Parker E-DC Manual

Effective: May 22, 2002
p/n 88-020714-01 A
E-DC Drive
Hardware Installation
Guide
Automation
www.comoso.com

North America and Asia:
Compumotor Division of Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone] or [phone]
Fax: [phone]
FaxBack: [phone] or [phone]
e-mail: [email protected]
Internet: http://www.compumotor.com
Europe (non-German speaking):
Electromechanical Division (EMD)–Europe
Parker Hannifin plc
21 Balena Close
Poole, Dorset
England BH17 7DX
Telephone: [phone]
Fax: [phone]
Germany, Austria, Switzerland:
Electromechanical Division – Germany
Parker Hannifin GmbH
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: [phone]
Fax: [phone]
Technical Assistance Contact your local automation technology center (ATC) or distributor, or ...
Automation
[email protected]
Technical Support Email
E Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may
not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this user guide and software and
hardware mentioned therein at any time without notice.
In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any kind or nature
whatsoever, including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide.
© 2002 Parker Hannifin Corporation
All Rights Reserved
User Information
WARNING
E Series products are used to control electrical and mechanical
components of motion control systems. You should test your motion
system for safety under all potential conditions. Failure to do so can result
in damage to equipment and/or serious injury to personnel.
!!
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3 E-DC Hardware Installation Guide
Table of Contents
Chapter 1 – Introduction................................................................................................................................ 5
E-DC Drive –Description ....................................................................................................................6
Compatible Motors ...............................................................................................................................7
Chapter 2 – Installation.................................................................................................................................. 9
WhatYou Should Have (ship kit) ........................................................................................................10
Installation Overview ......................................................................................................................... 10
Automatic Test ....................................................................................................................................12
Test Setup with Controller ..................................................................................................................17
Installation ......................................................................................................................................... 19
1 –SELECT AMOTOR ......................................................................................................................19
2 –SET DIP SWITCHES .................................................................................................................. 23
3 –CONNECT THE MOTOR TO THE DRIVE –WIRING...............................................................................26
4 –CONNECT ACONTROLLER –INPUTS & OUTPUTS .............................................................................26
5 –MOUNT THE DRIVE .....................................................................................................................30
6 –MOUNT THE MOTOR ....................................................................................................................34
7 –CONNECT THE MOTOR TO THE LOAD –COUPLERS ...........................................................................35
8 –CONNECT DC POWER ................................................................................................................36
9 –TEST THE INSTALLATION ...............................................................................................................38
Performance Specifications................................................................................................................38
Environmental Specifications .............................................................................................................38
Chapter 3 –Troubleshooting ........................................................................................................................39
Troubleshooting Basics ......................................................................................................................40
Diagnostic LEDs................................................................................................................................ 40
Short Circuit Protection ......................................................................................................................40
Overtemperature Protection...............................................................................................................40
Anti-Resonance Disable.....................................................................................................................41
Testing the Motor................................................................................................................................42
Automatic Test ....................................................................................................................................42
Common Problems and Solutions......................................................................................................43
Technical Support ..............................................................................................................................45
Product Return Procedure ................................................................................................................ 45
Appendix A – LVD Installation Instructions................................................................................................47
Appendix B – EMC Installation Guide .........................................................................................................51
General Considerations .....................................................................................................................52
E-DC Drive Connections ....................................................................................................................55
Motor Connections .............................................................................................................................56
Index.............................................................................................................................................................. 61
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4 E-DC Hardware Installation Guide
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Chapter 1 –Introduction 5 E-DC Hardware Installation Guide
1
Introduction
IN THIS CHAPTER
• E-DC Drive Description
• Compatible Motors
• Compumotor Products
CHAPTER ONE
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6 E-DC Hardware Installation Guide Chapter 1 –Introduction
E-DC DRIVE –DESCRIPTION
The E-DC Drive is a microstepping drive that runs two-phase step motors.
It operates from an external DC power supply, in the range of 24 - 48VDC.
A typical system is shown below.
To 24 –48VDC
Power Supply
Controller
MotorE-DC Drive
REMOTE
REF
CURRENT
DUMP
VDC+
VDC-
A+
A-
B+
B-
PWR/FLT
!
SERIES
System Components
The controller sends step and direction signals to the drive. For each step
pulse it receives, the drive will commutate the motor to increment rotor
position. This is shown in the next drawing.
C
ontrolle
r
E-D
C
Driv
e
M
o
t
or
M
o
t
or
C
urrent
s
Ste
p
P
u
l
ses
Hi
g
h Leve
l
C
ommand
s
Host Com
p
ute
r
o
r
Pro
g
rammabl
e
C
ontrolle
r
Block Diagram of E-DC Drive System
The host computer or programmable controller may or may not be neces-
sary, depending upon the controller’s capabilities.
The motor can be wired in series or parallel; the amount of current the
drive sends to the motor is set by DIP switches.
DIP SWITCHES
DIP switches are located inside the E-DC Drive. During the installation
procedure, you will set these DIP switches to configure the drive for motor
current, resolution, waveform, and other functions.
CAUTION
Remove power before changing DIP switches
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Chapter 1 –Introduction 7 E-DC Hardware Installation Guide
INPUTS AND OUTPUTS
All communications with the controller take place through the
E-DC Drive’s 25 pin D-connector. Available inputs and outputs are:
•Step Input
•Direction Input
•Remote Input
•Fault Output
•Gear Shift Input
ANTI-RESONANCE
All step motors are subject to resonance, and to ringing after quick tran-
sient moves. The E-DC Drive has an anti-resonance circuit. This is a
general purpose damping circuit that provides aggressive and effective
damping. Anti-resonance can be disabled with a DIP switch.
PROTECTIVE CIRCUITS
Several circuits in the E-DC Drive automatically provide protection for the
drive.
•Overtemperature Protection
•Short Circuit Protection
•Power Dump for Regeneration (requires a user-supplied external resistor)
MOUNTING
The drive is fully enclosed—it does not have air vents. It uses a heatplate
technique to provide a heat dissipation path. You must attach the E-DC’s
heatplate to a suitable heat-dissipating mounting surface.
E-DC DRIVE –COMPATIBLE MOTORS
Compumotor offers a wide range of motors that are compatible with the
E-DC Drive. See Chapter 2 – Installation for recommended motors.
INDUCTANCE RANGE
If you use a non-Compumotor motor, its inductance must be above
0.2 mH. For best performance, motor inductance should be between 1 mH
and 10 mH, but motors with inductance ratings as low as 0.2 mH or as
high as 80 mH may be used.
COMPUMOTOR FAMILY OF PRODUCTS
The E-DC Drive is compatible with Compumotor’s broad range of
microstepper controllers (single-axis and multi-axis) and motion control
products.
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8 E-DC Hardware Installation Guide Chapter 1 –Introduction
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Chapter 2 – Installation 9 E-DC Hardware Installation Guide
2
Installation
IN THIS CHAPTER
• Product Ship Kit
• Automatic Test
• Motor Selection and Wiring
• Drive Configuration – DIP Switches and I/O
• Mounting the Drive and Motor; Attaching the Load
• Connecting DC Power
• Testing the Installation
CHAPTER TWO
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10 E-DC Hardware Installation Guide Chapter 2 –Installation
WHATYOU SHOULD HAVE (SHIP KIT)
Inspect your shipment carefully. You should have received one or more of
the following:
Part Part Number
E-DC Drive E-DC
E-DC Drive Quick Reference Guide 88-020592-01
You may have ordered a motor from one of the following families of Com-
pumotor motors:
OS Motors
VS Motors
INSTALLATION OVERVIEW
Topics in this chapter are arranged to lead you through the installation
process in a step–by–step manner. Complete each step before proceeding
to the next.
The order of topics in the installation procedure is:
•Automatic Test
•Motor selection: specifications, speed/torque curves and dimensions
•DIP switch configuration
•Motor wiring
•Controller connections and 25 pin D-connector input/output schematic
•Drive mounting
•Motor mounting
•Connecting the load
•Connecting DC power
•Testing the installation
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Chapter 2 –Installation 11 E-DC Hardware Installation Guide
INSTALLATION PROCEDURE
The next drawing shows locations and names of the various connectors,
switches and LEDs that you will encounter during the installation proce-
dure.
11
11
23
23
9
21
21
17
17
16
16
15
15
2
14
14
1
RESET+
RESET+
RESET
RESET
–
FLT C
FLT C
FLT E
FLT E
SD
SD
–
SD +
SD +
DIR
DIR
–
DIR +
DIR +
STEP
STEP
–
STEP +
STEP +
REMOTE
REF
CURRENT
DUMP
VDC+
VDC-
A+
A-
B+
B-
PWR/FLT
!
SERIES
REMOTE
REF
CURRENT
DUMP
VDC+
VDC-
A+
A-
B+
B-
PWR/FLT
!
SERIES
DIP Switches
(inside drive)
I/O Connections
Status LEDs
Motor Power Output
DC Power Input
Remote Current Setting
Power Dump
Current Setting
Heatplate
Component Locations
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12 E-DC Hardware Installation Guide Chapter 2 –Installation
AUTOMATIC TEST
Follow this procedure to have your E-DC Drive perform its automatic test
function. Once you set DIP switches, connect the motor, and apply DC
power, the automatic test will begin—the motor shaft will turn in an
alternating mode until you remove power. This will verify that the drive,
motor, and motor cable work properly as a system.
This is a bench top procedure—you can perform it before you connect a
controller, mount the drive, or mount the motor. Full installation instruc-
tions follow this Automatic Test section.
CAUTION
The drive and motor should be mounted to a heatsink. Drive mounting does not affect the
following tests, but operating the E-DC Drive and motor for extended periods without proper
mounting can cause the drive to fault due to overheating. Possible motor damage may
occur. When you complete the automatic test, remove power to the drive.
Perform installation and test procedures in a properly grounded environ-
ment. Compumotor recommends the use of a grounding strap.
1. REMOVE THE COVER
Remove the cover by applying pressure to the 25 pin D-connector. The
DIP location is shown in the next drawing.
1
2
3
4
5
6
7
8
O
N
1
2
3
4
5
6
7
8
O
N
1
2
3
4
5
6
7
8
O
N
1
2
3
4
5
6
7
8
O
N
SW2 SW3
Switch 2
Switch 3
REMOTE
REF
CURRENT
DUMP
VDC+
VDC-
A+
A-
B+
B-
PWR/FLT
!
SERIES
DIP Switch Location
2. SET DIP SWITCH 3-#3 TO THE OFF POSITION
To test the system you will use the Automatic Test function. Setting DIP
switch SW3-#3 to the off position enables the function. When power is
applied to the drive, the Automatic Test will rotate the motor in an alter-
nating mode approximately 6 revolutions at 1 rps.
If you are testing an E-DC Drive with a controller, you will use the con-
troller to command the motor to turn; you will not use the Automatic Test.
Set DIP switch SW#-#3 to the on position to disable the Automatic Test .
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Chapter 2 –Installation 13 E-DC Hardware Installation Guide
3. SET CURRENT LOOP GAIN DIP SWITCHES, SW3-#4 –SW3-#6
If you use a Compumotor OS Series or VS Series motor, you can leave the
switches in their default position for the purposes of this Automatic Test
(SW3-#4 = on, SW3-#5 = on, SW3-#6 = off).
The current loop gain adjustment allows you to configure the drive to
maximize your system’s performance. If you use the default switch posi-
tion for this Automatic Test now, be sure that when you complete your
final installation later, you reset these switches for your particular motor.
For instructions see DIP Switch Functions following this Automatic Test
section.
If you use a non-Compumotor motor, see DIP Switch Functions following
this Automatic Test section for instructions on setting the current loop
gain DIP switches. After you properly set the switches, proceed to Step 4
below.
4. SLIDE THE DRIVE COVER BACK ON
5. CONNECT THE MOTOR
Connect your motor cable to the drive’s motor terminals (A+, A-, B+, B-).
Use a flathead screwdriver (1/10”). Full motor wiring instructions are
presented later in this chapter.
6. SET MOTOR CURRENT
To set motor current, connect a 1/4 watt resistor between REF and CUR-
RENT, as shown in the drawing below.
REMOTE
REF
CURRENT
DUMP
VDC+
VDC-
A+
A-
B+
B-
Motor Current Selection Resistor
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14 E-DC Hardware Installation Guide Chapter 2 –Installation
MOTOR CURRENT/RESISTOR SETTINGS FOR COMPUMOTOR MOTORS
The next table shows motor current settings for Compumotor OS and VS
motors. Choose a resistor from the table that matches the drive current to
the motor your are using. DIP switches that set the current range—SW3-
#7 and SW3-#8—should be in the off position for these resistor values (off
is the factory default position).
OS Series Motors
Size 23 Current Resistor
OS2HA S3.0A 7.68 KΩ
OS21A S4.8A 0 Ω
OS22A S4.8A 0 Ω
VS Series Motors
Size 17 Current Resistor
VS12B P3.0A 7.68 KΩ
VS13B P3.0A 7.68 KΩ
Size 23 Current Resistor
VS21B P4.8A 0 Ω
VS22B P4.0A 2.80 KΩ
VS23B P4.8A 0 Ω
Size 34 Current Resistor
VS31B P4.8A 0 Ω
VS32B P4.8A 0 Ω
S: Series Configuration P: Parallel Configuration
MOTOR CURRENT/RESISTOR SETTINGS FOR OTHER MOTORS
If you use a non-OS or non-VS motor, carefully follow the motor
manufacturer's instructions regarding motor wiring and the proper oper-
ating current. Compumotor recommends a motor inductance of between
1 mH and 10 mH, measured in series or parallel (0.2 mH –80 mH is
acceptable). The next table shows resistor values that you must use to
properly set motor current when using the E-DC with a non-OS or non-VS
Series motor. The drive can generate from 0.13 to 4.8 amps, determined
by the motor current range DIP switches (SW3-#7 and SW3-#8).
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Chapter 2 –Installation 15 E-DC Hardware Installation Guide
SW3–#7 Off / #8 Off SW3–#7 On / #8 Off
Current Resistance Current Resistance
(amps*) (ohms) (amps*) (ohms)
4.80 0 Ω1.58 0 Ω
4.68 205 Ω1.52 619 Ω
4.62 412 Ω1.46 1.27 kΩ
4.56 619 Ω1.39 2.05 kΩ
4.49 825 Ω1.33 2.80 kΩ
4.43 1.02 kΩ1.27 3.57 kΩ
4.37 1.27 kΩ1.20 4.53 kΩ
4.30 1.54 kΩ1.14 5.49 kΩ
4.24 1.78 kΩ1.08 6.49 kΩ
4.18 2.05 kΩ1.01 7.68 kΩ
4.11 2.26 kΩ0.95 8.87 kΩ
4.05 2.55 kΩ0.89 10.5 kΩ
3.99 2.80 kΩ0.82 12.1 kΩ
3.92 3.09 kΩ0.76 13.7 kΩ
3.86 3.32 kΩ0.70 15.8 kΩ
3.80 3.57 kΩ0.63 18.2 kΩ
3.73 3.92 kΩ0.57 20.5 kΩ
3.67 4.22 kΩ0.51 22.6 kΩ
3.61 4.53 kΩ
3.54 4.87 kΩ
3.48 5.11 kΩ
3.42 5.49 kΩ
3.35 5.76 kΩSW3–#7 Off / #8 On
3.29 6.19 kΩCurrent Resistance
3.23 6.49 kΩ(amps*) (ohms)
3.17 6.81 kΩ1.27 0 Ω
3.10 7.32 kΩ1.20 787 Ω
3.04 7.68 kΩ1.14 1.62 kΩ
2.98 8.06 kΩ1.08 2.49 kΩ
2.91 8.45 kΩ1.01 3.57 kΩ
2.85 8.87 kΩ0.95 4.64 kΩ
2.79 9.53 kΩ0.89 5.90 kΩ
2.72 10.0 kΩ0.82 7.32 kΩ
2.66 10.5 kΩ0.76 8.87 kΩ
2.60 11.0 kΩ0.70 10.7 kΩ
2.53 11.5 kΩ0.63 13.0 kΩ
2.47 12.1 kΩ0.57 15.4 kΩ
2.41 12.7 kΩ0.51 18.2 kΩ
2.34 13.3 kΩ0.44 21.5 kΩ
2.28 13.7 kΩ
2.22 14.3 kΩ
2.15 15.0 kΩ
2.09 15.8 kΩSW3–#7 On / #8 On
2.03 16.5 kΩCurrent Resistance
1.96 17.4 kΩ(amps*) (ohms)
1.90 18.2 kΩ0.50 0 Ω
1.84 19.1 kΩ0.38 2.21 kΩ
1.77 20.0 kΩ0.32 5.36 kΩ
1.71 20.5 kΩ0.25 10.0 kΩ
1.65 21.5 kΩ0.19 16.2 kΩ
1.58 22.6 kΩ0.13 27.4 kΩ
*NOTE: Current is specified in Ipk, or peak amperes per phase. Ipk is related to
the average current value, Irms, as follows: Ipk = √2(Irms)
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16 E-DC Hardware Installation Guide Chapter 2 –Installation
7. CONNECT ADC POWER SUPPLY
Connect a 24VDC –48VDC power supply to VDC+ and VDC-, as shown in
the next drawing.
VDC+
GND
POWER
SUPPLY
REMOTE
REF
CURRENT
DUMP
VDC+
VDC-
A+
A-
B+
B-
PWR/FLT
Power Supply Connections
CAUTION
Do not reverse VDC+ and VDC-. Reversing these connections can
seriously damage the drive.
If you are testing the E-DC Drive with a controller, skip Step 8 below, and
proceed to the next section.
The next drawing shows the complete E-DC test configuration with a
motor and a DC power supply.
VDC+
GND
DC POWER
SUPPLY
Motor
Alternating
Shaft Rotation
E-DC Drive
REMOTE
REF
CURRENT
DUMP
VDC+
VDC-
A+
A-
B+
B-
PWR/FLT
!
SERIES
Automatic Test Configuration
8. APPLY POWER
Apply power. The drive’s green POWER LED should be on. If the red FAULT
LED is on, consult Chapter 3, Troubleshooting. After verifying that the
motor moves clockwise and counterclockwise, turn off power.
•Disconnect cables and resistor.
•Remove cover
•Turn DIP SW3-#3 on to disable the automatic test.
•Replace cover.
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Chapter 2 –Installation 17 E-DC Hardware Installation Guide
TEST SETUP WITH CONTROLLER
If you are testing the E-DC with a controller, follow these steps to com-
mand the motor to turn (rather than using the drive’s automatic test
function to command the motor to turn, as described in the previous
section).
1.TURN DIP SW3-#3 ON
Complete steps 1 –7 from the Automatic Test section, but turn DIP SW3-
#3 on to disable the automatic test function.
2. CONNECT ACONTROLLER
To connect a Compumotor controller to the E-DC’s 25 pin D-connector,
use the cable provided with the controller. Plug the cable into the E-DC’s
25 pin D-connector. No additional wiring is necessary. Refer to the
controller’s user guide for specific instructions for operating the Compu-
motor controller.
To connect a non-Compumotor controller, connect step and direction
outputs from the controller to the E-DC’s 25 pin D-connector, according
to the next drawing.
REMOTE
REF
CURRENT
DUMP
VDC+
VDC-
A+
A-
B+
B-
PWR/FLT
!
SERIES
1
214
15
Step+ Input
Step- Input
Direction+ Input
Direction- Input
1
14
2
15
25 Pin
D-Connector
on E-DC
Inputs are +5VDC
maximum
Test Configuration –E-DC Step and Direction Inputs
3. APPLY POWER
Apply power. The drive’s green POWER LED should be on. If the red FAULT
LED is on, consult Chapter 3, Troubleshooting.
This test assumes that your controller’s motor resolution is set to
25,000 steps/rev. This is the default motor resolution setting for the
E-DC Drive.
4. COMMAND CLOCKWISE (CW) MOTION
Using the controller, 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).
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18 E-DC Hardware Installation Guide Chapter 2 –Installation
5. COMMAND COUNTERCLOCKWISE (CCW) MOTION
Using the controller, 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 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, remove drive power and reverse
the direction sense for your system by reversing the motor leads going to
the A+ and A- terminals.
The next drawing shows the test configuration with a controller, a motor
and a DC power supply.
REMOTE
REF
CURRENT
DUMP
VDC+
VDC-
A+
A-
B+
B-
PWR/FLT
!
SERIES
Controller
E-DC DriveDC Power Supply
Motor
VDC+
GND
Test Configuration with Controller
CAUTION
Never connect or disconnect any component to or from the drive with power applied.
System damage or personal injury may occur.
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Chapter 2 –Installation 19 E-DC Hardware Installation Guide
INSTALLATION
The procedures in the rest of this chapter will lead you through the steps
required to permanently install your E-DC Drive and motor.
1 –SELECT AMOTOR
Speed/Torque curves, specifications, and motor dimensions for Compu-
motor motors are shown below.
SPEED/TORQUE CURVES
0 1020304050
0
20
40
60
80
1
00
0
.14
.28
.42
.
56
.7
0
0 1020304050
0
50
100
150
2
00
0
.35
.70
1.05
1.40
0 1020304050
0
10
20
30
40
50
0
.07
.14
.21
.28
.35
OS
21A
/
E-D
C
Speed (RPS)
(Series Motor Wiring)
Torque (oz-in)
Torque (Nm)
OS
22A
/
E-D
C
Speed (RPS)
Torque (oz-in)
Torque (Nm)
OS
2HA
/
E-D
C
Speed (RPS)
Torque (oz-in)
Torque (Nm)
24V 48V
01
0
2
0
30
4
0
50
0
10
20
30
40
50
0
.07
.14
.21
.28
.35
0
1
0
2
0
30
4
0
50
0
10
20
30
40
50
60
0
.07
.14
.21
.28
.
35
.42
.4
9
.
56
0
.07
.14
.21
.28
.35
.42
.49
.56
01
0
2
0
30
4
0
50
0
10
20
30
40
50
60
70
80
0
1
0
2
0
30
4
0
50
0
20
40
60
80
140
0
.14
.28
.42
.
56
.7
0
.
84
.
98
0 1020304050
0
50
100
150
2
00
250
300
0
.35
.70
1.05
1.40
1.75
2.10
0 1020304050
0
50
100
150
200
250
300
350
0
.35
.70
1.05
1.40
1.75
2.10
2.45
0 1020304050
0
100
200
300
400
500
600
0
.70
1.40
2.10
2.80
3
.
50
4.2
0
V
S
12B
/
E-D
C
S
p
eed
(
RPM
)
Torque (oz-in)
Torque (Nm)
V
S
1
3
B
/
E-D
C
S
p
eed
(
RPM
)
Torque (oz-in)
Torque (Nm)
V
S
21B
/
E-D
C
S
p
eed
(
RPM
)
Torque (oz-in)
Torque (Nm)
V
S
22B
/
E-D
C
S
p
eed
(
RPM
)
Torque (oz-in)
Torque (Nm)
V
S
2
3
B
/
E-D
C
Speed (RPM)
Torque (oz-in)
Torque (Nm)
V
S3
1B
/
E-D
C
Speed (RPM)
Torque (oz-in)
Torque (Nm)
V
S3
2B
/
E-D
C
Speed (RPM)
Torque (oz-in)
Torque (Nm)
24V 48V (Parallel Motor Wiring)
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20 E-DC Hardware Installation Guide Chapter 2 –Installation
MOTOR SPECIFICATIONS
OS Motors Size 23 Frame
Parameters Units OS2HA OS21A OS22A
Static torque oz-in 49.1 114 186
(Nm) (0.35) (0.81) (1.31)
Rotor inertia oz-in20.39 0.66 1.39
(kg-cm2) (0.07) (0.12) (0.25)
Drive Current Series 3.0 (2.12) 4.8 (3.39) 4.8 (3.39)
(Apk)(Arms) Parallel NA NA NA
Phase Inductance Series 1.7 1.8 2.8
(mH) Parallel NA NA NA
DetentTorque oz-in 2.5 4.0 7.0
(N-m) (0.02) (0.03) (0.05)
Bearings
Information
Thrust Load lb 13 13 13
(kg) (5.9) (5.9) (5.9)
Radial Load lb 20 20 20
(kg) (9.1) (9.1) (9.1)
End Play in 0.001 0.001 0.001
(Reversing load (mm) (0.025) (0.025) (0.025)
equal to 1 lb)
Radial Play in 0.0008 0.0008 0.0008
(Per 0.5 lb load) (mm) (0.02) (0.02) (0.02)
Motor Weight lb 1 1.5 2.5
(kg) (0.5) (0.7) (1.1)
Certifications UL recognized Pending Pending Pending
CE (LVD) Yes Yes Yes
CE (EMC & LVD) No No No
VS Motors Size 17 Frame Size 23 Frame Size 34 Frame
Parameters Units VS12B VS13B VS21B VS22B VS23B VS31B VS32B
Static torque oz-in 58 81 115 156 330 442 664
(Nm) (0.41) (0.57) (0.81) (1.10) (2.33) (3.12) (4.69)
Rotor inertia oz-in20.3 0.37 0.66 1.64 2.62 7.65 14.8
(kg-cm2) (0.054) (0.068) (0.12) (0.3) (0.48) (1.4) (2.7)
Drive Current Series NA NA NA NA NA NA NA
(Apk)(Arms) Parallel 3.00 (2.12) 3.00 (2.12) 4.8 (3.39) 4.0 (2.83) 4.8 (3.39) 4.8 (3.39) 4.8 (3.39)
Phase Inductance Series NA NA NA NA NA NA NA
(mH) Parallel 3.2 2.8 1.25 3.0 3.85 3.95 6.25
DetentTorque oz-in 2.5 4.0 7.0 8.8 18.0 27.0 50
(N-m) (0.02) (0.03) (0.05) (0.06) (0.13) (0.19) (0.35)
Bearings
Information
Thrust Load lb 11.0 11.0 17.6 17.6 17.6 35.3 35.3
(kg) (5) (5) (8) (8) (8) (16) (16)
Radial Load lb 7.7 7.7 15.0 15.0 15.0 30.9 30.9
(kg) (3.5) (3.5) (6.8) (6.8) (6.8) (14) (14)
End Play in 0.003 0.003 0.003 0.003 0.003 0.0032 0.0032
(with 2.2 lbs axial (mm) (0.075) (0.075) (0.075) (0.075) (0.075) (0.080) (0.080)
load)
Radial Play (with in 0.001 0.001 0.001 0.001 0.001 0.0008 0.0008
1.1 lb radial load) (mm) (0.025) (0.025) (0.025) (0.025) (0.025) (0.020) (0.020)
Motor Weight lb 0.55 0.77 1.03 1.54 2.2 3.86 6.18
(kg) (0.25) (0.35) (0.47) (0.7) (1.0) (1.75) (2.8)
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