Automation DYNASERV. Dynaserv Series

Transcription

1 Dynaserv Series Direct Drive rushless Servo Systems Each Dynaserv system consists of a brushless servo motor, microprocessor-based drive, power supply, and a brushless resolver or encoder for position feedback. The primary benefit of the Dynaserv System is high accuracy and torque without speed reducers. dditional advantages include: Faster settling time than a traditional servo motor and speed reducer system Smooth rotation at slow speeds flat speed/torque curve for high controllability bility to operate in a position, speed or torque control mode uilt-in test mode simplifies optimum tuning The Dynaserv Family DR Series Lowest Cost! rushless resolver feedback 13 models; 6, 8 or 1 inch diameter Resolutions to 819,2 steps/rev s to 295 ft-lb (4 Nm) Repeatability of ±5 arc seconds DR5 Series Highest Power! rushless resolver feedback 4 models, 6- or 1-inch diameter Resolutions to 425,984 steps/rev s to 37 lb-ft (5 Nm) Speeds to 4 rps DM Series est ccuracy and Repeatability! Incremental encoder feedback 7 models; 6 or 1 inch diameter Resolutions to 1,24, steps/rev s to 15 ft-lb (2 Nm) Repeatability of ±2 arc seconds Clean room operation (LVD and EMC*) DM14 Series Most Compact Motors and Drives! Incremental encoder feedback 2 models; 4 or 6 inch diameter Resolution of 655,36 steps/rev of 3 lb-ft (4 Nm) Maximum speed of 2.5 rps Clean room operation xial and radial run-out of.1 mm, a factor of 1 better than the standard DR and DM Series M-Type Drive/Controller in a Single Package utotuning Controls most DR and DM motors Position feed forward (faster settling) PLC mode Non-volatile RM Configuration replication (flash memory) * EMC with proper filter and intallation procedures. Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 77 Parker Hannifin Corporation

2 Introduction The Dynaserv System llows the User to Operate in One of Three Modes of Control: Position control up to 1,24, steps/rev Speed control ±1V Velocity command input control stable response at ±8V input This type of flexibility combined with a high torque/weight ratio, high accuracy, faster settling times, high torque at high speed, smooth rotation, optimum tuning and clean operation all add up to cost effective high performance alternative to the traditional motor and speed reducer combinations. High /Weight Ratio The Dynaserv motors are designed with a permanent magnet constructed of rare-earth materials located at the center of the stator core. Max. x Rated Speed Power (W) (Power)/Weight Comparison Weight (lbs) DC/C Servo ctuator (with Speed Reducer) Power/Weight Comparison High Precision Dynaserv motors eliminate the backlash or hysteresis inevitable in using any speed reducer. bsolute positioning of 3 arc-sec is typical with a repeatability of ±2 arc-sec. Faster Settling Time The Dynaserv system reduces machine cycle times by decreasing settling times. This result is realized because of the "gearless" design and sophisticated "I-PD" control algorithm. High at High Speed The torque/speed curve of the various Dynaserv models is very flat. This results in high acceleration at high speeds (4. rps) with good controllability. Smooth Rotation The very low velocity and torque ripple of the Dynaserv contribute to its excellent speed controllability. Ripple (%) Speed Ripple (DM115) Conditions Load 3 x Rotor Inertia Rotation: CW Speed Mode Revolution (rps) Dynaserv Velocity/ Ripple Optimum Tuning Dynaserv systems offer the user a tuning mode that simplifies the setting of optimum parameters for the actual load. Turning on the "test" switch on the front panel of the drive produces a test signal. Utilizing an oscilloscope the gain settings are quickly optimized by adjusting the digital switches and potentiometers on the front panel. Clean Opearation The Dynaserv system is brushless and gearless which results in a maintenance-free operation. With preparation, the DM Series can operate in Class 1 environments. Measured by: Made by: Source: Min. Resolution: Sampling: (N m) 5 Ripple (DM115) Rotational ngle (deg.) LPC-11 Particle Counter PMS Corp. He-Ne Lazor Light.1 micro meter (Particle Diameter).1 Cubic feet/min. 5% Distance Distance VERTICL 5 XES ROOT (µm) Using Traditional Motors/Reducers Time (sec.) Settling Time Travel Time (µm) SCR 4 XES ROOT 1 Using 5 Time (sec.) Settling Time -1 Travel Time Settling Time comparison in Robot pplication COUNT (Count/ft min) Diameter (µm) Dust from Dynaserv (DM145) 78 Parker Hannifin Corporation

3 Introduction The Dynaserv has provided solutions to a variety of applications such as: ssembly ase machine Pick and place Inserter/mounter Robots Handling Clean room Universal Transport Turn table elt conveyor Three-dimensional warehouse Inspection and Measuring Three dimensional measuring Goniometer Non-destructive x-ray Work Machining center work table Press roll feed Grinder table Commercial Printing machines Medical equipment Follow-up equipment Material Handling y attaching a small arm or linkage to the Dynaserv, very high velocities can be attained. This type of design has been used on a wide variety of equipment, such as a chip mounting machine. On this machine accuracies of 3 arc-sec are maintained with very high arm speed. Dynaserv motor for arm Dynaserv motor for X axis Indexing/Rotary Positioning The Dynaserv has high accelerations lending itself to high speed point-to-point positioning applications requiring low cycle time. In scanning and inspection applications the outstanding low speed performance will be of merit. Rotary table for assembly Tool turret Robotics Dynaserv direct drive motors were first developed to drive SCR (Selective Compliance ssembly Robot rm) in applications requiring repetitive and physically taxing operations. Printed circuit board Feeder Feed-to-Length The Dynaserv system eliminates the need for gear reduction and allows for direct control of the nip roll in most feed-tolength applications. The ability to effectively control loads up to 1 times its own rotor inertia allows the Dynaserv to be applied in a variety of machines. The net result of specifying a Dynaserv system is increased repeatability of the feed material. SCR robot for assembly Peripherals for robot Roll Feeder Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 79 Parker Hannifin Corporation

4 Introduction Motor Construction and Operation The torque is proportional to the square of the sum of the bias magnetic flux Øm, due to the permanent magnet and the excitation magnetic flux of windings. T oc (φm + φc) 2 High torque is generated due to the following factors. First, the motor diameter is large. The tangential forces between rotor and stator act at a large radius, resulting in higher torque. Secondly, a large number of small rotor and stator teeth create many magnetic cycles per motor revolution. More working cycles means increased torque. Direct drive systems couple the load of the system directly to the motor without the use of belts or gears. Most servo motors, brushed or brushlesss, often lack adequate torque or resolution to satisfy application needs. Therefore, mechanical means, such as gear reduction systems are implemented to meet system requirements. The Dynaserv can provide very high torque in a modest package size and solve many of the performance issues of the gear reducer. ll this in a system that is as easy to use as a stepping motor. The figure below shows the construction of the Dynaserv DM Series direct drive motor compared to a conventional motor with a gear reducer. s shown in the figure, the gear reducer relies on frictional contact to reduce the speed of the load. This gearing effectively increases torque and resolution but sacrifices speed and accuracy. The direct drive motor is brushless and gearless so it eliminates friction from its power transmission. Since the feedback element is coupled directly to the load, system accuracy and repeatability are greatly increased and backlash is eliminated. Conventional Motor/Gear Reducer vs. Dynaserv Gear reducer DM Series Encoder DC/C motor Encoder PC Slit plate Stator element Rotor core earing Rotating element Stator core Gear Reducer System Limitations acklash limits positional accuracy Gearing causes a trade-off between speed and resolution Inefficiently transfers torque Magnetic Circuit Hub Rotor Stator Φ m Excitation coil Permanent magnet Stator Exploded View of the Dynaserv Motor Model DM Rotor core Stator core Retaining ring Core Housing kit Φ c Clamp ring T Φ m Encoder plate LED kit Housing PD kit Encoder Friction introduces inaccuracies and non-linearities Gearing reduces stiffness at the load The motor contains precision bearings, magnetic components and integral feedback in a compact motor package. The motor is an outer rotor type, providing direct motion of the outside housing of the motor and thus the load. The cross roller bearings which support the rotor have high stiffness, to allow the motor to be connected directly to the load. In most cases is is not necessary to use additional bearings or connecting shafts. 8 Parker Hannifin Corporation

5 Introduction Selecting your Dynaserv The normal principals of servo motor sizing apply to the Dynaserv, but there are a few special considerations to keep in mind. Peak /Continuous The speed torque curves in this section represent the peak available torque. Continuous torques are approximately 2/3 of the peak value. lb-ft DR14 DR- Series 115 volts (N-m) (4) (35) (3) DR12 DR13 (25) (2) 111 (15) 74 DR11 (1) 37 (5) Speed-RPS Inertia Matching When selecting the right Dynaserv for your application, the inertia match between the motor and load is a critical factor. The specifications listed in this section are for a 3:1 load to rotor inertia ratio. The following table lists the recommended ratios for specific application types. ctual results will depend highly on the usage, so these values are just for reference purposes. It is always a good idea to add 3-5% safety margin in sizing calculations. pplication Types and Ratios Max K Ratio pplication Type (J load /J motor ) High throughput applications 5-1 (printing machines, chip mounting) General high speed applications 2-3 (SCR robot, transfer arms) High speed but balanced load 5-1 applications (Rotary Index, Rotary Tables) High accuracy, slow speed 1-2 applications (Measuring Equipment) Model Types When selecting the model type, the decision comes down to a trade-off of resolution, accuracy, speed, and cost. Please use this table to match your specific application requirements to the correct direct drive motor. Keep in mind that these ratings are speculative and based only on the features of these three models. i.e. The lowest accuracy Dynaserv is still very accurate by normal motor standards. Model Types DM DR DR5 Series Series Series Power Lowest Medium Highest ccuracy Highest Medium Lowest Motor Weight Lowest Medium Highest Resolution Highest Medium Lowest Cost Medium Lowest Highest Speed Lowest Medium Highest Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 81 Parker Hannifin Corporation

6 Introduction pplication Considerations for using the Dynaserv Direct Drive rushless Servo Systems Sizing and Selection Considerations ll Speed vs. curves shown in Compumotor s Catalog and Dynaserv User Guide show peak torque. Use two-thirds of peak torque to calculate the available continuous torque. If you require more than two-thirds of peak torque for short periods of time (low duty cycle applications), calculate RMS (room mean square) torque. make sure RMS torque is less than 2/3 of peak torque. Friction torque should not exceed 3% of a motor s peak torque. Dynaservs operate most efficiently with a balanced load. Overhung loads cannot exceed 148 ft-lbs for the DR- and DM- series motors. Overhung loads cannot eceed 295 ft-lbs for DR-E, DR- and DM- series motors. These values should be derated by 33% for constant loads and 8 9% for intermittent loads (fatigue) to incoroprate a safety margin. lways calculate the load-to-rotor inertia ratio before selecting a motor. The acceptable ratio is applicationand motor-dependent. pplications requiring low cycle times and high accelerations need a lower ratio than slowspeed, continuous velocity applications. Refer to the acceptable inertia values for different application types on the previous page. Cabling Considerations The Dynaserv is not shipped with a power cable. This cable must be provided by the end user. The Dynaserv is shipped with a 5-pin Honda connector. Use this connector to construct a cable between the Indexer, Servo controller, or other input/output devices. Prefabricated cables for Compumotor indexers and servo controllers are available. The motor and feedback cables cannot exceed 3 meters in length. Mounting and Environmental Considerations Do not drill holes into the Dynaserv motor. The Dynaserv is an outer rotor motor. The rotating load must be mounted to the upper mounting surface (the rotor). The lower stator surface must be mounted to the rigid and stationary machine base. Install the motor in an appropriate location as the motor is not dust proof, watertight, or oil proof. xial Compression and Tension Load Limits Compression Tension DR- Series 6744 lbs 2248 lbs DR-E, DR lbs 4496 lbs DM- 66 lbs 22 lbs DM- 88 lbs 44 lbs These limits should be derated to incorporate a safety margin. If the load is intermittent and repetitive, derate these values by 8 9%. If the motor is used with oscillating rotation movements with a small angle (5º or less), then perform a running-in operation with back-and-forth movements about 1 times, each move exceeding an angle of at least 9º. The running-in operation must be carried out every 1, times of back-and-forth oscillation movements in order to ensure proper lubrication of the bearings. 82 Parker Hannifin Corporation

7 Introduction LED Diagnostics seven-segment LED is mounted on the front panel of both the DR and DM Series drives to display the normal/abnormal status of the motor and drive. The following is a summary of the display codes. Normal status Servo Off Normal status Servo On Overspeed warning Servo Off Overspeed warning Servo On RM Error (Drive in need of repair) Encoder Error not receiving pulses Check cabling, encoder malfunction Control power supply error Connect problem (may need repair) Counter overflow warning position error is greater than 32,768 steps Servo Compensation ROM Error (Drive in need of repair) Characteristic Frequency Integral Limitter Test On Switch Off DC Gain C Gain Characteristic Frequency (6-2Hz) DC Gain efore djusting Integral Limitter Main power supply failure burnt fuse Check cabling, power and fuse CPU Stop (Drive in need of repair) Monitor Terminal Speed Position Ground Optimized Wave Form Watchdog timer error illegal interrupt, computation overflow Synchro-scope Power amp error overvoltage, motor short phase-to-phase or phase-to-ground Overload condition verage current exceeded. Servo systems require adjustment to optimize the motor performance in the specific system environment. Tuning the Dynaserv while in the position control mode, requires the adjustment of just three parameters. The position control system is adjusted while in the Test Mode with the actual load attached to the motor. Turning on the test switch at the front panel causes the drive to generate a 2.5 Hz square wave position signal. The actual motor position can be monitored by connecting a scope to the position monitor output on the front panel. s in the figure, the tuning parameters are adjusted until the waveform is optimized. fter the tuning is complete, turn off the test switch and the system is ready for operation. If a scope is not available there is a procedure for tuning without a scope in the system user guide. Characteristic Frequency (fc) The value of this switch represents system bandwidth. This gain will effect rise time and system responsiveness. Too large a value will cause excessive overshoot and ringing, while too small a value will result in a sluggish, unresponsive system. Integral Limiter (ILIM) The value of this switch represents the limit of the digital integrator during servo compensation. The larger the switch setting, the larger the limited value. With a smaller limited value the settling time will be decreased, but if the setting is too low, the motor output torque is limited. DC Gain (DC) This variable resistor sets the DC Gain adjustment from.5 to 11. The DC Gain should be set as high as possible without causing the system to go unstable. The DC Gain will help dampen out ringing and over-shoot. Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 83 Parker Hannifin Corporation

8 DR Series Direct Drive rushless Servo Systems The Dynaserv DR Series provides the user with a high performance direct drive servo system with resolver feedback. Each of the thirteen models includes a direct drive motor, integral resolver, microprocessor based drive and a 1 foot motor-todrive cable. The DR Series motor is brushless and without gears allowing for long, maintenance-free operation. The cross roller bearing design can support up to 4 tons of compression load and 295 ft-lbs of overhung load. The center hole in the motor is up to 6 inches in diameter and can be used to simplify system wiring. The user can elect to operate the DR Series in either a position, velocity or torque mode. In the position mode, the drive accepts step and direction input from any Compumotor indexer or user-supplied pulse source. Operating in the velocity mode requires a ±1VDC input and torque mode requires a ±8VDC input. High performance closed loop operation is obtained with a sophisticated I-PD digital and analog control algorithm. The analog velocity loop provides high bandwidth for excellent system response. The digital position loop simplifies position control and optimizes system accuracy. built-in test mode and position/velocity monitors allow for convenient and efficient tuning. The DR Drive is fully protected against open and short circuits, overcurrent, overvoltage and overtemperature. seven segment LED indicator provide the user with the status and diagnostic information from the front panel. Features rushless direct drive motor with 1 foot cable 13 models available in 6 or 1 inch diameters Resolver feedback s to 295 ft-lbs (4 Nm) Resolutions to 819,2 steps/rev Supports 4 tons of compression load Microprocessor control of I-PD control algorithm (LVD and EMC*) nalog velocity loop/digital position loop uilt-in test mode for easy tuning Diagnostic LED display Step and direction input/position control ±1V input/torque or velocity control Gain settings can be changed on the fly Configurable position accuracy to reduce system settling time Complete system, ready for operation ccessories Compumotor Controllers The Dynaserv is compatible with all Compumotor controllers. ases Mounting bases to simplify mounting to a flat surface (DR- Series only). Dynamic raking Capacitor type or Speed-switching type for each motor size. Precision Machining xial and radial run-out of.1,.2 or.5 mm is available on most Dynaserv models. Standard axial and radial runout for all motors is.1 mm. Mechanical raking Most motors can be ordered with mechanical brakes for power down, or emergency use. Not available with DR- 18 and DR-E series. Line Filters for CE installations Interface cables for use with Compumotor's 6K and 6 Series controllers * EMC with proper filter and intallation procedures. 84 Parker Hannifin Corporation

9 DR Series Specifications Parameter Value Performance Repeatability ±5 arc-sec (.139 ) ccuracy ±3 arc-sec (.83 ) DR Series ±45 arc-sec (.125 ) DR, DRE Series Max stepping rate 1,6, steps/sec Power Volts 115VC 1-phase, or 23VC 1-phase, 5/6 #2 Range +1% to -15% Current 2 amps max Inputs Command interface Step input Direction nalog input Low going low pulse, 15 nanoseconds minimum pulse width Logic high = CW rotation Logic low = CCW rotation ±1V command signal Outputs Encoder output / encoder output 75 khz max Environmental Driver Motor Weight 13.2 lb (6 kg) See Table elow Operating 32 to 122 F ( t o 5 C) 32 to 113 F max ( to 45 C) Storage -4 to 185 F (-2 to 85 C) -4 to 185 F (-2 to 85 C) Humidity 2 to 9% noncondensing 2 to 85% noncondensing No corrosive gases. Dust free atmosphere. The Dynaserv is not waterproof, oil proof or dust proof. DR Series Motor Data Model Model Model Model Model Model Model Model Model E 11E 113E 116E Peak torque ft-lbs (Nm) (8) (15) (3) (45) (6) (7) (1) (13) (16) Rated speed rps 2./2. 2./2. 1.5/2. 1./2. 1./ /2. 1./1.5.5/1..5/1. 115/23VC Maximum power consumption 115/23VC KV.4/.8.6/1.2 1./2. 1./2. 1./2. 1.2/ / / /3.2 Rotor inertia oz-in 2 x (Kgm 2 x 1-3 ) (15) (21) (24) (26) (33) (85) (1) (125) (14) Max resolution 57,94 57,94 57,94 57,94 57,94 614,4 614,4 614,4 614,4 Motor weight* lbs (kg) (6) (9) (11) (13) (16) (22) (26) (32) (36) Maximum static axial load** Compression lbs 6,744 6,744 6,744 6,744 6,744 8,992 8,992 8,992 8,992 Tension lbs 2,248 2,248 2,248 2,248 2,248 4,496 4,496 4,496 4,496 Maximum static overhung load** ft-lb DR Series Motor Data Model Model Model Model Peak torque ft-lbs (Nm) (1) (2) (3) (4) Rated speed, 115/23VC rps 1./1..5/1..25/.5.25/.5 Maximum power consumption, 115/23VC KV 1.4/ / / /3.7 Rotor inertia oz-in 2 x (Kgm 2 x 1-3 ) (2) (285) (34) (4) Maximum resolution 819,2 819,2 819,2 819,2 Motor weight* lbs (kg) (31) 46) (57) (68) Maximum static axial load** Compression lbs 8,992 8,992 8,992 8,992 Tension lbs 4,496 4,496 4,496 4,496 Maximumum Static Overhung Load*** ft-lb De-rate pplication Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 * Drive weight is 13.2 lbs (6 kgs) ** When designing a system, derate the maximum load to the values shown at the right: Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 85 Parker Hannifin Corporation

10 DR Series Speed/ Curves The torque/speed curves represent peak torque available, continuous torques are approximately 2/3 of the peak value. lb-ft (N-m) 296 (4) DR14 DR- Series 115V lb-ft (N-m) 296 (4) DR14 DR- Series 23V 259 (35) 259 (35) 222 (3) DR (25) 222 (3) 185 (25) DR (2) DR (2) DR (15) 111 (15) DR11 74 (1) 74 (1) DR11 37 (5) 37 (5) Speed-RPS Speed-RPS lb-ft (N-m) 45. (6) DR16 DR- Series 115V lb-ft (N-m) 45. (6) DR16 DR- Series 23V 37.5 (5) DR (5) DR (4) 3. (4) 22.5 (3) DR DR13 (3) 15. (2) DR (1) DR Speed-RPS (2) DR115 (1) DR Speed-RPS lb-ft (N-m) 222 (3) DR-E Series 115V lb-ft (N-m) 222 (3) DR-E Series 23V 185 (25) 185 (25) 148 (2) 148 (2) DR116E 111 (15) DR113E 111 (15) DR116E DR113E 74 (1) DR11E 74 (1) DR11E 37 (5) DR17E Speed-RPS 37 (5) DR17E Speed-RPS 86 Parker Hannifin Corporation

11 DR Series DR Series Dimensional Drawings DR- Series 6-M8 depth (12) (eq. divided along the circumference) /-.12 (252 +/-.3) Rotor (5 +.2) /- (11 +2./-) Stator Motor cable* 6-M8 depth (12) (eq. divided along the circumference) (23 +.2) /-.4 (15 +/-1.) /-.2 ( /-.5) (17 +.2) DR-E Series /-.2 ( /-.6) 12 (348) /-.1 (264 +/-.3) Resolver cable* Model DR ±.4 (185 ± 1) DR ±.4 (25 ± 1) DR ±.4 (34 ± 1) DR ±.4 (358 ± 1) 6-M8 depth (12) Rotor (eq. divided along the circumference) /-.8 ( ) (5 + (16 +2./-).2) Stator Motor cable 6-M8 depth (12) (eq. divided along the circumference) /-.12 (19 +/-.3) (14 +.2) /-.2 ( /-.6) /-.4 (8 +/-1.) /-.2 (12 -.2/-.5) 8.7 +/-.12 (25 +/-.3) 12 (348) Resolver Model DR17E 7.2 ±.4 (183 ± 1) DR11E 8.27 ±.4 (21 ± 1) DR113E 9.57 ±.4 (243 ± 1) DR116E 1.67 ±.4 (271 ± 1) DR- Series 6-M6 depth (9) for all but DR18 6-M5 depth (5) for DR18 (eq. divided along the circumference) For all but DR18: (4 +.2) Rotor DR18 only:.12 ±.8 (3 ±.2) /- (6 +2./-) for all but DR18.13 ±.2 (3.4 ±.5) for DR18 Stator Motor cable 6-M6 depth (12) (eq. divided along the circumference) (72 +.2) /-.12 (145 +/-.3) 2.2 +/-.4 (56 +/-1.) /-.2 (12 -.2/-.6) /-.2 (86 -.2/-.5) /-.12 (15 +/-.3) (13 +.2) 12 (348) Resolver cable Model DR ±.4 (85 ± 1) DR ±.4 (123 ± 1) DR ±.4 (151 ± 1) DR ±.4 (179 ± 1) DR ±.4 (27 ± 1) Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 87 Parker Hannifin Corporation

12 DR Series DR Series Pinout Lists Pin No. Indexer 5-pin Honda Signal Pin No. Motor Screw Terminal Signal 1 8 Servo stiffness input (FC-FC8) 9 12 Position end pulse width input (POSW1, POSW) 13 + output 14 output 15 Servo ready + output 16 Servo ready output 17 Velocity monitor + output 18 Velocity monitor output 19 Direction input 2 Direction + input 21 Integral capacitor reset + input 22 Integral capacitor reset input 23 Servo on input 24 Servo on + input Integral/proportional action input 27 In position + output 28 In position output 29 + output 3 output 31 TLIM/TFF (option) 32 GND Gain selection inputs low, medium, high 39 CPU reset + input 4 CPU reset input 41 Counter overflow + output 42 Counter overflow output 43 Z+ output 44 Z output 45 Step + input 46 Step input 47 Overload + output 48 Overload output 49 nalog input (±1V) 5 nalog input GND 1 Motor 2 Motor 3 Motor C 4 GND Power Screw Terminal Pin No. Signal or 23VC line-control or 23VC neutral-control or 23VC line-main or 23VC neutral-main or 23VC GND Resolver Honda Connector Pin No. Signal 1 +S (rown/white) 1 +S18 (Green/White) 2 -S (rown) 3 -S18 (Green) 4 Shield 5 FG (lack) 6 +C (Orange/White) 6 +C18 (lue/white) 7 -C (Orange) 8 -C18 (lue) DR Series Drive Dimensions.28 (7 ±.5) 4.33 (11 ±1) 3.54 (9 ±.5) (297 ±1) Compumotor POSW (25 ±1) 9.41 (239 ±.5) LINE (CONT)~ 115 VC LINE (MN)~ 115 VC GND MOTOR V V V C GND CN1 fc LIM ON TEST OFF C GIN DC GIN VEL POSN GND TORQ 8.46 (215 ±1) T1 CN (18 ±1) 88 Parker Hannifin Corporation

13 DR5 Series Direct Drive rushless Servo Systems The Dynaserv DR5 Series is a high power direct drive system that is based on the design of the DR Series. The DR5 Series is capable of approximately 2-3 times the speed of the DR series while delivering comparable torque. Each DR5 System comes complete with motor, integral resolver, and a microprocessor based drive. The DR5 Series can be operated in either position, velocity, or torque mode. In position mode the DR5 accepts Step and Direction Input, making it compatible with all Compumotor Controllers. For operation with a servo controller the drive accepts a ±1V signal representing velocity, or ±8V for torque. pseudo-encoder output is available from the drive, eliminating the need for additional feedback devices. The DR5 series motor is brushless and gearless, allowing for a long, maintenance free life. The cross roller bearing design can support up to 4 tons of compression load and 296 ft-lb of overhung load. The hole in motor center is up to 6" in diameter, simplifying system cabling. The DR5 incorporates an I-PD algorithm that delivers high performance closed loop control. The velocity loop is analog for a very high bandwidth. The digital position loop simplifies position control and maximizes system accuracy. built-in test mode is available for convenient and efficient tuning. The DR5 drive is fully protected against open and short circuits, overcurrent, overvoltage, and overtemperature. single character front panel display puts status and diagnostic information at your fingertips. Features rushless direct drive motor Up to 3 kw output 4 models available in 6- or 1-inch diameter Resolver feedback s to 37 lb-ft (5Nm) Resolutions to 425,984 steps/rev Supports 4 tons compression load (LVD and EMC*) Microprocessor control of I-PD lgorithm nalog velocity loop/digital position loop uilt-in test mode for easy tuning Diagnostic display Step and direction input for position control ±1V input for velocity control ±8V input for torque control Gain settings can be changed on the fly ccessories Compumotor Controllers The Dynaserv is compatible with all Compumotor controllers. ases Mounting bases to simplify mounting to a flat surface (DR- Series only). Dynamic raking Capacitor type or Speed-switching type for each motor size. Precision Machining xial and radial run-out of.2 mm is available on the DR5 Series. Standard axial and radial run-out for all motors is.1 mm. Mechanical raking Most motors can be ordered with mechanical brakes for power down, or emergency use. DR5 Series only: line filters for CE installations. Line filters for CE installations (DR5 only). Interface cables for use with Compumotor's 6K and 6 Series controllers. * EMC with proper filter and intallation procedures. DR5 only. Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 89 Parker Hannifin Corporation

14 DR5 Series Specifications Parameter Value Performance DR5 DR5 Repeatability ±5 arc-sec ±1 arc-sec ccuracy ±45 arc-sec ±9 arc-sec Max stepping rate 1,6, steps/sec 1,4, steps/sec Power Volts 2VC, 3 Phase, 23VC, 1 Phase, 5/6 Hz 5/6 Hz Range +1% to -15% +1% to -15% Current 2 mps 2 mps Inputs Command interface Step and direction Position control (all models) ±1VDC velocity control; ±8VDC torque control Step input low going pulse, 15 nanosecond minimum pulse width Direction Logic high = CW rotation Logic low = CCW rotation nalog input ±1VDC max Other inputs 5 to 24 volts pullup (gain selection, servo on, etc.) Outputs Encoder output, Quadrature signal (4KHz max) (all models) Z Channel : to 14 pulses/rev : to 68 pulses/rev Other outputs TTL (in position, alarm, etc.) Environmental Driver Motor Weight DR5 24 lbs (11 kg) See Table below DR lbs (6 kg) See Table below Operating Temperature -5 C 45 C Humidity 2-9% Non-condensing 2 85% Non-condensing Storage Temperature C C Humidity 2-9% Non-condensing 2 85% Non-condensing Environment No corrosive gases. Dust-free atmosphere. The Dynaserv is not waterproof, oil proof or dust proof. DR5 Series Motor Data Model Model Model Model Peak torque ft-lbs (Nm) (3) (7) (3) (5) Rated speed rps Rotor inertia oz-in 2 x (kgm 2 )x1-3 (8) (36) (34) (46) Resolution Steps/rev 278, , , Motor weight lbs (kg) (7) (17.5) (55) (75) Maximum static axial load** Compression lbs Tension lbs Maximum static ft-lb overhung load** Maximum power KV consumption De-rate pplication Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 * Drive weight is 13.2 lbs (6 kgs) ** When designing a system, de-rate the maximum load to the value as shown at the left: 9 Parker Hannifin Corporation

15 DR5 Series Speed/ Curves and Dimensional Drawings The torque/speed curves represent peak torque available, continuous torques are approximately two-thirds of the peak value. lb-ft DR5 Series-2 VC (N-m) (8) (7) lb-ft DR57 DR5 Series-23 VC (N-m) (8) (7) DR55 (6) (5) (6) (5) DR53 (4) (3) DR53 (4) (3) 148 (2) 14 (2) 74 (1) 7 (1) Speed (rps) Speed (rps) 5. DR-5 Series 6-M8 depth (12) (eq. divided along the circumference) /-.12 (252 +/-.3) Rotor (5 +.2) /- (11 +2./-) Stator Motor cable* 6-M8 depth (12) (eq. divided along the circumference) (23 +.2) /-.4 (15 +/-1.) /-.2 ( /-.5) (17 +.2) /-.1 (264 +/-.3) /-.2 ( /-.6) (3) Resolver cable* Model DR ±.4 (39 ± 1) DR ±.4 (417 ± 1) DR-5 Series Note: Motor and resolver cables for DR5- Series are in (3 mm) in length. 6-M6 depth (9).16.8 (4 ± ±.2) Rotor /- (6 +2./-) Stator Motor cable 6-M6 depth (12) (eq. divided along the circumference) (72 +.2) /-.12 (145 +/-.3) 2.2 +/-.4 (56 +/-1.) /-.2 (12 -.2/-.6) /-.2 (86 -.2/-.5) /-.12 (15 +/-.3) Model ( ) (348) Resolver cable DR ±.4 (184 ± 1) DR ±.4 (24 ± 1) Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 91 Parker Hannifin Corporation

16 DR5 Series DR5 Series Pin-Out Lists CN-1 Controller Connections 5-Pin Honda Pin No. Signal 1 8 Servo stifness input (FC-FC8) 9 12 Position end pulse width input (POSW1, POSW) 13 + output 14 output 15 Servo ready + output 16 Servo ready output 17 Velocity monitor + output 18 Velocity monitor output 19 Direction input 2 Direction + input 21 Integral capacitor reset + input 22 Integral capacitor reset input 23 Servo on input 24 Servo on + input Integral/proportional action input 27 In position + output 28 In position output 29 + output 3 output 31 No connection 32 No connection Gain selection inputs low, medium, high 39 CPU reset + input 4 CPU reset input 41 Counter overflow + output 42 Counter overflow output 43 Z+ output 44 Z output 45 Step + input 46 Step input 47 Overload + output 48 Overload output 49 nalog input (±1V) 5 nalog input GND Power Screw Terminal DR5 (2VC 3φ) Pin No. Signal Pin No. Signal 1 Phase 1 (main) 1 Line (control) 2 Phase 2 (main) 2 Neutral (control) 3 Phase 3 (main) 3 Line (main) 4 Line (control) 4 Neutral (main) 5 Neutral (control) 5 GND 6 GND 6 Motor 7 Motor 7 Motor 8 Motor 8 Motor C 9 Motor C 9 GND 1 GND Pin No. Resolver Honda Connector Power Screw Terminal DR5 (23VC 1φ) Signal 1 +S (rown/white) 1 +S18 (Green/White) 2 -S (rown) 3 -S18 (Green) 4 Shield 5 FG (lack) 6 +C (Orange/White) 6 +C18 (lue/white) 7 -C (Orange) 8 -C18 (lue) DR (85) 9.5 (23) 3.35 (85) (32) DR5.28 (7 ±.5) 4.33 (11 ±1) 3.54 (9 ±.5) (297 ±1) Compumotor 8 POSW 9.41 ±.2 (239 ±.7) 9.84 ±.4 (25 ± 1.2).27 (7) 8.66 (22).8 (2) 846 (215) 9.84 (25 ±1) 9.41 (239 ±.5) CN1 LINE (CONT)~ 115 VC fc LINE LIM (MN)~ 115 VC ON TEST GND OFF MOTOR C GIN V DC GIN V VEL POSN V C GND TORQ GND T1 CN (215 ±1) 4.25 (18 ±1) Please refer to the ordering information matrix on page Parker Hannifin Corporation

17 DM Series Direct Drive rushless Servo Systems The Dynaserv DM Series is a high performance direct drive servo system with optical encoder feedback. Each DM Model consists of a brushless direct drive motor, integral encoder, microprocessor-based drive and a 1-foot motor-to-drive cable. The DM Series can be operated in either a position, velocity or torque mode. In the position mode the drive accepts step and direction input. Operating in the velocity requires ±1VDC or torque mode requires a ±8VDC input. Dynaserv systems are compatible with Compumotor indexers and servo controllers. The DM Series motor is brushless and without gears, allowing for long maintenance-free operation. The cross roller bearing design can support up to 4 tons of compression load and 295 ft-lbs of overhung load. The center hole in the motor is up to 2.3 inches in diameter and can be used to simplify system wiring. The drive is fully protected against open and short circuits, overcurrent, overvoltage and overtemperature. seven segment LED indicator provides the user with status and diagnostic information from the front panel. High performance closed loop operation is obtained with a sophisticated I-PD digital and analog control algorithm. The analog velocity loop provides high bandwidth for excellent system response. The digital position loop simplifies position convenient control and optimizes system accuracy. built-in test mode and position/velocity monitors allow for convenient and efficient tuning. Features rushless direct drive motor with 1 foot cable 7 models available in 6 or 1 inch diameters Incremental encoder feedback s to 15 ft-lbs (2 Nm) Resolutions to 1,24, steps/rev Supports 4 tons of compression load Microprocessor control of I-PD control algorithm nalog velocity loop/digital position loop uilt-in test mode for easy tuning Diagnostic LED display Step and direction input/position control ±1V input/velocity control ±8V input/torque mode Gain settings can be changed on the fly Can operate in Class 1 clean room applications with proper preparation Configurable position accuracy to reduce system settling time Complete system, ready for operation ccessories Compumotor Controllers The Dynaserv is compatible with all Compumotor controllers. Dynamic raking Capacitor type or Speed-switching type for each motor size. Precision Machining xial and radial run-out of.1,.2 or.5 mm is available on most Dynaserv models. Standard axial and radial run-out for all motors is.1mm. Mechanical raking Most motors can be ordered with mechanical brakes for power down, or emergency use. Line filters for CE installations Interface cables for use with Compumotor's 6K and 6 Series controllers. * EMC with proper filter and intallation procedures. (LVD and EMC*) Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 93 Parker Hannifin Corporation

18 DM Series DM Series Specifications Parameter Value Performance Repeatability ±2 arc-sec (.56 ) ccuracy ±25 arc-sec (.69 ) Max stepping rate 1,6, steps/sec Power Volts 115VC, 1-phase or 23VC, 1-phase, 5/6Hz Range +1% to -15% Current 2 amps max Inputs Command interface Step input Direction nalog input Low going low pulse, 15 nanoseconds minimum pulse width Logic high = CW rotation Logic low = CCW rotation ±1V command signal Outputs Encoder output / encoder output 393 khz max Environmental Driver Motor Weight 13.2 lb (6 kg) See page 95 Operating 32 to 122 F ( to 5 C) 32 to 113 F max ( to 45 C) Storage -4 to 185 F (-2 to 85 C) -4 to 185 F (-2 to 85 C) Humidity 2 to 9% noncondensing 2 to 85% noncondensing No corrosive gases. Dust-free atmosphere. The Dynaserv is not water proof, oil proof or dust proof. Speed/ Curves The torque/speed curves represent peak torque available, continuous torques are approximately two-thirds of the peak value. (N-m) 222 (3) lb-ft (N-m) 222 (3) lb-ft DM- Series 115 VC DM- Series 23 VC 185 (25) 185 (25) 148 (2) DM (2) DM (15) 74 (1) DM115 DM (15) 74 (1) DM115 DM11 37 (5) DM15 37 (5) DM15 lb-ft (N-m) 42 (6) Speed-RPS DM- Series 115 VC lb-ft Speed-RPS (N-m) (8) DM- Series 23 VC 35 (5) 46 (66) 28 (4) 21 (3) 14 (2) 7 (1) DM115 DM13 DM (53) (4) (27) (13) DM145 DM13 DM Speed-RPS Speed-RPS 2.5 Please refer to the ordering information matrix on page Parker Hannifin Corporation

19 DM Series DM Series Motor Data Model Model Model Model Model Model Model Peak torque ft-lbs (Nm) (15) (3) (45) (5) (1) (15) (2) Rated speed 115VC rps 23VC Rotor inertia oz-in 2 x (Kgm 2 ) x 1-3 (12) (15) (19) (96) (119) (142) (167) Maximum steps/rev 655,36 655,36 655,36 1,24, 1,24, 1,24, 1,24, Motor weight* lbs (kg) (5.5) (7.5) (9.5) (14.5) (19) (24) (29) Maximum static axial load** Compression lbs 6,6 6,6 6,6 8,8 8,8 8,8 8,8 Tension lbs 2,2 2,2 2,2 4,4 4,4 4,4 4,4 Max. static overhung load** ft-lb Power Consumption load KV.9/ / / / / / /3.5 Max 115/23VC * Drive weight is 13.2 lbs (6 kgs) ** When designing a system, de-rate the maximum load to the values shown at the right: DM Series Motor Dimensions De-rate pplication Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 DM- Series 6 M8 depth (1).2 (5).39 (1) Stator 6 M6 depth (15) 1.89 (48) 1.89 (48) 1.39 ±.4 (264 ±.1) /-.2 (2 -.2/-.5) 9.69 ±.8 (246 ±.2) /- (58 +.5/-) / -.2 (23 -.2/ -.6) 6.69 ±.8 (17 ±.2) 1.4 (26.5) Model DM ±.4 (113 ± 1) DM ±.4 (138 ± 1) DM ±.4 (163 ± 1) DM ±.4 (188 ± 1) DM- Series Rotor 12 (348) 1.18 (3) 6 M6 depth (8).12 (3).43 (11) Stator 6 M6 depth (8) 1.1 (28) 1.1 (28) 4.1 ±.8 (14 ±.2) 5.75 ±.8 (146 ±.2) /.2 ( / -.5) 6.23 ±.4 (16 ±.1) /-.2 ( /-.5) /- (25 +.5/-) Rotor.37 (9.3) 1.4 (26.5) 12 (348) 1.4 (26.5) Model DM ±.4 (92 ± 1) DM ±.4 (118 ± 1) DM ±.4 (143 ± 1) Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 95 Parker Hannifin Corporation

20 DM Series DM Series Pinout Lists Indexer 5-pin Honda Power 12 or 23VC Screw Terminal Pin No. Signal Pin No. Signal 1 8 Servo stiffness input (FC-FC8) 9 12 Position end pulse width input (POSW1, POSW) 13 + output 14 output 15 Servo ready + output 16 Servo ready output 17 Velocity monitor + output 18 Velocity monitor output 19 Direction input 2 Direction + input 21 Integral capacitor reset + input 22 Integral capacitor reset input 23 Servo on - input 24 Servo on + input Integral/proportional action input 27 In position + output 28 In position output 29 + output 3 output 31 TLIM/TFF (option) 32 GND Gain selection inputs low, medium, high 39 CPU reset + input 4 CPU reset input 41 Counter overflow + output 42 Counter overflow output 43 Z+ output 44 Z output 45 Step + input 46 Step input 47 Overload + output 48 Overload output 49 nalog input (±1V) 5 nalog input GND DM Series Drive Dimensions.28 (7 ±.5) 4.33 (11 ±1) 3.54 (9 ±.5) or 23 line-control or 23 neutral-control or 23 line-main or 23 neutral-main 5 GND Motor Screw Terminal Pin No. Signal 1 Motor 2 Motor 3 Motor C 4 GND Pin No. Encoder 16-pin Honda (297 ±1) Signal 1 Red 2 lack 3 lue 4 lue/white 5 rown 6 rown/white 7 Green 8 Green/White 9 Orange 1 Orange/White 11 Shield Compumotor 8 Please refer to the ordering information matrix on page (25 ±1) 9.41 (239 ±.5) LINE (CONT)~ 115 VC LINE (MN)~ 115 VC GND MOTOR V V V C GND POSW CN1 fc LIM ON TEST OFF C GIN DC GIN VEL POSN GND TORQ 8.46 (215 ±1) T1 CN (18 ±1) 96 Parker Hannifin Corporation

21 DM14 Series rushless Servo Systems with Encoder Feedback (LVD and EMC*) The DM14 Series are low profile versions of the DM Series. The D14 Series comes in two sizes, a 6 inch diameter model which is only 1.77" thick and a 4.57" diameter version which is only 3" thick. Each DM14 Dynaserv system consists of a brushless servo motor, microprocessor-based drive, power supply, and an incremental encoder for position feedback. The primary benefit of the Dynaserv system is high accuracy and torque without speed reducers. Features Faster settling time than a traditional servo motor and speed reducer system Smooth rotation at slow speeds flat speed/torque curve for high controllability bility to operate in a position, speed or torque control mode uilt-in test mode simplifies optimum tuning Can operate in Class 1 clean room applications with proper preparation. Mounting base standard fixture on motor Internal mechanical resonance filter Compatible with Compumotor s controllers with flexible control interface: step and direction for position mode ±1VDC analog input for velocity mode ±8VDC analog input for torque mode xial and radial run-out of.1 mm, a factor of 1 better than the standard DR and DM Series ccessories Line filter for CE installations Interface cable for use with Compumotor's 6K and 6 Series controllers. * EMC with proper filter and intallation procedures. Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 97 Parker Hannifin Corporation

22 DM14 Series DM14 Motor Data Specifications Parameter Value (DM14 and DM14C) Performance Repeatability 5 arc-sec (.139 ) ccuracy ±6 arc-sec (.167 ) standard ±2 arc-sec (.556 ) (version available) Max. stepping rate 1,572, steps/sec Power Volts 115VC 1-phase, or 23VC 1-phase, 5/6Hz Range +1% to -15% Current 5 amps max. Encoder output 4 khz max. Inputs Command interface Step input Direction nalog input Low going low pulse, 15 nanoseconds min. pulse width Logic high = CW rotation, Logic low = CCW rotation ±1V velocity signal; ±8V torque signal Outputs Encoder output / encoder output 393 khz max. Z-channel 124 pulses/rev DM14 DM14C Peak torque ft-lbs 3 3 (N-m) (4) (4) Rated speed 115VC rps 23VC Rotor inertia oz-in 2 x (Kgm 2 ) x 1-3 (5.5) (2.5) Maximum step s/rev 655,36 655,36 Motor weight* lbs (kg) (3) (3) Maximum static axial load** Compression lbs (kg) 44 (2) 77 (35) Tension lbs (kg) 154 (7) 77 (35) Maximum static overhung load** ft-lb (kg-m) 2 (2.7) 24.4 (3.3) * Drive weight is 4 lbs (1.8 kgs) ** When designing a system, de-rate the maximum load to the values specified here: De-rate pplication Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 Please refer to the ordering information matrix on page Parker Hannifin Corporation

23 DM14 Series.39 (1) 6.3 (16).39 (1) 5.51 (14) 6.3 (16) 5.51 (14) DM14 & DM14C Motor Dimensions DM (7) Dia. Hole 6 - M4 Thread depth.24 (6) ( ) (5) 6.22 (158) 1.77 (45) ( ) -.6).12 (3).295 (7.5).98 (25) Dia. DM14C (3) Motor Cable 1.38 (35) 2 - M4 Thread Through Encoder Cable 11.8 (3) 6 - M4 Thread depth.24 (6) (4.5) Dia. Hole.32 (8) Dia. C'sink Depth.2 (5) ( ).12 (3).39 (1).55 (14) ( ) ( ) 4.57 (116) Dia ( ).6).98 (25) Dia (14) Dia. Motor Cable 3 Encoder Cable 1 DM14 & DM14C Drive Dimensions Encoder Cable Speed/ Curve The speed/torque curves represent peak torque available; continuous torques are approximately 2/3 of the peak value (7) 1.97 (5) 1.38 (35) lb-ft 3.7 N-m 5 DM14 & DM14C Series 115 VC or 23 VC (25) 9.41 (239) 8.46 (215) Speed-RPS.28 (7).67 (17) 5.91 (15) Integrate Direct Drive Servo Systems Into Your Next pplication. Call Today. 99 Parker Hannifin Corporation

24 M-Type Controller/Driver Dynaserv Controller/Drive The Dynaserv M-type is a single-axis servo motor programmable controller/drive, design to optimize the use of the Dynaserv direct drive motors. It incorporates a completely digital motion and position programmable controller with the well-established Dynaserv drive in a single package. It was designed to simplify the use of Dynaserv direct drive servo motor system especially in rotary indexing applications. The M-type uses the I-PD control algorithm for precise motion and position control. The auto tuning feature simplifies servo tuning and decreases system setup time. Improved settling time is realized due to the close proximity of the controller and drive. The Dynaserv M-type can be used with almost all the Dynaserv motors (DM or DR). The exceptions are the DR5 series, and the DM14C/ type motors. RS232C and the PLC mode allow the user to manipulate the controller, with either a computer or a Programmable Logic Controller. Programs, parameters, configurations, and data settings can be stored in the Flash Read Only Memory(ROM). (Since Flash ROM does not require battery backup, it makes for a very safe method for storing valuable setup information). The M-type Drive can be used to replace mechanical cam indexers and have to flexibility to change index number, index distance, acceleration, speed, etc. electronically, without replacing the dial indexer. Features uto Tuning Position Feed Forward RS232 Communication PLC Mode LED Diagnostic Display Indicator Lamps Controls most DR or DM series motors Flash Read Only Memory(ROM) Windows 95 Utility Software (M-Type Utility) ccessories CP7576S-2 RS232C 2 meter cable (IM compatible) CP782S-2 PLC 2 meter cable CP792S-2 Sensor (Home, travel limits, etc.) 2 meter cable Teach ox wired remote control Please refer to the ordering information matrix on page 17 1 Parker Hannifin Corporation