C H A P T E R ➃ Hardware Reference The information in this chapter will enable you to: Use this chapter as a quick-reference tool for most system specifications (dimensions and performance) Use this chapter as a quick-reference tool for DIP switch settings Environmental Specifications Drive Temperature 131 F (5 C) measured at the heatsink fins. An internal thermostat will shut down the drive if the unit reaches 158 F (7 C) internally. Current settings in excess of 4A in high ambient temperature environments (above 113 F [45 C]) may require fan cooling to keep the heatsink temperature within allowable limits and to keep the drive from shutting itself down due to over temperature. Motor Temperature 212 F (1 C) maximum allowable motor case temperature. Actual temperature rise is duty cycle dependent. Electrical Specifications Input Power 9VAC to 132VAC @ 5/6 Hz Output Power Low power:.1 to 6A per phase at 17VDC High power:.2 to 8A per phase at 17VDC Output Type Two phase MOSFET bipolar (H-bridge) switching at 21 khz (nominal), pulse width modulated Fault Output Open-collector Open emitter 4N35 VCE = 35VDC VCESAT =.3VDC Collector Current = 1 ma minimum Dissipation = 1 mw maximum Minimum Motor Winding Inductance 2 mh (Compumotor recommends 5 mh measured in series or parallel) Chapter 4 Hardware Reference 39
Maximum Motor Winding Inductance None (Compumotor recommends 5 mh measured in series or parallel) Minimum Motor Hipot 5VAC Step & Direction Signal Specification The inputs are optically isolated and may be driven (activated) by providing a positive pulse to the plus input with respect to the minus input. These inputs may also be differentially driven. The input driver must provide a minimum of 6.5 ma (15 ma maximum). Step Pulse Input You must operate the step pulse input within the following guidelines. 2 nanosecond-pulse minimum 4% - 6% duty cycle (2 MHz max pulse rate) Direction Input The direction input may change polarity coincident with the last step pulse. The direction input must be stable for at least 2 ms before the drive receives the first pulse. Shutdown & Set Zero Phase Signal Specification The inputs are optically isolated and may be driven (activated) by providing a positive pulse to the plus input with respect to the minus input. The input driver must provide a minimum of 2.5 ma (3 ma maximum). The maximum reverse voltage for this input is 3VDC. Shutdown Input (Amplifier Disable) You may enable this function when the motor is not moving. The input must be active for 1 ms to disable the amplifier. The SHUTDOWN input must be inactive for 1 ms before the first step pulse is received. Set Zero Phase Input This input allows you to reset the motor phase currents to power-up position. It is primarily for linear motor applications. The input must be active for 1 ms to reset the motor phase currents to the zero state. The ZERO PHASE input must be inactive for 1 ms before the first step pulse is received. Fault Output This output is an open-collector, open emitter output from a 4N35 OPTO isolator. The output transistor will conduct when the drive is functioning properly. The transistor will not conduct when any of the following conditions exist: No power is applied to the drive There is insufficient AC line voltage (9VAC) The drive temperature is too high The drive detects a motor fault The Shutdown input is enabled Helpful Hint: Electric Parameters Outputs This output has the following characteristics: VCE = 35VDC VCESAT =.3VDC Collector Current = 1 ma minimum Dissipation = 1 mw maximum 4 S Drive User Guide
Operational Specifications Accuracy ±5 arcminutes typical (unloaded, bidirectional) with Compumotor motors. Repeatability ±5 arcseconds typical (unloaded, unidirectional). Hysteresis Less than 2 arcminutes (.334 ) unloaded, bidirectional. Rotor Inertia Size 23 Rotor Inertia oz-in 2 Rotor Inertia (Kg-m 2 x 1-6 ) S57-51.546 9.998 S57-83 1.1 2.1 S57-12 1.69 3.9 Size 34 Rotor Inertia oz-in 2 Rotor Inertia (Kg-m 2 x 1-6 ) S83-62 3.47 63.4 S83-93 6.76 124 S83-135 1.47 191 Size 42 Rotor Inertia oz-in 2 Rotor Inertia Kg-cm 2 S16-178 44. 8.5 S16-25 52. 9.51 S16-25 63. 12.14 Rotor Inertia (Compumotor Motors) Motor Current & Speed/torque curves for the S Drive are provided later in this chapter. Motor Size Current Static (in-oz) S57-51 S 1.18 65 S57-51 P 2.28 65 S57-83 S 1.52 1 S57-83 P 3.9 1 S57-12 S 1.71 13 S57-12 P 3.49 13 S83-62 S 2.19 15 S83-62 P 4.42 15 S83-93 S 2.85 29 S83-93 P 5.62 29 S83-135 S 3.47 4 S83-135 P 6. 343 Motor Specifications (S6) Motor Size Current Static (in-oz) S16-178 S 6.2 1 S16-178 P 8. 667 S16-25 S 3.55 19 S16-25 P 6.99 19 S16-25 S 6.2 145 S16-25 P 8. 967 S: Configuration P: Parallel Configuration Motor Specifications (S8) Chapter 4 Hardware Reference 41
Drive Dimensions Low Power S6 Drive with Heatsink 3.25 (82.56) 1.25 (31.75).53 (13.46) 7.4 (178.81) Slot for #1 mtg screws Optional mounting tabs 1.72 (272.28) 1.37 (263.4) 9.48 (24.79) 3.18 (8.77) 6.9 (175.26) 2.74 (69.6) 1.25 (31.75) 4.61 (117.9).53 (13.46) 7.4 (178.81) Slot for #1 mtg screws Optional mounting tabs High Power S8 Drive with Fan 1.72 (272.28) 1.37 (263.4) 9.48 (24.79) 4.53 (115.6) 6.9 (175.26) 2.74 (69.6) S Drive Dimensions The fan kit is optional with the low-power version of the S Drive. 42 S Drive User Guide
Motor Dimensions.215.195 5.461 Dia. (4) 4.952 on 2.625 66.67 BC 12 (35) 4-Wire Shielded 2.27 57.66 Max 1.956 47.14 1.52 1.498 38.15 Dia 38.5 View A.82 2.83.72 18.29 A.83 21.8.83 18.54.63 1.6) View A.25 6.35.2495 6.34 Shaft Dia. (2).19 4.83 View B 6 #6-32 UNC-2B Thread (4) Equally Spaced on 2.952 (74.98) BCx.25 DP Size 23 frame 1.118 28.4 Dia. View B Model S 57-51 S 57-83 S 57-12 A 2. (5.1) 3.1 (7.8) 4. (1.2) NEMA 23 Motor Dimensions Chapter 4 Hardware Reference 43
12 (35) 8-Wire Shielded.228 (5.79).218 (5.54) 2.877 (73.7) Dia. 2.873 (72.97) 3.25 2.73 (69.34) 2.75 (69.85) 3.4 (86.36) Max. Casting Size View A 1.23 (31.24) 1.15 (29.21) A 1.21 (3.7) 1.17 (29.72).63 (1.6).375 (9.52).3745 (9.51) Shaft Dia. (2) View A View B.19 (4.83) 3 View B #6-32 UNC Thread (4) Equally Spaced on 2.952 (74.98) BC - x.25 (6.5) DP Size 34 frame Model S 83-62 S 83-93 S 83-135 A 2.5 (62.) 3.7 (93.98) 5.2 (129.).75 (19.5) Dia x.5 (1.27) Deep Bore Min. NEMA 34 Motor Dimensions 44 S Drive User Guide
1.33 1.17 (33.78) (29.72) 7.56 (192.2) Single Ended 7.69 (195.32) Double Ended.5-14 NPT S16-178 -- S16-25 1.4 1.36 (35.56) (34.54) 3.5 (12.7).4995 (12.69) Shaft Dia..9 (2.29) Max.57 (1.45).67 (1.7) 2.186 (155.52) Dia..625 15.87.6245 15.86 Shaft Dia. See Detail View.518 13.16.5 12.7 #6-32 UNC 2-B Thread (4) equally spaced on 2.952 (74.98) BC x.25 (6.5) DP.1255 3.19.124 3.15 Wide.69 (17.53) 4.2 16.68 Max. 3.5 88.9 4.26 18.2 Max..291 7.39.271 6.88 S16-178 Motor Dimensions Detail View #44 Woodruff.483 +. -.5 12.27 +. ( -.127 ) Chapter 4 Hardware Reference 45
S16-25 3.5 (12.7).4995 (12.69) Shaft Dia..9 (2.28) Max.5-14NPT.67 (1.7).57 (14.5).573 (14.55).553 (14.5) 4.25 (17.95) Dia. Max #6-32 UNC-2B Thread (4) Equallty spaced on 2.952 (74.98) BC x.25 (6.5) DP 1.29 1.21 8.16 (27.26) Max. 2.23 2.15 (56.64) (54.61).625 (15.87).6245 (15.86) Shaft Dia. See Detail View (32.76) (3.73) 2.187 (55.55) 2.186 (55.52) 3.5 (88.9) Sq. 1.41 (35.41) Detail View 4.4 (111.76) Sq amax. 1.25 (31.75).1875 (4.75) +. -.2.1875 (4.75) +. -.2.75 (17.91) +. -.2.333 (8.46).323 (8.2) (4) Holes S16-25 Motor Dimensions 46 S Drive User Guide
DIP Switch Summary The S Drive has two sets of DIP switches (refer to Chapter ➂). Each set of DIP switches has eight individual switches. The first set of switches is referred to as SW1 and the second set as SW2. The individual switch will be preceded by the # symbol. Hence, the third switch on SW1 is referred to as SW1-#3, while the third switch on SW2 is referred to as SW2-#3. Switch # SW1-#1 SW1-#2 SW1-#3 SW1-#4 SW1-#5 SW1-#6 SW1-#7 SW1-#8 Function Current most significant bit Current Current Current Current Current least significant bit Auto Standby Auto Standby SW2-#1 SW2-#2 SW2-#3 SW2-#4 SW2-#5 SW2-#6 SW2-#7 SW2-#8 Motor Resolution Motor Resolution Motor Resolution Motor Resolution Waveform Waveform Waveform Auto Test = on, Normal operation = off DIP Switch Summary Motor Current Motor Size Current SW1-#1 SW1-#2 SW1-#3 SW1-#4 SW1-#5 SW1-#6 S57-51S 1.18 off off on on off off S57-51P 2.28 off on on off off off S57-83S 1.52 off on off off off off S57-83P 3.9 on off off off off off S57-12S 1.71 off on off off on off S57-12P 3.47 on off off on off off S83-62S 2.19 off on off on on on S83-62P 4.42 on off on on on off S83-93S 2.85 off on on on on off S83-93P 5.62 on on on off on on S83-135S 3.47 on off off on off off S83-135P 6. on on on on on on S: Configuration P: Parallel Configuration S6 Drive Motor Current (Compumotor Motors) Motor Size Current SW1-#1 SW1-#2 SW1-#3 SW1-#4 SW1-#5 SW1-#6 S16-178S 6.2 on off on on on on S16-178P 8. on on on on on on S16-25S 3.55 off on on on off off S16-25P 6.99 on on off on on on S16-25S 6.23 on on off off off on S16-25P 8. on on on on on on S: Configuration P: Parallel Configuration S8 Drive Motor Current (Compumotor Motors) Chapter 4 Hardware Reference 47
Low-Power S6 Drive Current SW1 SW2 SW3 SW4 SW5 SW6 Current SW1 SW2 SW3 SW4 SW5 SW6.4 off off off off off off 3.9 on off off off off off.13 off off off off off on 3.19 on off off off off on.23 off off off off on off 3.28 on off off off on off.32 off off off off on on 3.38 on off off off on on.42 off off off on off off 3.47 on off off on off off.51 off off off on off on 3.57 on off off on off on.61 off off off on on off 3.66 on off off on on off.7 off off off on on on 3.76 on off off on on on.8 off off on off off off 3.85 on off on off off off.89 off off on off off on 3.95 on off on off off on.99 off off on off on off 4.4 on off on off on off 1.8 off off on off on on 4.14 on off on off on on 1.18 off off on on off off 4.23 on off on on off off 1.27 off off on on off on 4.33 on off on on off on 1.37 off off on on on off 4.42 on off on on on off 1.46 off off on on on on 4.51 on off on on on on 1.52 off on off off off off 4.58 on on off off off off 1.62 off on off off off on 4.68 on on off off off on 1.71 off on off off on off 4.77 on on off off on off 1.81 off on off off on on 4.86 on on off off on on 1.9 off on off on off off 4.96 on on off on off off 2. off on off on off on 5.5 on on off on off on 2.9 off on off on on off 5.15 on on off on on off 2.19 off on off on on on 5.24 on on off on on on 2.28 off on on off off off 5.34 on on on off off off 2.38 off on on off off on 5.43 on on on off off on 2.47 off on on off on off 5.53 on on on off on off 2.57 off on on off on on 5.62 on on on off on on 2.66 off on on on off off 5.72 on on on on off off 2.76 off on on on off on 5.81 on on on on off on 2.85 off on on on on off 5.91 on on on on on off 2.95 off on on on on on 6. on on on on on on Setting S6 Drive Motor Current (Non-Compumotor Motors) High-Power S8 Drive Current SW1 SW2 SW3 SW4 SW5 SW6 Current SW1 SW2 SW3 SW4 SW5 SW6.5 off off off off off off 4.12 on off off off off off.18 off off off off off on 4.25 on off off off off on.3 off off off off on off 4.38 on off off off on off.43 off off off off on on 4.5 on off off off on on.56 off off off on off off 4.63 on off off on off off.69 off off off on off on 4.75 on off off on off on.81 off off off on on off 4.89 on off off on on off.93 off off off on on on 5.1 on off off on on on 1.6 off off on off off off 5.14 on off on off off off 1.19 off off on off off on 5.26 on off on off off on 1.31 off off on off on off 5.39 on off on off on off 1.44 off off on off on on 5.51 on off on off on on 1.59 off off on on off off 5.64 on off on on off off 1.69 off off on on off on 5.77 on off on on off on 1.82 off off on on on off 5.9 on off on on on off 1.94 off off on on on on 6.2 on off on on on on 2.3 off on off off off off 6.11 on on off off off off 2.16 off on off off off on 6.23 on on off off off on 2.28 off on off off on off 6.36 on on off off on off 2.41 off on off off on on 6.48 on on off off on on 2.54 off on off on off off 6.61 on on off on off off 2.66 off on off on off on 6.73 on on off on off on 2.79 off on off on on off 6.87 on on off on on off 2.91 off on off on on on 6.99 on on off on on on 3.4 off on on off off off 7.12 on on on off off off 3.17 off on on off off on 7.24 on on on off off on 3.297 off on on off on off 7.37 on on on off on off 3.42 off on on off on on 7.49 on on on off on on 3.55 off on on on off off 7.62 on on on on off off 3.67 off on on on off on 7.75 on on on on off on 3.8 off on on on on off 7.87 on on on on on off 3.93 off on on on on on 8. on on on on on on Setting S8 Drive Motor Current (Non-Compumotor Motors) 48 S Drive User Guide
Automatic Standby Function Current SW1-#7 SW1-#8 * Full Current off off * Default Setting 75% on off 5% off on 25% on on Automatic Standby Function Motor Resolutions Resolution SW2-#1 SW2-#2 SW2-#3 SW2-#4 5,8 steps off off off on 5, steps off off on off 36, steps off off on on 25,6 steps off on off off 25,4 steps off on off on * 25, steps off off off off * Default Setting 21,6 steps off on on off 2, steps off on on on 18, steps on off off off 12,8 steps on off off on 1, steps on off on off 5, steps on off on on 2, steps on on off off 1, steps on on off on 4 steps on on on off 2 steps on on on on Motor Resolution Settings Motor Waveforms Waveform Shape SW2-#5 SW2-#6 SW2-#7 Pure Sine on on off -2% 3rd harmonic on off on * -4% 3rd harmonic off off off * Default Setting -4% 3rd harmonic on on on -4% 3rd harmonic on off off -6% 3rd harmonic off on on -8% 3rd harmonic off on off -1% 3rd harmonic off off on Motor Waveform Settings Automatic Test Function SW2-#8 OFF Disables Auto Test * Default Setting SW2-#8 ON Enables Auto Test Motor Performance Specifications S motors are designed to allow you to change the motor winding configuration easily. The following performance indicate that different performance levels can be obtained by connecting the step motor windings in series or parallel. Use caution when you run motors in a parallel configuration. Sustained operation at high speeds may cause the motor to overheat due to electrical pole heating. Chapter 4 Hardware Reference 49
75 (.53) S57 51, SX47-51 & SXF57-51 5 (3.5) S83 135, SX83-135 & SXF83-135 6 (.42) 45 (.32) 3 (.21).14 Parallel 15 (.11).7 1 2 3 4 5 S57 83, SX57-83 & SXF57-83 125 (.88) 1 (.7) 75 (.53) 5 (.35).2 Parallel 25 (.18).1 15 (1.5) 12 (.84) 9 (.63) 6 (.42) 3 (.21) 2 (1.4) 16 (1.12) 12 (.84) 8 (.56) 4 (.28) 4 (2.8) 32 (2.24) 24 (1.68) 16 (1.12) 8 (.56) 1 2 3 4 5 S57 12, SX57-12, SXF57-12 1 2 3 4 5 S83 62, SX83-62, SXF83-62 1 2 3 4 5 S83 93, SX83-93 & SXF83-93 Power Power Power Power Power.25 Parallel.13.32 Parallel.16.46 Parallel.23 4 3 2 1 125 1 75 5 25 15 12 9 6 3 2 16 12 8 4 (2.8) (2.1) (1.4) (.7) 1 2 3 4 5 (8.75) (7.) (5.25) (3.5) (1.75) (1.5) (8.4) (6.3) (4.2) (2.1) (14.) (11.2) (8.4) (5.6) (2.8) S16 178, SX16-178 & SXF16-178 1 2 3 4 5 S16 25, SX16-25 & SXF16-25 1 2 3 4 5 S16 25, SX16-25 & SXF16-25 1 2 3 4 5.54 Parallel.27.8 Parallel.4 1.8 Parallel.54 Power Power Power Power.67 Parallel.33 *Parallel connected motors are limited to 5% duty cycle when operated above 5 rps. For greater than 5% duty cycle above 5 rps, you must connect the motor in series. Fan cooling the motor will increase duty cycles above 5 rps. 1 2 3 4 5 5 S Drive User Guide