioning Drives.
Table I Positioning Drive Components
DX-202 (2 in-lbs.) DXA-202 Amplifier
DXM-202 Motor
TDT-XX Cable
DX-205 (5 in-lbs.) DXA-205 Amplifier
DXM-202 Motor
TDT-XX Cable
DX-308 (8 in-lbs.) DXA-308 Amplifier
DXM Motor
TDL-XX Cable
DX-318 (18 in-lbs.) DXA-318 Amplifier
DXM Motor
TDL-XX Cable
DX-430 (30 in-lbs.) DXA-430 Amplifer
DXM or DXE-430 Motor*
TDL-XX Cable
DX-450 (50 in-lbs.) DXA-450 Amplififer
DXM or DXE-430 Motor*
TDL-XX Cable
DX-480 (80 in-lbs.) DXA-480 Amplifier
DXM or DXE-480 Motor*
TDL-XX Cable
DX-780 (80 in-lbs.) DXA-780 Amplifier
DXM-780 Motor
TDL-XX Cable
DX-7120 (120 in-lbs.) DXA-7120 Amplifier
DXM-7120 Motor
TDL-XX Cable
DX-6120 (120 in-lbs.) DXA-6120 Amplifier
DXM-6120 Motor
RC-XX Cable
DX-6200 (300 in-lbs.) DXA-6200 Amplifier
DXM-6200 Motor
RC-XX Cable
DX-6300 (300 in-lbs.) DXA-6300 Amplifier
DXM-6300 Motor
RC-XX Cable
DX-8200 (200 in-lbs.) DXA-8200 Amplifier
DXM-8200 Motor
DX-8300 (300 in-lbs.) DXA-8300 Amplifier
DXM-8300 Motor
DX-8400 (400 in-lbs.) DXA-8400 Amplifier
DXM-8400 Motor
NOTE: The DX-8XXX series motor and Amplifiers are interconnected Via screw terminals so as to
allow for customer provided wiring Not to exceed 100ft.
NOTE: XX = CABLE LENGTH (FT)15
25 25
50 50
*NOTE: DX-430, DX-450 and DX-480 Drives can be provided with Motors that have either typical
English or metric flange and Shaft dimensions. The metric motor is designated with a DXM
prefix and the English version is designated with a DXE prefix.
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Introduction to the basic positioning drive amplifier
The Positioning Drive amplifier is different from common analog amplifiers in that it includes a
position feedback loop and the electronics to control motion functions. To accomplish this, the
motor uses resolver feedback. The resolver converter electronics in the amplifier develops
velocity and position feedback signals required for high performance and precise velocity and
position control.
In addition the amplifier offers three standard modes of control providing a host of alternatives
for implementing real time motion control.
In the ANALOG TORQUE or VELOCITY mode, the amplifier responds to a conventional +/-
10 volt signal. Most variable speed drives and servo amplifiers on the market today receive
commands via analog input.
The true power and versatility of the Positioning Drive is best utilized in the additional
positioning control modes. In most applications the user will use one of the following modes of
operation.
In the PULSE mode, the drive responds to a serial pulse train representing externally generated
incremental position change commands. These commands are normally in the form of CW or
CCW directional pulses. This mode is commonly used to control DC stepper motors or numeric
controlled (CNC) machinery.
The INDEXING mode allows up to thirty-two different indexes or positions to be pre-
programmed and stored in a non-volatile memory. These indexes plus other commands such as
STOP and JOG are selected easily by the drive’s parallel input/output (I/O) lines from devices
such as PLCs or operator push buttons. Parallel I/O commands can be used for stand alone
operation or, simultaneously in conjunction with any other two control modes.
Another powerful feature of the INDEXING mode allows ASCII commands through the
standard RS423 serial interface. This interface port allows the user to down load new
dimensional data e.g., position, distance, velocity, etc., and command an internally generated
index using those parameters. These ASCII serial commands are well suited to operation from
the RS232C serial interface on an IBM Personal Computer (PC) or Programmable Logic
Controller (PLC) with ASCII or Basic Module.
For additional stand alone motion control capability, the drive is designed to accept a series of
application oriented modules called “PCM” modules. The PCMs can be attached to any drive by
simply plugging them onto the front. The PCM is designed to share the power supply inside of
the drive and includes 12 additional optically isolated inputs/outputs (making a total of 24).
When attached, the PCM module extends the operation of the Positioning Drive system.
The IOM-1, PCM-1, PCM-2 and PCM-5 modules are designed to be plug-on additions to
EMERSON EMC’s line of Positioning Drives. Each module is intended to enhance a specific
performance characteristic of the positioning drives.
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Peripherals
IOM-1 Input/Output Expander Module
The IOM Module mounts to the front of the basic drive to double the I/O capability for those
applications where the number of inputs and outputs provided with the basic unit are not
adequate for interfacing motion to the machine logic controllers. Each of these lines are
optically isolated and can be connected in either a current sinking or current sourcing
arrangement. In addition, the IOM-1 includes the parallel interface port required for connecting
1 or 2 thumbwheels and 1 remote display or parallel communications with a PLC.
PCM-1
The PCM-1 module converts the basic Positioning Drive from a “smart” servo drive system with
indexing capabilities into a motion control system capable of executing numbered sequences of
indexes called motion programs. Each motion program combines basic indexes to achieve
complex motion profiles beyond what is possible with the basic drive. In addition, the PCM
module greatly increases the non-volatile memory storage capability of the standard digital drive.
This allows the user greater flexibility in both the size and the number of programs (and indexes)
available. Another advantage of PCM-1 is that it increases the number of input lines from 8 to
16 and the number of output lines is increased from 4 to 8. All inputs and outputs are assignable
from a standard list of I/O functions. Lastly, the PCM-1 allows the user to create compound
indexes and includes the parallel interface port required for connecting 1 or 2 thumbwheels and 1
remote display or parallel communications with a PLC.
PCM-5
The PCM-5 has most of the capability of the PCM-1. The PCM-5 is able to do electronic
synchronized line shafting and ratio control. This is accomplished by using an external encoder
or drive representing a lead axis connected to the PCM-5. The drive with the PCM-5 can then be
synchronized to the lead device. This mode of operation also allows for pulse counting of the
lead device and indexing at velocities proportional to its speed. With this capability, flying
shear/cutoff applications can easily be configured.
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Operator Interface
Emerson EMC can provide three different peripheral devices to enhance the operator friendliness
of your drive. The T-21 Data Entry Terminal is ideally suited for providing machine operators
with the ability to enter and/or alter and display machine motion parameters controlled by
Emerson Digital Positioning Servo Drive. The T-16 displays position and velocity parameters
using large sized LEDs that are visible from several feet away. Emerson EMC offers a simple
thumbwheel interface called a TW-XXX that is offered in many different configurations. The
TW-XXX is used to change data of a specific motion parameter or parameters. The thumbwheel
option is ideal for applications needing minimum operator interface.
T-21 Data Entry Terminal
The T-21 communicates with any Emerson Positioning Drive using serial ASCII codes and
allows the machine designer to access, display, or alter certain motion parameters such as index
length. For frequently accessed motion parameters, the operator cam simply depress one of three
user programmable function switches located on the front panel. By depressing the correct
function key, the proper user created message is displayed. The message can be created to
include information as to what setup parameter is being changed, on which axis, etc. If more
than 3 operator altered setup parameters are required, a fourth F(x) key allows the user to store
up to 95 additional operator alterable setup functions.
T-16 Numeric Display
The T-16 is used to display position or velocity of the drive. The T-16 has 7 large LEDs that are
visible from several feet away. This allows the operator to view data shown on the display from
different positions on a machine. The T-16 requires the use of the ION-1 or a PCM-1 module.
The T-16 plugs into the parallel port on the module.
TW-XXX Thumbwheel Interface
The thumbwheel interface provides the user with a non-serial interface method for making
changes to specific motion functions. The user can set up the thumbwheel to change velocities,
distances/positions, dwell times, index counts, and acceleration and deceleration times. All the
thumbwheels are mounted in a small, self contained enclosure. Cables can be ordered in specific
lengths from 3 feet to 50 feet. The TW-XXX requires the user to have an IOM-1 or a PCM-1
module. The TW-XXX plugs into the parallel port on the module.
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FAMILY OF POSITIONING DRIVE PRODUCTS
Figure 1 Peripherals
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POSITIONING DRIVE SPECIFICATIONS
Specifications +/- 10%
Table II Positioning Drive Specifications
DRIVE PERFORMANCE
Drive Model
#
Motor
Model #
Torque
Cont/Peak
IN/LBS
Rotor Interia
IN/LBS/SEC
Max. RPM Bus Fuse Shunt Fuse KT
IN-LBS/AMP
KE
Volts/KRPM
Amplifier
Current
Ratings
DX-202 DXM-202 2/4 .0000855 3000 7 AMP 2A(S.B.) 1.8 23 1.1/2.2
DX-205 DXM-205 5/10 .000253 3000 7 AMP 2A(S.B.) 1.8 23 3.0/6.0
DX-308 DXM-308 8/16 .0005 3000 7 AMP 2A(S.B.) 2.9 34 2.8/5.6
DX-318 DXM-318 18/36 .001 3000 10 AMP 5A(S.B.) 3.38 40 5.4/10.8
DX-430 DXM-430 30/60 .0026 3000 15 AMP 5A(S.B.) 3.38 40 8.9/17.8
DX-450 DXM-450 50/85 .0052 3000 25 AMP 5A(S.B.) 3.38 40 14.8/24.0
DX-480 DXM-480 80/160 .00772 3000 30 AMP 8A(S.B.) 3.36 42 24/48
DX-780 DXM-780 80/160 .013 3000 30 AMP 8A(S.B.) 3.38 40 24/48
DX-7120 DXM-7120 120/240 .021 2000 30 AMP 8A(S.B.) 5.57 66 24/48
DX-6120 DXM-6120 120/240 .0096 3000 15 AMP 7A 8 100 15/30
DX-6200 DXM-6200 200/400 .0192 3000 20 AMP 7A 8 100 25/50
DX-6300 DXM-6300 300/600 .0268 3000 30 AMP 10A 8 100 38/76
DX-8200 DXM-8200 200/300 .04 3000 20 AMP 7A 7.4 96 27/41
DX-8300 DXM-8300 300/450 .08 3000 30 AMP 10A 7.4 96 40/60
DX-8400 DXM-8400 400/600 .12 3000 40 AMP 10A 7.4 96 54/81
INPUT VOLTAGE: DX-202, DX-205, DX-308, DX-430, DX-450, DX-480, DX-780, DX-
7120 = 96-132 VAC, 50/60 Hz, single phase
INPUT VOLTAGE: DX-6120, DX-6200, DX-6300, DX-8200, DX-8300, DX-8400 = 196-
264 VAC 3 PHASE 50/60 Hz
SWITCHING FREQUENCY: DX-202, DX-205, DX-308, DX-430 = 20 Khz
DX-450, DX-480, DX-780, DX-7120 = 15 Khz
DX-6120, DX-6200 = 15 Khz
DX-6300 = 12 Khz
DX-8200, DX-8300, DX-8400 = 10 Khz
DEAD BAND: Zero
VELOCITY SIGNAL INPUT: ±10 vdc typical (10 bit resolution speed selection ±10 volt)
TORQUE SIGNAL INPUT: ±vdc typical (10 bit resolution speed selection ±10 volt)
PULSE MODE INPUT: TTL compatible, 500 nsec minimum pulse width, 210 Khz max
frequency
ANGULAR ACCURACY: Cable Length 15FT 50FT 100FT
Minutes ±20 ±30 ±40
USER UNITS/REV: Programmable Range (200-25000)
AMPLIFIER THERMAL SHUT DOWN AS DETECTED IN POWER STAGE:
All Drives: 80º - 90º C
MOTOR THERMAL SHUT DOWN AS DETECTED IN MOTOR (CASE TEMP):
All Motors: 100º - 115º C
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OPTIONAL FAIL-SAFE BRAKE: (Activated by the Positioning Drive)
Table III Fail Safe Brake
Model Holding Torque
IN-LBS
DX-308 12
DX-318 25
DX-430 45
DX-450 75
DX-480 120
DX-780 120
DX-7120 180
DX-6120 400
DX-6200 400
DX-6300 400
*DX-8200 300
*DX-8300 450
*DX-8400 600
*Special (consult factory)
COMMAND PULSE: 5-15 vdc
MODE INPUTS: 25-70 milliamps
ANALOG INPUTS: -10 vdc to +10 vdc operating range
-12 vdc to +12 vdc absolute maximum
Different input greater than 9K ohms
SERIAL INTERFACE: RS423 signal compatible
Xmit, Rec, and GND
INPUTS AND OUTPUTS: Outputs: sink or source (2 terminals);
200 Ma max (external current limit required) each
Inputs: 10 to 30 vdc (internal current limit provided)
10, 12, 15 and 24 vdc typical
Table IV User Memory Capacity
User Memory Capacity
Drive
Drive
w/IOM-1
Drive
w/PCM-1
Drive
w/PCM-5
Jog 2 2 2 2
Home 1 1 1 1
Indexes 32 32 256 256
Programs 0 0 64 64
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Table V Number of User Programs
Number of Required
User Programs
Average Number of Available
Steps Per Program
1 1000
2 500
3 333
4 250
5 200
--
--
--
62 16
63 15
Table VI Motor Load Specifications
Motor Radial and Axial Load Specifications
Motor Max Radial Load Max Axial Load
DXM-202 10 lbs 8 lbs
DXM-205 10 lbs 8 lbs
DXM-308 20 lbs 15 lbs
DXM-318 20 lbs 15 lbs
DX* -430 50 lbs 20 lbs
DX* -450 50 lbs 20 lbs
DX* -480 75 lbs 40 lbs
DXM-780 150 lbs 50 lbs
DXM-7120 150 lbs 50 lbs
DXM-6120 150 lbs 50 lbs
DXM-6200 150 lbs 50 lbs
DXM-6300 150 lbs 50 lbs
DXM-8200 150 lbs 50 lbs
DXM-8300 150 lbs 50 lbs
DXM-8400 150 lbs 50 lbs
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DX-SERIES MOTORS AND AMPLIFIERS TYPICAL SPEED
TORQUE CURVES
DX-202, DX-308, DX-318, DX-430, DX-480, DX-780
Figure 2 Typical Speed Torque Curve
DX-7120
Figure 3Typical Speed Torque Curve
DX-205
Figure 4 Typical Speed Torque Curve
∗Continuous torque rating of the motors is measured using a 10” X 10” X 0.25” mounting plate that
acts as a heatsink.
∗All specifications are ±10%.
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DX-450
Figure 5 Typical Speed Torque Curve
DX-6120, DX-6200, DX-6300
Figure 6 Typical Speed Torque Curve
1) Peak operation is available for ≥1.0 seconds from 0 torque.
2) Speed torque curves are based on 144” sq. by ½” thick aluminum face plate.
3) Derate available torque by 1% per °C for operation above 30°C, to an ambient temperature of
45°C, for motor and amplifier.
DX-8200, DX-8300, DX-8400
Figure 7 Typical Speed Torque Curve
∗Continuous torque rating of the motors is measured using a 10” X 10” X 0.25” mounting plate that
acts as a heatsink.
∗All specifications are ±10%.
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INSTALLATION
OVERVIEW
The Positioning Drives were designed with simple installation in mind. The Drive normally
back-mounts into a standard NEMA enclosure. Because of its small footprint and no need for
external transformers, boards and power supplies, the Positioning Drive saves significant panel
space and cost over alternative servo positioning systems. Wiring and connecting the drive is
equally simple. AC line power is connected via provided screw terminals. All 120 VAC models
use single phase 50/60 Hz power. All 230 VAC models use 3 phase 50/60 Hz power.
Inputs and outputs for control and status are wired to a 12 position, detachable terminal strip (this
also makes servicing easy). The RS423 serial interface used for setup, status and control can be
connected with a 9 pin D-type connector. The motor connections for the 120 VAC single phase
models are accomplished with factory supplied cable and mating connectors. The higher power
230 VAC 3 phase models are connected via screw terminals at the amplifier and motor. This
allows the user to supply his own wire.
The larger drive motors also have NPT pipe thread holes for metallic raceways. It is a
requirement that the stator wiring R, S, T be run in metallic raceways and 1-1/4” pipe conduit
holes are provided. The feedback wiring must be done by using shielded cabling with 100%
shielding via a foil shield and a braided shield.
ASSEMBLY AND INSTALLATION CONSIDERATIONS
The following procedures outline the methods necessary to assure reliable and trouble free
installation of the EMERSON EMC Positioning Drive.
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TYPICAL 120 VAC LINE SIZING (SINGLE PHASE MODELS)
Figure 8 Typical 120 VAC Line Sizing
The approximate AC line source VA rating can be determined by multiplying the AC line sizing
by 120 VAC.
Example: DX-780
Line sizing = 40 amp
(40 amps) ∗(120 VAC) = 4800 VA
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TYPICAL 230 VAC 3 PHASE MODELS
Figure 9 Typical 230 VAC 3 Phase Connections
The approximate AC line source VA rating can be determined by W = E•I 1.732
Example: DX-8200 = 20 Amps
Watts = 230 VAC •20 Amps •1.732 = 7,967
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