Parker Compumotor AX User manual

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Compumotor Division
Parker HannifinCorporation
pin
88-006938-03 E
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CONTENTS I
Table of Contents
...............................................................................................
CONTENTS I
.............................................................................................................
Table of Contents i
..................................................................................................................
List Of Figures iv
...................................................................................................................
List Of Tables v
...................................................................................................
HowTo Use This Manual vi
........................................................................................................
Assumptions vi
........................................................................................
Contents of This Manual vi
............................................................................................
InstallationProcessOverview vii
.................................................................................
Developing Your Application vii ...
................................................................................
Installation Recommendation VIII ...
........................................................................................................................
Key Terms VIII
.................................................................................................................... Conventions x
...................................................................................................
Highlighted Text x
Warnings (PersonalInjury)
& Cautions(SystemDamage) ......................................... xi
..................................................................................................................
Levels xi
.........................................................................................................
Related Publications xi
......................................................................... Chapter 1 . INTRODUCTION 1
............................................................................................................. Chapter Objective 1
Product Description .......................................................................................................... 1
Product Features .............................................................................................................. 2
Theory of Operation .......................................................................................................... 3
Chapter 2 . GETTING STARTED .................................................................... 5
Chapter Objectives ........................................................................................................... 5
What You ShouldHave ..................................................................................................... 5
Ship Kit Table ....................................................................................................... 5
Basic System Configuration ............................................................................................... 6
InstallationLabel ................................................................................................... 6
Setting Drive Functions ......................................................................................... 6
BascSystemWiring Diagram ................................................................................. 8
TransformerConnections (Optional) ...................................................................... 9
Motor Connections ............................................................................................... 10
Power Connections .............................................................................................. 10
EstablishCommunications .................................................................................... 11
Poweringup the System ....................................................................................... 12
DeactivateLimit Inputs .......................................................................................... 12
Testing the System ............................................................................................... 13
Chapter 3 .
INSTALLATION .......................................................................... 15
Chapter Objectives ........................................................................................................... 15
Complete SystemConfiguration ........................................................................................ 15
Setting Drive Output Current ................................................................................. 16
Setting IndexerAddress ...................................................................................... 16
Environmental Considerations ........................................................................................... 17
.............................................................................................................
System Mounting 17
Motor Mounting .................................................................................................... 17
Drive Mounting ..................................................................................................... 18
Encoder Mounting ................................................................................................ 20
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I i AX DRIVE USER GUIDE
........................................................................................................
System Connections 21
................................................................................
.........
Wiring Guidelines ... 21
System Pinouts
.................................................................................................... 23
........................................................................................
Extending Motor Cables 24
......................................................................
TransformerConnections (Optional) 24
Power Connections
.............................................................................................. 24
..................................................................................................
Fan Connections 24
...........................................................................................
Encoder Connections 25
..........................................................................................
RS-232C Connections 26
.....................................................................................
Daisy-ChainConnections -26
..................................................................................................
I10 Connections 27
VerifyingProper Installation ............................................................................................... 31
Verifying RS-232 Link
........................................................................................... 31
...............................................................................................
Open-Loop Moves 32
Closed-Loop Moves
............................................................................................. 35
Inputs
& Outputs .................................................................................................. 39
Couplingthe Load
................................................................................................ 41
Chapter 4. APPLICATION DESIGN ................................................................ 43
Chapter Objectives ........................................................................................................... 43
Motion Control Concepts
.................................................................................................. 43
Move Profiles
....................................................................................................... 43
Move Times
.......................................................................................................... 45
Incrementalvs
. Absolute Positioning Modes .......................................................... 46
PositionalAccuracy vs
. Repeatability ...................................................................... 48
Application Considerations
................................................................................................ 49
Mechanical Resonance
......................................................................................... 49
Ringing or Overshoot
............................................................................................ 49
Modes
of Operation .......................................................................................................... 50
Open Loop Operation
........................................................................................... 50
Closed Loop Operation
......................................................................................... 54
ProgramControl
............................................................................................................... 61
Triggers
............................................................................................................... 61
Delays
.................................................................................................................. 61
Loops .................................................................................................................. 62
POBs (ProgrammableOutput Bits)
......................................................................... 63
MoveCompletionSignal
....................................................................................... 63
Sequences
.......................................................................................................... 64
Stand-alone Operation
.......................................................................................... 66
Host Computer Operation
..................................................................................... 68
PLC Operation
..................................................................................................... 74
Model 72 (Thumbwheel) Operation
........................................................................ 76
Tuning Procedure
............................................................................................................. 76
Chapter 5 . SOFTWARE REFERENCE ............................................................ 81
Chapter Objectives ........................................................................................................... 81
Command Descriptions
....... :. ........................................................................................... 81
Command Listing
.............................................................................................................. 84
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CONTENTS
..........................................................
Chapter 6 . HARDWARE REFERENCE 65
...........................................................................................................
Chapter Objectives 165
EnvironmentalSpecifications............................................................................................165
System Specifications
....................................................................................................... 166
AX Drive Specifications ......................................................................................... 166
Motor Specifications (Compumotor-Supplied)
........................................................ 167
Inputs and Outputs
............................................................................................... 168
Non-Compurnotor Motor Connections...............................................................................174
DeterminingThe 4-Lead Wiring Configuration
........................................................ 174
DeterminingThe 6-LeadWiring Configuration
........................................................174
DeterminingThe 8-Lead Wiring Configuration
........................................................ 175
Terminal Connections
........................................................................................... 176
Factory Default
DIP SwitchSettings ................................................................................... 177
Current Settings
................................................................................................... 177
Address Settings
.................................................................................................. 178
DimensionalDrawings
....................................................................................................... 179
AX Driveand FanDimensions ................................................................................ 179
Motor Dimensions
................................................................................................. 180
Torque/Speed Curves...................................................................................................... 185
Special MotorWiring
......................................................................................................... 187
Wiring The 106-205 Motor
.....................................................................................187
Wiring The 106-178 Motor
..................................................................................... 188
Chapter 7 . MAINTENANCE
& TROUBLESHOOTING .......................................... 189
Chapter Objectives
........................................................................................................... 189
Maintenance
.................................................................................................................... 189
Spare Parts Table
................................................................................................. 189
Motor Maintenance
............................................................................................... 190
Drive Maintenance................................................................................................190
Troubleshooting
............................................................................................................... 190
Reducing Electrical Noise
...................................................................................... 194
RS-232CCommunicationsTroubleshooting
.......................................................... 199
ReturningThe System......................................................................................................200
APPENDICES
............................................................................................ 201
Command Listing..............................................................................................................201
ASCII Table
...................................................................................................................... 203
Glossary
........................................................................................................................... 205
Index ..............................................................................................................................
209
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iv AX DRIVE USER GUIDE
List Of Figures
Figure 1.1 .
AX DriveSystem FunctionalBlock Diagram ................................................................ 3
Figure2.1
. DIPSwitchLocation.................................................................................................6
.............................................................................................
Figure2.2 . System Wiring Diagram 8
Figure2.3
. Transformer Connections(Optional) ......................................................................... 9
Figure2.4 . RS-232C InterfaceConnections
............................................................................... 12
Figure3.1 .
Figure3.2 .
Figure3.3 .
Figure3.4 .
Figure3.5 .
Figure3.6 .
Figure3.7 .
Figure3.8 .
Figure3.9 .
Figure 3-10.
Figure 3-11 .
Figure3-12.
Figure3.13 .
.................................................................................................
DIPSwitch Location 15
..........................................................................................
PanelLayout Guidelines 19
....................................................................................
Minimum-Wih PanelMount 19
...................................................................................
Minimum-DepthPanel Mount 20
..........................................................................
Mountingthe Encoder to the Motor 21
AX Drive Pinouts
...................................................................................................... 23
...................................................................................
Encoder Connection Diagram 25
...............................................................................................
Encoder Input Circuit 26
.........................................................................................
Daisy-ChainingAX Drives 26
....................................................................................................
I10 Wiring Diagram 27
....................................................................................................
Typical I10 Circuits 27
..............................................................................................
Current Boost Circuits 30
..............................................................................................
Output Connections ..30
Figure4-1
.
Triangular Profile ...................................................................................................... 44
Figure4.2 . TrapezoidalProfile................................................................................................... 44
Figure4.3
.
S-Curve Profile ........................................................................................................ 45
Figure 4.4
. PLC Connections....................................................................................................74
Figure 4.5 . AX DIP Switch and Tuning Pot Locations................................................................... 79
Figure5.1
. Command Example .................................................................................................. 81
Figure6-1.
AX Drive PinoutsandConnectors ............................................................................. 168
Figure6-2
.
OpticalIsolationCircuit ............................................................................................. 171
Figure6-3. VO Wiring Diagram(TestingOnly)
.............................................................................. 172
Figure6-4. Encoder I10Wiring Diagram
...................................................................................... 172
Figure
6-5 .
AX Encoder ConnectorI10Circuit Diagram ................................................................ 173
Figure6-6
. Motor Wiring Diagram (Non-CompumotorMotors)
................................................... 176
Figure6-7
. AX Dimensional Drawing
........................................................................................... 179
Figure6-8
.
NEMA Size 23 MotorDimensions ............................................................................. 180
Figure6-9
.
NEMA Size34 Motor Dimensions ............................................................................. 181
Figure 6.10 . NEMA Size 42 (AX 106-120) Motor Dimensions
......................................................... 182
Figure 6-11
. NEMA Size 42 (AX 106-178) Motor Dimensions ......................................................... 183
Figure 6-12
. NEMA Size 42 (AX 106-205) Motor Dimensions ................................................... 184
Figure 6-13
. Wiring Diagram, 106-205 Motor ................................................................................. 187
Figure 6-14
. Wiring Diagram, 106-178 Motor .................................................................................. 188
Figure7.1 . Noise Suppression Devices
..................................................................................... 194
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CONTENTS v
List Of Tables
Table 2-1
Table 2-2
Table 2-3
Ship Kit
........................................................................................................................ 5
......................................................................................
Cornpumotor-SuppliedMotors 5
Motor Current Settings for Compumotor-SuppliedMotors
............................................... 7
Table 3.1
. DIP Switch Functions ............................................................................................. 16
I .
.
I
Table 3-2
Table 3-3
Table 3-4
Table
3-5
Table 4-1
Table 4-2
Table 4-3
Table 6.1 .
Table 6.2 .
Table 6.3 .
............................................................................................
ValidAX Address Settings 16
EnvironmentalSpecifications
........................................................................................ 17
................................................................................................
ExtendedMotor Cables 24
.......................................................................................
MotorWire ResistanceValues 24
...............................................................................................
Motor-to-encoderRatios 54
...............................................................................................
SequenceSelect Inputs 66
..................................................................................................
AX WaveformSettings 80
...................................................................................
AX EnvironmentalSpecifications 165
.................................................................................................
AX Drive S~ecifications 166
..................................................................
Compumotor-SuppliedMotor Specifications 167
............................................................................................................
Table 6.4 . Encoder Pinout 169
.....................................................................................
Table 6.5 . Interfaceand I10 Specifications 170
Table 6.6 . Encoder It0Specifications
............................................................................................ 170
...........................................................................................
Table 6.7 . Sequence SelectionTable 171
Table 6.8 . DipSwitch Functions
.................................................................................................... 177
.......................................................
Table 6.9 . Current Settingsfor Compumotor-SuppliedMotors 177
Table 6-10
. Motor Current Settings (Full Range)
........................................................................... 178
............................................................................................
Table 6-11 . Device Address Settings 178
............................................................................................
Table 6- 12. AX 106-205Motor Wiring 187
............................................................................................
Table 6-13. AX 106-178 Motor Wiring 188
Table 7.1 . RecommendedSpare Parts for the AX System
............................................................... 189
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VI AX DRIVE USER GUIDE
How To Use This
Manual
Assumptions
Contents of This
Manual
CHAPTER 1 :
INTRODUCTION
CHAPTER
2:
GETTING STARTED
CHAPTER
3:
INSTALLATION
CHAPTER
4:
APPLICATION
DESIGN
CHAPTER
5:
SOFTWARE
REFERENCE
CHAPTER
6:
HARDWARE
REFERENCE
Thismanual is designed to help you install, develop, and
maintain your system. Each chapter beginswith a list of
specific objectivesthat should be met afteryou have read the
chapter. This sectionis intended to helpyou find and use the
information
in this manual.
Thisuser guide assumesthat you have the skillsor
fundamental understanding of the following information:
IBM (orIBM-compatible)computer experience
Basic electronicsconcepts (voltage,switches, current, etc.)
Basic motion control concepts (torque.velocity, distance,
etc.)
Basic serial communication concepts (specifically RS-
232C)
With this basic level of understanding, you will be able to
effectively use this manual to install. develop, and maintain
your system.
This user guide contains the following information.
This chapter provides a descriptionof the product and a brief
account of its specificfeatures.
This chapter contains a detailed list of itemsyou should
receive with your
AX Drive shipment. It will help you to
become familiarwith the system and ensure that each
component functions properly. You will learn how to
configure the system properly in this chapter.
This chapter provides instructions for you to properly mount
the system and make all electrical and non-electrical
connections. Upon completionof this chapter, your system
should be completely installed and ready to perform basic
operations.
This chapter will help you customize the systemto meet your
application's needs. Important application considerations
are discussed. Sampleapplicationsare provided.
This chapter explains Compumotor'sX-Series programming
language
in detail. It describescommand syntax and system
parameters that affect command usage.
An alphabetical
listing of all commands, including individual command
descriptions.
Is included.
This chapter contains information on system specif'ications
(dimensionsand performance). This chapter may be used as
a
quick-referencetool for proper switch settings and 1/0
connections.
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CONTENTS vii
CHAPTER 7:
This chapter describes Compumotor'srecommended system
MAINTENANCE &
maintenance procedures. It alsoprovides methods for
TRoUBLEsHooT'Na
isolating and resolving hardware and software problems.
1 nstal!at jon Process
TOensure trouble-free operation,you should pay special
Overview
attention to the following:
The environment in which the AX Drive system will
operate
The system layout and mounting
The wiring and groundingpractices used
These recommendationsare intended to help you easilyand
safely integrate
AX Drive equipment into your manufacturing
facility. Industrial environments often contain conditions
that may adverselyaffect solid state equipment. Electrical
noise and atmospheric contamination may also affect the
AX
Drive System.
Developing Your Before you attempt to develop and implementyour
Application
application,there are several issues that you should consider
and address.
1. Recognize and clarify the requirements of your
application. Clearly definewhat you expect the systemto
do.
2. Assessyour resources and limitations. Thiswill help you
find the most efficient and effective means of developing
and implementing your application.
3. Follow the guidelinesand instructions outlined in this
userguide.
Do not skip any step <m procedures. Prr,per
installation and implementationcan only be ensured
if
all proceduresare completed in the proper sequence.
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viii AX DRIVE USER GUIDE
/nsta//ation
Beforeyou attempt to installthis product.you should
Recommendafion complete the following steps:
1. Review this entire manual. Become familiarwith the
manual's contents sothat you can quickly
find the
informationyou need.
2. Develop a basic understanding of all systemcomponents,
their functions. and interrelationships.
3. Complete the basic system configuration and wiring
instructionsprovided
in Chapter 2. GettingStarted.
NOTE: This is a preliminary con&uration not a
permanent installa
tion, usually performed in a bench-top
environment.
4. Perform asmany basic moves and functions asyou can
with the preliminary configuration. You can perform this
task only
if you have reviewed the entire manual. You
should
try to simulate the taskls)that you expect to
perform when you permanently install your system.
However, do not attacha load at this time. This will give
you a realisticpreview of what to expect from the complete
configuration.
5. After you have tested all of the system'sfunctionsand used
or become familiar with all of the system's features,
carefully read Chapter
3, Installation.
6. Afteryou have read Chapter 3 and clearlyunderstand
what must be done to properly installthe system,you
should begin the installation process. Do not deviate from
the sequence or installation methods provided.
7. Beforeyou begin to customizeyour system, checkall of the
systemfunctionsand features to ensurethat you have
completed the installation process correctly.
The successful completion of these steps
will prevent
subsequent performance problems and allow you to isolate
and resolve any potential system difficultiesbefore they
affect your system's operation.
Key Terms
You should read and understand these terms and definitions
before reading Chapter 1. Additional terms used in this user
guide
are defined in the Glossary.
BCD
Binary coded decimal. A system of representing decimal
numbers with binary numbers.
Bipolar
The Drive current is bi-directionalthrough each motor phase.
There
are two motor phases: Phase A (A+/A-) and Phase B
(B+/B-1.
Brownout
Low-linevoltage at which the device no longer functions
properly.
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CONTENTS ix
Dead Band
Delimiter
Drive
A term used to describe linking devices in sequence, such
that a singledata stream flows through one device and
on to
the next. Daisychained devices are distinguishedby device
addressesto indicate the desired destination for data in the
stream. Up to eight
AX Drives may be daisy-chained.
A range of input signalsfor which there is no system
response.
A character (spaceor carriage return)used to separate fields in
a command.
This is the electronicsportion of the system that controls
power to the motor. This portion controls the motor to
provide micro-stepping.
Indexer
This portion of the system provides communication with the
external
I/O. It allowsyou to program sequencesand direct
motion control.
Micro-
stepping
PLC
Quadrature
RS-232C
Sequence
Short-
Circuit
An electronic control technique that proportions the current
in a step motor's windings to provide additional intermediate
positionsbetween poles. This produces high positional
resolution and smootherrotation over a wide speed range.
Programmable logic controller.
An industrial control device
that turns on and off outputsbased upon responsesto inputs.
A type of incremental encoder output in which the two square
wave outputs are offset by
90".
A serial data communicationsstandard that encodesa string
of information on a single line in a time sequential format.
The standard specifiesthe proper voltages and timing
requirements so that different manufacturers devices
are
compatible.
A series of motion control commands. Thesecommands are
created, stored. and executed from the indexer's EEPROM
memory.
A defect in a winding which causes part of the normal
electricalcircuit to be bypassed. This frequentlyresults in
reducingthe resistance or impedanceto such
an extent (near
zero)asto cause overheating of the circuit. and subsequent
burnout.
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x AX DRIVE USER GUIDE
Conventions
To helpyou understand and use this user guide effectively. the
conventions used throughout this manual are explainedin
this section.
Highlighted Text
Severalmethods are used to highlight text. Explanations of
specialtext and the way it
is highlighted is presented below.
Commands
The command examples in this user guide are presented
verticallyto help you read and understand them. When you
actuallytype these commands at your computer keyboard.
they will be displayed horizontally on your computer.
All
commandsthat you are instructed to enter are displayed in
all capitalletters.just asthey appear on your computerCRT.
A one-line explanation of the command is provided next to
each example. The command
is displayed in boldface. Be sure
to add a delimiter (spaceor carriagereturn) after each
command
in a sequence. Refer to the example below:
Command PescrlDtlon
. .
A5 Setsacceleration to 5 revs/sec2 (rps2)
V5 Setsvelocity to 5 rps
Dl2800 Sets distance to 12,800 steps
G Executesthe move (Go)
Bold face. quotation marks. or other forms of highlighting
are not be used for command responses. Responses
are set in
all capital letters. asthey are on the terminal. An example is
provided below.
Command
1XU4
ResDonse
A5 V5 Dl2800 G
The system generally ignores command syntax that is not
within the valid range for a specificcommand (validranges
are provided in Chapter 5. SoftwareReference). Compumotor
does not guarantee systemperformancewhen the system
executescommands that contain invalid syntax (outsidethe
valid range).
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CONTENTS
Warnings
Warning and caution notes alert you to possible dangers that
(Persona/ injury)
may occur if you do not follow in~tXU~ti0nScorrectly.
& Cautions
Situations that may cause bodily injury are presented as
warnings. Situations that may cause system damage are
presented ascautions. These notes
will appear in bold face
and the word warning orcaution will be centered and
in all
capital letters. Refer to the examples shown below.
(System
Damage)
WARNING
Do not touchthe motor immediatelyafterit has been in use
for an extended period of time. The unit will be hot.
CAUTION
System damage will occur if you power up the system
improperly.
Italics are used to highlight other important material. Refer
to the example below.
Ekample: Outputs
1 and 2 are user programmable. Do not use
outputs 3 and 4.
Voltage Levels
In thismanual,you will deal with inputs and outputs that you
canturn on or off. We
will define the terminologies needed for
these inputs and outputs.
Inputs ON (0, low) Current flows
OFF
(1, high)
No current flows
Command Wi~tior-1
TR011 Waits for Trigger
1 to turnon and Triggers2 and
3 to turnoff
Outputs
ON (1, hrgh) Current flows
OFF
(0. low)
No current flows
Command DescrlPtion
0 0 1 Turns
off Output 1 andturns on Output 2
Related
The following publications may be helpful resources:
Publications
Seyer. Martin. RS-232C Made Easy: Connecting
Computers, Printers.
Terminals and Modems, Englewood
Cms,New Jersey: Prentice Hall. Inc.,
1984
Parker Compumotor Motion Control Catalog
Operations manual for the IBM or IBM-compatible
computer that you will use with the
AX Drive system
Schram, Peter (editor). The National Electric Code
Handbook (ThirdEditiod. Quincy. MA: National Fire
Protection Association
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CHAPTER 1. INTRODUCTION 1
Chapter 1. INTRODUCTION
Chapter Objective
The information in this chapter will enable you to
understand the product's basic functionsand features
Product
The AX Drive combinesthe functions of a micro-stepping
Description
drive and anRS-232C Indexer in one compact system. The AX
is easilyprogrammed over RS-232C and has a set of 70
commands. The combinationof the powerful command
languageand user-def3nedinputs and outputs allowsyou to
develop complexmotion control programs. You can create
and store up to
7 programsin the AX Drive's non-volatile
(EEPROM)memory. These programs canbe executed remotely
with simple BCD switches or a programmable logic controller
(PLC). You can also execute these programsby sending
an
execute command over the three-wire RS-232C interface from
a computer or terminal.
The
AX Drive is available is the high-powered (6A max.) AXH
model or the low-powered (3A max.) AXL model.
An additional feature of the AX Drive is the opticallyisolated
encoder interface which permits closed loop operation. The
interface is designed to operate with
lTL quadrature (rotary
or linear) incremental encoders.
The motors provided with the
AX Drives are high-accuracy
1.8' hybrid step motors that have been optimized for smooth
micro-stepping operation. Unique lamination materials
ensure low power losses and low heatingwhen drivenby the
AX'S 16 to 20 Khz pulse width modulated amplifiers.
AX Drives feature switch-selectablemotor currents,
eliminatingthe need for motor/drive matching. Amplifier
adjustments are available to the user to compensate for
typical motor-to-motorvariations. This is important for
critical applications that require maximum smoothness.
The
AX iscompatiblewith the CompumotorModel 72 and
Model
72-1/0 interface. The Model 72 providesadjustable
thumbwheelswitchesto enter and change
AX motion control
parameters.
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2 AX DRIVEUSER GUIDE
Product Features The AX Drive provides the following features:
System is available in the high-powered version (AXH) or
the low-powered version
(AXL)
Each model includes a motor along with a drive. indexer,
heatsink. cables. and power supply
in a singlecompact
package
Drive resolution is 12,800steps/revolution
Includesa full-featuredRS-232C indexer with a subset of
the
X Seriescommand language
Up to 8 drives can be daisy-chainedon a singleRS-232C
Port
2,000characters of non-volatilememory can store up to 7
motion programs
Nine optically isolated inputs:
End-of travel (2)
Home
mggers
(3)
Sequence (3)
Two optically isolated programmable outputs
User-selectable micro-stepping waveforms for optimal
smoothness
Automatic power-up motion sequence execution
Motion sequence selection via RS-232C or external
switches
Sequence upload. download. and automatic verify
Incremental encoder interface is standard
23. 34, and 42 frame motors available with torques from
50 to 2.400 oz-in. 10 foot motor cablesstandard
The system offers high output voltage (170VDC)operation
for optimum high-speed performance
95- 135VAC. 50/60Hz input power
Systemis protected from short-circuit [phase-to-phase.
but got ~hase-to-@round).brownout, and over-temperature
Microprocessor-controlled micro-stepping provides
smooth operation over a wide range of speeds, and
improved mid-frequency performance
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CHAPTER 1. INTRODUCTION 3
Theory of Operation
The AX Drive's built-in indexer receives ASCn commands
(froma computer,
PLC, or terminal)or BCD signals (from
remote switches or a
PLC). The indexerthen convertsthese
commands or signalsto step pulses
and sendsthem internally
to the drive portion of the
AX. These step pulses are coupled
with
a direction signal to control motor velocity.
acceleration, direction, and position. The drive portion
convertsthe step pulses to varied motor currentsto control
the steppermotor's rotation and angular position. The motor
converts electrical pulses into discrete mechanical motion
(shaft rotation).
An incremental encoder mounted either on
the motor or on the load provides positional feedback
(encoderpulses] to the built-in indexer. Figure
1- 1 is a
functionalblock diagram of the AX Drive system's processes.
CW & CCW Limit Inputs
Home Input
3 Triaaer Input Bits
4
2 ProarammableOut~utBits
(optional)
Figure 1 - 1. AX Drive SystemFunctional Block Diagram
For a detailed descriptionof steppermotor construction and
operation. refer to the CompumotorCatalog.
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CHAPTER 2. GETTING STARTED s
Chapter 2. GETTING STARTED
Chapter Objectives
The information in this chapter will enable you to:
Ve* that each componentof your systemhas been
delivered safely
Become familiar with system components and their
interrelationships
Ensure that each component functionsproperly
Configure the system properly
NOTE: If you are using more than one AX Driue. repeat the
conftguration and test procedures in this chapter with each
drive.
What
Have
You Should
You should inspectyour AX Drive shipment upon receipt for
obvious damage to itsshipping container. Report
any such
damage to the shippingcompany assoon aspossible. Parker
Compumotorcannot be held responsiblefor damage incurred
in shipment. Carefully unpack and inspect your AX Drive
shipment. The items listed in Table 2- 1 should be present and
in good condition. NOTE: The on@ way to determine if you
have an AXH Drlue or an AXL Drive fs to check the serial phte
or the fnstaltation
label on the side of the drive opposffe the
heatsink fins.
Ship Kit Table
Part Description
Shin Kit I
Choice of two drives:
AXH I
Fan Kit (standard on AXH Drives)
Mechanical Screws 16-32 x 114)
) Universal Mounting Bracket Pkgs.
I
Table 2- 1. ShipKit List
Compumotor Motors
(Optional) Compumotor-supplled Motors
AX57-5 1 -MO
Part Number
-1
AXH-DRIVE
AXL-DRIVE 1
t
. .- - -- . . . - -
AFK 1
Table 2-2. Compumotor-Supplied Motors
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6 AX DRIVE USER GUIDE
Basic System
AX drlves are protected against brownout, short-circuit
Configuration
(exceptphase-to-earth ground).and over-temperature.
Compwnotor does not recommend that you test thesefeatures
or operate your system
in a way that will induce bro~&~ut,
short-clrcuit,or over-temperature situations.
CAUTION
The AX Drive is gpf compbtelyopen-drcuit protected. Paem
the AC power L discosnected before attempting to perfmn
any sgstem connecths. Never disconnect or reconnect the
motor
with power on: this wlll damagethe drive and the
motor
ccmnector contacts. Followthe step described below to
completethe basic c~tion of your system.
Insfatla tion
The installation label, located on the side of the drive
Label
opposite the heatsink fins. provides default DIP switch
settings. The label also provides generalguidelinesfor drive
mounting,wiring. and
1/0 connections.
Setting Drive
Drive functions are set using the 8-positionDIP switch
Functions
located on the bottom of the AX Drive (seeFigure 2-1). For the
Drocedures
in thischa~ter.leave the address (setwith
bitches
6 through 8) set tb 1(factory-setting):
Figure shows default settings:
Switch.. 1 - 5 OFF I Mnimum Cumnt
Switch..6-8ONrAddnul
AX Series Drive \
Compumotor
YDIHm# ww
U wm
o a
Figure 2- 1. DIP Switch Location
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CHAPTER 2. GETTING STARTED 7
Current
DIP switches 1 through 5 are used for settingdrive output
Programming
current to the motor. SeeFigure 2- 1 for the locationof the
drive
DIP switches. Table 2-3 provides DIP switch settings for
Compumotor-suppliedmotors.
Be surenot to confusethe
settingsfor
an AXL Drive with the settings for an AXH Drive.
NOTE: Whenpurchased as a motor/drive system the current
is factory-setfor the accompanying motor. Whenpurchased
as a drive-only system, the drive current is factory set to
minlmurn (O.Og4Afor AXL, O.18&Afor AXH).
Consult Compumotor'sApplication Department first if you
plan to use
a motor not suppliedby Compumotor. If you are
using a motor a supplied by Compumotor. refer to Chapter
6, HardwareReference. for the full range of motor current
settings.
WARNING
NEVER a-t DIP switch settings when the power is on.
Use the following procedure to adjust the DIP switches:
STEP 1
Remove AC power from the AX Drive.
STEP 2 Remove the DIP switch cover panel.
STEP 3 Check all DIP switch settings. Use Table 2-3asa guide to
ensure that the switches are set properly.
STEP 4
If you must adjust the DIP switches,use a narrow instrument
such asa thin, flat screw driver.
CAUTION
Improper motor current settings can damage both the drive
and the motor.
DIP Switch Settin s
s
AXH I
Not Recommended
I
Not Recommended
Not Recommended
I
OFFOFFOFFON ON
OFFOFFON ON
OFF
OFFON OFFOFF ON
OFFON OFFOFF ON
ON OFFON OFFON
ONONONONON
ONONONONON
I
DIP Switch Settings
1 2 3 4 5
Table 2-3. Motor Current Settings (Compumotor-SuppliedMotors
I
NOTE: Thecurrent values in Table 2-3 are approximate
settings
in the AX Drive. The actual settings will not match
these recommended settings exactly. The current settingfor
106-205motors
is 6 amps in sees and in parallel.
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8 AX DRIVE USER GUIDE
Basic System
Wiring Diagram
- MOTOR
RED
BLACK
SHIELD
WH lTE
GREEN
- OPTIONALFAN
-AcmKw
BLACK
WHITE
GREEN
Figure 2-2. System Wiring Diagram
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