A Full Line Up of Powerful Servos to Meet the Demands of Your Application!

Transcription

1 Catalog 8-4/USA Servo Motors SERVO MOTORS A Full Line Up of Powerful Servos to Meet the Demands of Your Application! SM Series SE Series Compumotor began manufacturing brushless servo motors with the release of the SM series in the spring of Since that time, we have continued to expand our product offering and have manufacturing plants in California and Italy. Innovation in Design Compumotor utilizes two distinct technologies in the manufacturing of brushless servo motors. The Slotless Design and the ridged Stator Design both reduce motor manufacturing costs while providing performance advantages to the user. The slotless design eliminates all detent torque in the motor, providing superior performance in applications requiring smooth, low speed operation. This design also results in higher rotor inertia, providing an advantage in applications involving high inertia loads. The bridged stator design results in extremely high torque-toinertia ratios, providing a performance advantage in applications requiring high accelerations. The bridged stator design also greatly reduces detent torque and mechanical noise when compared to a conventional slotted motor. Compumotor can also provide an integrated planetary gearhead for use with our brushless servo motors. Our unique design integrates the pinion of the gearhead into the motor shaft, reducing total package length by almost two inches. Standards or Specials in 1 Days Compumotor s brushless servo motors are manufactured in our modern JIT manufacturing facility. Highly evolved manufacturing philosophies provide levels of service and product availability previously unattainable in the servo motor industry. Compumotor s lead times average less than ten days for all standard and custom servo motors. E Series M Series Size 16 and 23.8 to 11.3 in-lb. continuous torque Slotless design Rugged housing (IP65 option) Connection options Size 16 and 23.8 to 1.1 in-lb. continuous torque Slotless design Plastic encoder cover Short package length Size 16, 23 and to 46 in-lb. continuous torque ridged stator design 2-line encoder standard Connection options Size 15, 145 and 25mm Up to 9 Nm of power rushless construction Encoder feedback and resolver Planetary Gearheads Size 16, 23, 34 and 92 Integrated pinion design Shortest package length available NeoMetric & J Series 7 mm and 92 mm 6 to 61 in-lb. continuous torque ridged stator design Rugged housing (IP65 option) Connection options SL Series Size 42, 63, 12 and 14mm 2 to 35 lbs continuous force Slotless design High speeds High precision 18 Parker Hannifin Corporation

2 Catalog 8-4/USA Custom Motors SERVO MOTORS Custom Designed Servo Motors for Your Specific Application! Compumotor offers a broad range of standard options with all of our brushless servo motor families. Our numerous shaft, feedback and connection options will fulfill the needs of most of our customers. However, we realize that from time to time the need arises to have a custom motor designed specially for your application. Whether you need custom connectors, mounting, or a custom winding, Compumotor can build a motor designed to your exact specifications. Compumotor provides these special designs for our customers with: Minimal impact on product lead time Modest impact on pricing No minimum quantities Common Special Requests Connectorization Right angle connector housing MS connectors on back cover Special cable lengths Hi-flex cables Customer specified cables and connectors Cable exiting through back cover Windings: Specific bus voltage Compumotor s modern manufacturing system allows us to offer custom motor solutions without sacrificing product quality and availability. All of our custom motors are built in our standard servo motor work cell, and our computerized custom product tracking system allows us to provide consistent, highquality custom products. And, because custom motor manufacturing is integrated into our standard manufacturing process, we can often build and ship custom designed motors and cables in the same time frame as standard products. Compumotor provides this service for one simple reason: to make it easier for you, our customer, to integrate a Compumotor servo motor into your application. We provide more than just a component, we provide a custom designed servo motor solution. Flanges Tapped mounting holes Customer specified flanges Face mount Gearheads Non-standard ratios Customer specified flanges Customer specified output shaft rakes Internal or external Feedback Higher resolution encoders Higher temperature encoders Miscellaneous Options Private label back cover Special windings Shorter lengths High speed balancing Special finish Shafts Special lengths Special flats Special keyways Special shaft diameters Metric shaft diameters Hollow shafts Rear Shaft Extension Double flats Shaft pinning Pressed on gears Center tapped Special shaft materials Custom Designed Servo Motors For Your Specific Application. Call Today. 19 Parker Hannifin Corporation

3 Catalog 8-4/USA SM & SE Motors SERVO MOTORS SM Series High- Performance Slotless Design The SM Series brushless servo motors feature a slotless stator design. This design eliminates all detent torque in the motor, allowing the SM Series motors to provide extremely smooth motion, especially at low speeds. The slotless design also creates a higher rotor inertia, which is ideal for applications involving high inertial loads (such as lead screws and belt drives). The SM Series motors also feature a rugged anodized aluminum body and connector housing. An IP65 rating can be obtained on motors with MS connectors and an optional shaft seal. All SM motors are CE (LVD) compliant. The SM Series servo motors are available with integrated planetary gearheads in ratios up to 1:1. Our unique package integrates the gearhead pinion into the motor shaft, reducing the overall package length by up to 2 inches. Part Numbering System SM Series Features Size 16 and 23.8 to 11.3 lb-in continuous torque rushless construction Slotless design Negligible detent torque Reduced torque ripple Medium inertia High-performance neodymium magnets Thermostat protected TENV housing IP65 option Feedback options Encoder/Hall effect Hall-effect only Resolver Connectorization choices Special winding availability Ten day deliveries Two-year warranty CAD (.dxf) drawings available CE Compliant SM 232 A E- N MS N SM Series Frame, Magnet Length Winding A Feedback D - 5 ppr encoder 1 E - 1 ppr encoder 1 H - Hall-effect only R - resolver 2 Shafting N - normal F - flat K - keyway 2 L - long 2 Connection FL - 18 leads 1-1 cable cable 3,5 MS - military style TQ - trap drive GS - Gemini amp 6 series Options N - none V - shaft seal 4 GXX - Gearhead 7 1 Includes Hall-effect 2 Not available on size 16 or SM23 3 Cable is hard-wired 4 With MS, TQ or GS connectors IP65, not available on size 16 5 Size 23 only 6 See amplifier sections for specific motor/amplifier compatibility 7 Specify K shaft option with Gearheads 2 Parker Hannifin Corporation

4 Catalog 8-4/USA SM & SE Motors SERVO MOTORS SE Series Low-Cost, Space-Saving Package The SE Series brushless servo motors were created with the OEM in mind. The SE Series motors provide the same performance as the SM Series, but in a lower cost, spacesaving package. Designed for embedded applications, these motors are available in flying lead configurations and have a plastic encoder cover. Customer specified connectors or shaft modifications are easily incorporated with minimal impact on price and delivery. The performance curves and electrical specifications for the SE series motors remain unchanged from the SM Series. All SE Series motors are CE (LVD) compliant. The SE Series servo motors are available with integrated planetary gearheads in ratios up to 1:1. Our unique package integrates the gearhead pinion into the motor shaft, reducing the overall package length by up to 2 inches. SE Features Size 16 and 23.8 to 1.1 lb-in continuous torque rushless Construction Slotless Design - Negligible detent torque - Reduced torque ripple - Medium Inertia High performance neodymium magnets Thermostat protected 1 ppr encoder Special winding availability Ten day deliveries Two year warranty CAD (.dxf) drawings available CE Compliant SE Part Numbering System SE 161 A E- N FL N SE Series Frame, Magnet Length Winding A Feedback E - 1 ppr encoder 2 Shafting N - Normal F - Flat K - Keyway 3 L - Long 3 Connection FL - 18 Leads Options N - None GXX - Gearhead 1 SE16 and 23 do not include temperature switch 2 Includes Hall-effect 3 Not available on size 16 or SE23 Custom Designed Servo Motors For Your Specific Application. Call Today. 21 Parker Hannifin Corporation

5 Catalog 8-4/USA SM & SE Motors SERVO MOTORS Size 16, Encoder Feedback, Specifications* Parameter Symbol Units SM16A SM16 SM161A SM161 SM162A SM162 Stall Torque Continuous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,8 I cs (sine) Amps Peak Stall Current Continuous 1,7 I cs (trap) Amps DC Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,8 I pk (sine) Amps Peak Peak Current 6,7 I pk (trap) Amps DC Rated Speed 2 ω r rpm 7,5 7,5 7,5 7,5 7,5 7,5 Rated Speed I r (sine) Amps Rated Speed I r (trap) Amps Rated Speed T r lb-in oz-in Nm Shaft Rated Speed P o watts Voltage Constant 3,4 K b volts/radian/sec Voltage Constant 3,4 K e volts/krpm Torque Constant 9 K t (sine) oz-in/amp Peak Nm/Amp Peak Torque Constant 3.4 K t (trap) oz-in/amp DC Nm/Amp DC Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage V m Volts DC Thermal Resistance Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/Krpm 1.13 E E E E E E-3 Static Friction T f oz-in Nm 7. E-4 7. E E E E E-3 Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs Mechanical Time Constant τ mch millisecs Intermittent Torque Duration 1 T 2x seconds Peak Torque Duration 11 T 3x seconds Rotor Inertia J lb-in-sec E E E E E E-4 kg-m 2 5. E-6 5. E E E E E-5 Number of Poles Np Weight # lbs kg Winding Class H H H H H H * SM & SE Series specifications are identical unless otherwise noted. 25 C ambient, 125 C winding temperature, motor connected to a 1 x1 x1/4 aluminum mounting C ambient derate phase currents and torques by 12%. 2 Maximum speed is 75RPM. For higher speed operation please call the factory. 3 Measured Line to Line, ±1% line-to-line 4 Value is mesured peak of sine wave. 5 ±3%, Line-to-Line, inductance bridge 1 khz 6 Initial winding temperature must be 6 C or less before peak current is applied. 7 DC current through a pair of motor phases of a trapazoidally (six state) commutated motor. 8 Peak of the sinusoidal current in any phase for a sinusoidally commutated motor. 9 Total motor torque per peak of the sinusoidal amps measured in any phase, +/-1%. 1 Maximum Time duration with 2 times rated applied with initial winding temp at 6 C. 11 Maximum Time duration with 3 times rated applied with initial winding temp at 6 C. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. 22 Parker Hannifin Corporation

6 Catalog 8-4/USA SM & SE Motors SERVO MOTORS Size 16, Encoder Feedback, Performance Curves (SM & SE Series data are identical unless otherwise noted) SM16AE Vbus=75VDC, Ics (sine)=2.8 amps, Ipk(sine)=8.5 amps SM161AE Vbus=17VDC, Ics (sine)=2.7 amps, Ipk(sine)=8.1 amps SM162AE Vbus=17VDC, Ics (sine)=2.6 amps, Ipk(sine)=7.8 amps SM16E Vbus=75VDC, Ics (sine)=5.6 amps, Ipk(sine)=16.7 amps SM161E Vbus=17VDC, Ics (sine)=5.2 amps, Ipk(sine)=15.5 amps SM162E Vbus=17VDC, Ics (sine)=5.1 amps, Ipk(sine)=15.2 amps CONTINUOUS PEAK (17 VAC) Custom Designed Servo Motors For Your Specific Application. Call Today. 23 Parker Hannifin Corporation

7 Catalog 8-4/USA SM & SE Motors SERVO MOTORS Size 23, Encoder Feedback, Specifications* Parameter Symbol Units SM23A SM23 SM231A SM231 SM232A SM232 SM233A SM233 Stall Torque Continous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,8 I cs (sine) Amps Peak Stall Current Continuous 1,7 I cs (trap) Amps DC Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,8 I pk (sine) Amps Peak Peak Current 6,7 I pk (trap) Amps DC Rated Speed 2 ω r rpm Current@Rated Speed I r (sine) Amps Current@Rated Speed I r (trap) Amps Torque@Rated Speed T r lb-in oz-in Nm Shaft Power@Rated Speed P o watts Voltage Constant 3,4 K b Volts/rad/s Voltage Constant 3,4 K e Volts/KRPM Torque Constant 9 K t (sine) oz-in/amp Peak Nm/Amp Peak Torque Constant 3,4 K t (trap) oz-in/amp DC Nm/Amp DC Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage V m Volts DC Therm. Resistance Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/Krpm 1.12 E E E E E E E E-3 Static Friction T f oz-in Nm 1.4 E E E E E E-3 7. E-3 7. E-3 Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs Mechanical Time Constant τ mch millisecs Intermittent Torque Duration 1 T 2x seconds Peak Torque Duration 11 T 3x seconds Rotor Inertia J lb-in-sec E E E E E E E E-3 kg-m E E E E E E E E-4 Number of Poles Np Weight # lbs kg Winding Class H H H H H H H H * SM & SE Series specifications are identical unless otherwise noted. 25 C ambient, 125 C winding temperature, motor connected to a 1 x1 x1/4 aluminum mounting C ambient derate phase currents and torques by 12%. 2 Maximum speed is 75RPM. For higher speed operation please call the factory. 3 Measured Line to Line, ±1% line-to-line 4 Value is mesured peak of sine wave. 5 ±3%, Line-to-Line, inductance bridge 1 khz 6 Initial winding temperature must be 6 C or less before peak current is applied. 7 DC current through a pair of motor phases of a trapezoidally (six state) commutated motor. 8 Peak of the sinusoidal current in any phase for a sinusoidally commutated motor. 9 Total motor torque per peak of the sinusoidal amps measured in any phase, +/-1%. 1 Maximum Time duration with 2 times rated applied with initial winding temp at 6 C. 11 Maximum Time duration with 3 times rated applied with initial winding temp at 6 C.. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. 24 Parker Hannifin Corporation

8 Catalog 8-4/USA SM & SE Motors SERVO MOTORS Size 23, Encoder Feedback, Performance Curves (SM & SE Series data are identical unless otherwise noted) SM23AE Vbus=75VDC, Ics (sine)=2.7 amps, Ipk(sine)=8.2 amps SM231AE Ics (sine)=2.9 amps, Ipk(sine)=8.8 amps SM23E Vbus=75VDC, Ics (sine)=5.5 amps, Ipk(sine)=16.4 amps SM231E Ics (sine)=5.5 amps, Ipk(sine)=16.6 amps SM232AE Ics (sine)=2.8 amps, Ipk(sine)=8.3 amps SM232E Ics (sine)=5.4 amps, Ipk(sine)=16.1 amps SM233AE Ics (sine)=2.7 amps, Ipk(sine)=8.1 amps SM233E Ics (sine)=5.3 amps, Ipk(sine)=15.8 amps CONTINUOUS PEAK CONTINUOUS PEAK 17 VDC 34 VDC Custom Designed Servo Motors For Your Specific Application. Call Today. 25 Parker Hannifin Corporation

9 Catalog 8-4/USA SM & SE Motors SERVO MOTORS Size 23, Resolver Feedback, Specifications* Parameter Symbol Units SM231A SM231 SM232A SM232 SM233A SM233 Stall Torque Continous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,7 I cs (sine) Amps Peak Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,7 I pk (sine) Amps Peak Rated Speed 2 ω r rpm Current@Rated Speed I r (sine) Amps Current@Rated Speed I r (trap) Amps Torque@Rated Speed T r lb-in oz-in Nm Shaft Power@Rated Speed P o watts Voltage Constant 3,4 K b Volts/rad/s Voltage Constant 3,4 K e Volts/KRPM Torque Constant 8 K t (sine) oz-in/amp Peak Nm/Amp Peak Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage V m Volts DC Therm. Resistance Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/Krpm 1.75 E E E E E E-3 Static Friction T f oz-in Nm 2.1 E E E E-3 7. E-3 7. E-3 Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs Mechanical Time Constant τ mch millisecs Intermittent Torque Duration 9 T 2x seconds Peak Torque Duration 1 T 3x seconds Rotor Inertia J lb-in-sec E E E E E E-3 kg-m E E E E E E-4 Number of Poles Np Weight # lbs kg Winding Class H H H H H H * SE Series not available with resolver. 25 C ambient, 15 C winding temperature, motor connected to a 1 x1 x1/4 aluminum mounting C ambient derate phase currents and torques by 12%. 2 Maximum speed is 75RPM. For higher speed operation please call the factory. 3 Measured Line to Line, ±1% line-to-line 4 Value is mesured peak of sine wave. 5 ±3%, Line-to-Line, inductance bridge 1 khz 6 Initial winding temperature must be 6 C or less before peak current is applied. 7 Peak of the sinusoidal current in any phase for a sinusoidally commutated motor. 8 Total motor torque per peak of the sinusoidal amps measured in any phase, +/-1%. 9 Maximum Time duration with 2 times rated applied with initial winding temp at 6 C. 1 Maximum Time duration with 3 times rated applied with initial winding temp at 6 C. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. 26 Parker Hannifin Corporation

10 Catalog 8-4/USA SM & SE Motors SERVO MOTORS Size 23, Resolver Feedback, Performance Curves (SM Series only 25 SM231AR Ics (sine)=3.3 amps, Ipk(sine)=9.8 amps SM231R Ics (sine)=6.2 amps, Ipk(sine)=18.5 amps SM232AR Ics (sine)=3.1 amps, Ipk(sine)=9.3 amps SM232R Ics (sine)=6. amps, Ipk(sine)=18. amps SM233AR Ics (sine)=3. amps, Ipk(sine)=9.1 amps SM233R Ics (sine)=5.9 amps, Ipk(sine)=17.6 amps CONTINUOUS PEAK CONTINUOUS PEAK 17 VDC 34 VDC Custom Designed Servo Motors For Your Specific Application. Call Today. 27 Parker Hannifin Corporation

11 Catalog 8-4/USA SM & SE Motors SERVO MOTORS SM Series Dimensional Drawings Size 16, Dimensional Drawing Dimensions in inches (mm) FEEDACK CONNECTOR MOTOR CONNECTOR [ ].98 [25] L.37 [9.3] 1.91 [48.4] 1.3 SQ. [33] 1.6 SQ. [4.6] 2.9 [53.2] SHAFT OPTIONS [2.2.2] (4x).125 [3.18] THRU HOLES EQUALLY SPACED ON A [46.69] OLT CIRCLE 1.32 [33.4].63 [1.6] "MS", "TQ", "GS" CONNECTION Motor Sizes Model Motor Length L.23 [5.84] -F (FLAT) SM [5.] SM [62.7] SM [88.1] CALE / FLYING LEAD CONNECTION Size 23, Dimensional Drawing Dimensions in inches (mm) (4x) Ø.218 [ 5.54 ] THRU HOLES, EQUALLY SPACED ON A Ø2.625 [66.68] OLT CIRCLE A L.63 [ 1.6 ] ØD 3. [ 76.3 ] Ø1.5 ±.1 [ 38.1 ±.2 ] SQ. [ ] 2.25 SQ. [ 57.2 ].23 [ 5.84 ] "-F" FLAT (SM23).94 [ 2.38 ].416 [ 1.56 ].6 [ 15.2 ] 1.25 [ 31.8 ] Motor Sizes Model Motor Length Shaft Length Shaft Diameter L A D.34 [ 8.64 ] "-F" FLAT (SM231, SM232, SM233) "-K" KEYWAY "-L" LONG SHAFT SM /-.5 [85.3] [19.8] [ /-.13] SM /-.5 [11.1] [2.8] [ /-.13] SM /-.5 [126.5] [2.8] [ /-.13] SM /-.5 [151.9] [2.8] [ /-.13] 28 Parker Hannifin Corporation

12 Catalog 8-4/USA SM & SE Motors SERVO MOTORS SE Series Dimensional Drawings Size 16, Dimensional Drawing Dimensions in inches (mm) [ ] -.98 [ 25].37 [ 9.3 ] "L" 1.3 SQ. [ 33] 1.6 SQ. [ 4.6 ] [ ] (4x).125 [ 3.18 ] THRU HOLES EQUALLY SPACED ON A [46.69] OLT CIRCLE Size 23, Dimensional Drawing Dimensions in inches (mm).63 [ 1.6 ] Motor Sizes Model Motor Length L SE [67.8] SE [8.5] SE [15.9] A L [ ].34 [ 8.7 ] 1.86 SQ. [ 47.2 ] 2.25 SQ. [ 57.2 ] D.63 [ 1.6 ] (4x).218 [ 5.54] THRU, EQUALLY SPACED ON A [66.68] OLT CIRCLE Motor Sizes Model Motor Length Shaft Length Shaft Diameter L A D SE /-.5 [68.6] [19.8] [ /-.13] SE /-.5 [85.3] [2.8] [ /-.13] SE /-.5 [11.7] [2.8] [ /-.13] SE /-.5 [136.1] [2.8] [ /-.13] Custom Designed Servo Motors For Your Specific Application. Call Today. 29 Parker Hannifin Corporation

13 Catalog 8-4/USA SM & SE Motors SERVO MOTORS Feedback Specifications Encoder Specifications Mechanical Accuracy Electrical Input power Operating frequency Output device Sink/Source, nominal Suggested user interface ±2 min of arc 5 VDC ±5%, 135 ma 1 khz max 26LS31 2 ma 26LS32 Commutation Chart Clockwise rotation as viewed from front shaft. Phase -A Phase A-C Phase C- Hall #1 Hall-Effect Specifications Hall #2 Electrical Input power Output device (open collector) Maximum pull up Sink 5 VDC ±5%, 8 ma LM VDC 16 ma Hall #3 Resolver Schematic Diagram for SM Resolver Specifications R2 WHITE RED S3 Parameter Value R1 ROWN ROTOR PRIMARY Phasing Equation: For CW rotation of rotor facing mounting flange end. E S1-S3 = KE R1-R2 COSØ E S2-S4 = KE R1-R2 SINØ LUE S4 GREEN S2 LACK S1 STATOR SECONDARY Input 7 khz 4.25 volts Input current, max 55 ma Input power, nominal.12 watts Impedance ZSO (@ 9 ) 58+j145 ohms Impedance ZRO 53+j72 ohms Impedance ZRS 42+j55 ohms Transformation ratio.47 ±5% Output voltage 2. ±5% volts DC rotor resistance 23 ±1% ohms DC stator resistance 19 ±1% ohms Sensitivity 35 mv/degree Max error from EZ ±1 minutes Phase shift, open circuit 5 leading, ±3" Null voltage, total 2 mv rms Impedance ZSS 5+j128 ohms Inertia Incl. with motor spec. 3 Parker Hannifin Corporation

14 Catalog 8-4/USA SM & SE Motors SERVO MOTORS Wiring and Cable Specifications Flying Leads, Cabled and MS Connection Options The FL (Flying Lead) connection option for the SM Series motors features 18 leads extending from the motor body. Wire color codes are the same as listed below for the MS connection option. The 1 and 25 connection option for the SM Series motors consist of either 1 feet or 25 feet of jacketed cable extending from the motor body. These cables terminate in flying leads. Wire color codes are the same as listed below for the MS connection option. The MS connection option for the SM Series motors provides quick disconnect, bayonet style connectors attached to the motor body. Mating cables are specified and ordered separately. With the MS connection option, the motor phase and temperature switch wires are in one cable/conector, and the hall and encoder signals are in the other cable/connector. This option works well when using an amplifier with a built-in controller, or when all cables enter into a cabinet or enclosure and then are wired into a terminal strip. When specifying the R (resolver) feedback option, the motor phase wires reside in one connector, the resolver signal and temperature switch wires in the other. Encoder/Hall Feedback Connection Designation Pin Number MS14-18 Wire Color Encoder +5 H Red Encoder Ground G lack CH A + A White CH A - Yellow CH + C Green CH - D lue Index + E Orange Index - F rown Hall Ground K White/Green Hall +5 M White/lue Hall 1 T White/rown Hall 2 U White/Orange Hall 3 P White/Violet rake 1 R Red/lue rake 1 S Red/lue Shield N.C. Clear N.C. N.C. Orange/Yellow N.C. N.C. Orange/Yellow Motor Connection Resolver Feedback Connection Designation Pin Number MS14-12 Wire Color Phase A J Red/Yellow Phase K White/Yellow Phase C L lack/yellow Ground M Green/Yellow Temp 2 G Orange/Yellow or Yellow Temp 2 H Orange/Yellow or Yellow Shield N.C. Clear 1 rake will operate regardless of polarity connection 2 For motors with the R (resolver) feedback option, the temperature switch is connected to leads in the feedback cable/connector Designation Pin Number MS14-18 Wire Color S1, COS + E lack S2, SIN + L Green S3, COS - J Red S4, SIN - G lue R1, EXC + C rown R2, EXC - U White Temp 2 R Orange/Yellow or Yellow Temp 2 N Orange/Yellow or Yellow rake 1 S Red/lue rake 1 T Red/lue Shield N.C. Clear Custom Designed Servo Motors For Your Specific Application. Call Today. 31 Parker Hannifin Corporation

15 Catalog 8-4/USA SM & SE Motors SERVO MOTORS Wiring and Cable Specifications (Continued) GS Connection Option The GS connection option for the SM Series motors provides quick disconnect, bayonet style connectors attached to the motor body. Mating cables are specified and ordered separately. Wiring for the GS connection option for SM motors is similar to the MS option, except the temperature switch leads have been moved to the feedback connector. This connection option should be selected when operating the SM motors with the Gemini family of amplifiers. Motor Connection Designation TQ Connection Option Pin Number MS14-12 Wire Color Phase A J lack 1 Phase K lack 2 Phase C L lack 3 Ground M Green/Yellow The TQ connection option for the SM Series motors provides quick disconnect, bayonet style connectors attached to the motor body. Mating cables are specified and ordered separately. The TQ connection option joins the motor phase, hall effect and temperature switch wires in one connector. The second connector has only encoder signals. This connection option applies well in applications where the hall and motor phase wires connect directly to an amplifier, while the encoder signals connect directly to a controller. Encoder/Hall Feedback Connection Pin Number Designation MS14-18 Wire Color Encoder +5 H Red Encoder Ground G lack CH A + A White CH A - Yellow CH + C Green CH - D lue Index + E Orange Index - F rown Hall Ground K White/Green Hall +5 M White/lue Hall 1 T White/rown Hall 2 U White/Orange Hall 3 P White/Violet rake 1 R Red/lue rake 1 S Red/lue Temp L Orange/Yellow Temp N Orange/Yellow 1 rake will operate regardless of polarity connection Motor/HallConnection Designation Pin Number MS14-12 Wire Color Encoder Feedback Connection Phase A J Red/Yellow Phase K White/Yellow Phase C L lack/yellow Ground M Green/Yellow Temp G Orange/Yellow or Yellow Temp H Orange/Yellow or Yellow Hall Ground F White/Green Hall +5 White/lue Hall 1 C White/rown Hall 2 D White/Orange Hall 3 E White/Violet Shield N.C. Clear Designation Pin Number MS14-18 Wire Color Encoder +5 H Red Encoder Ground G lack CH A + A White CH A - Yellow CH + C Green CH - D lue Index + E Orange Index - F rown rake 1 R Red/lue rake 1 S Red/lue Shield N.C. Clear 1 rake will operate regardless of polarity of connection 32 Parker Hannifin Corporation

16 Catalog 8-4/USA E Series SERVO MOTORS High-Torque Design, Low-Cost Package Compumotor s E Series brushless servo motors produce high continuous stall torque in a cost-reduced package. The increased torque of the E Series motors is the result of an increased number of magnetic poles on the rotor. Traditional motors in these frame sizes have four magnetic poles on the rotor, while the E Series motors have eight poles. The cost reduction of the E Series motors is achieved from their open lamination design. Unlike traditional servo motors, the E Series motors do not have a metal housing. Instead, the laminations of the motor stator are shaped into the body of the motor. This design reduces both material costs and time required assembling the motor. The E Series motors are created using Compumotor s proven bridged stator design. This two-piece lamination design simplifies the manufacturing process, creating further cost savings. The bridged stator construction also results in less audible noise being generated by the motor. Part Numbering System The E Series servo motors are available with integrated planetary gearheads in ratios up to 1:1. Our unique package integrates the gearhead pinion into the motor shaft, reducing the overall package length by up to 2 inches. Features Size 16, 23 and to 46 lb-in continuous torque rushless construction High torque density packaging ridged stator design - quiet operation High performance neodymium magnets Thermoswitch protection 2 line encoder standard Resolver feedback option Connectorization choices 1-day deliveries Two year warranty CAD (.dxf) drawings available CE compliant E 342 H J- N MS N E Series Frame, Magnet Length Winding Identifying character C, D, F, J, K, L, etc. 1 Encoder feedback motors only 2 Refer to Wiring and Cable Specifications section for connector wiring 3 Not available on size 16 4 Specify K shaft option with gearheads Feedback J - 2 ppr encoder R - Resolver 3 Shafting N - Normal F - Flat K - Keyway 3 Connection FO 1 - Flying leads w/ plastic encoder cover FL 1 - Flying leads w/ connector housing cable MS 2 - Military style TQ 1,2 - Trap drive Options N - None - rake 3 GXX - Gearhead 3,4 Custom Designed Servo Motors For Your Specific Application. Call Today. 33 Parker Hannifin Corporation

17 Catalog 8-4/USA E Series SERVO MOTORS Size 16, Encoder Feedback, Specifications Parameter Symbol Units E161C E161D E161F E162C E162D E162F Stall Torque Continous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,8 I cs (sine) Amps Peak Stall Current Continuous 1,7 I cs (trap) Amps DC Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,8 I pk (sine) Amps Peak Peak Current 6,7 I pk (trap) Amps DC Rated Speed 2 w r rpm Rated Speed I r (sine) Amps Peak Rated Speed I r (trap) Amps Rated Speed T r lb-in oz-in Nm Shaft Rated Speed P o watts Voltage Constant 3,4 K b Volts/rad/s Voltage Constant 3,4 K e Volts/Krpm Torque Constant 9 K t (sine) oz-in/amp Peak Nm/Amp Peak Torque Constant 3,4 K t (trap) oz-in/amp DC Nm/Amp DC Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage V m Volts DC Thermal Res Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/Krpm 3.5E-4 3.5E-4 3.5E-4 4.2E-4 4.2E-4 4.2E-4 Static Friction T f oz-in Nm 1.8E-3 1.8E-3 1.8E-3 2.8E-3 2.8E-3 2.8E-3 Motor Thermal Time Constant t th minutes Electrical Time Constant t elec millisecs Mechanical Time Constant t mch millisecs Intermittent Torque Duration 1 T 2x seconds Peak Torque Duration 11 T 3x seconds Rotor Inertia J lb-in-sec 2 1.1E-5 1.1E-5 1.1E-5 1.8E-5 1.8E-5 1.8E-5 kg-m 2 1.2E-6 1.2E-6 1.2E-6 2.E-6 2.E-6 2.E-6 Number of Poles Np Motor Weight # lbs kg Winding Class H H H H H H 25 C ambient, 125 C winding temperature, motor connected to a 1"x1"x1/4" aluminum mounting plate. 7 DC current through a pair of motor phases of a trapazoidally (six state) commutated C ambient derate phase currents and torques by 6%. 8 Peak of the sinusoidal current in any phase for a sinusoidally commutated 2 Maximum speed is 5 RPM. For higher speed operation please call the motor. factory. 9 Total motor torque per peak of the sinusoidal amps measured in any phase, 3 Measured Line to Line, +/- 1%. +/-1%. 4 Value is measured peak of sine wave. 1 Maximum time duration with 2 times rated current applied with initial 5 +/-3%, Line-to-Line, inductance bridge winding temp at 6 C. 6 Initial winding temperature must be 6 C or less before peak current is applied. 11 Maximum time duration with 3 times rated current applied with initial winding temp at 6 C. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. 34 Parker Hannifin Corporation

18 Catalog 8-4/USA E Series SERVO MOTORS Size 16, Encoder Feedback, Specifications Parameter Symbol Units E163C E163D E163F E164C E164D E164F Stall Torque Continous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,8 I cs (sine) Amps Peak Stall Current Continuous 1,7 I cs (trap) Amps DC Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,8 I pk (sine) Amps Peak Peak Current 6,7 I pk (trap) Amps DC Rated Speed 2 w r rpm Rated Speed I r (sine) Amps Peak Rated Speed I r (trap) Amps Rated Speed T r lb-in oz-in Nm Shaft Rated Speed P o watts Voltage Constant 3,4 K b Volts/rad/s Voltage Constant 3,4 K e Volts/Krpm Torque Constant 9 K t (sine) oz-in/amp Peak Nm/Amp Peak Torque Constant 3,4 K t (trap) oz-in/amp DC Nm/Amp DC Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage V m Volts DC Thermal Res Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/Krpm 4.9E-4 4.9E-4 4.9E-4 5.6E-4 5.6E-4 5.6E-4 Static Friction T f oz-in Nm 4.2E-3 4.2E-3 4.2E-3 5.6E-3 5.6E-3 5.6E-3 Motor Thermal Time Constant t th minutes Electrical Time Constant t elec millisecs Mechanical Time Constant t mch millisecs Intermittent Torque Duration 1 T 2x seconds Peak Torque Duration 11 T 3x seconds Rotor Inertia J lb-in-sec 2 2.4E-5 2.4E-5 2.4E-5 3.1E-5 3.1E-5 3.1E-5 kg-m 2 2.7E-6 2.7E-6 2.7E-6 3.5E-6 3.5E-6 3.5E-6 Number of Poles Np Motor Weight # lbs kg Winding Class H H H H H H 25 C ambient, 125 C winding temperature, motor connected to a 1"x1"x1/4" aluminum mounting C ambient derate phase currents and torques by 6%. 2 Maximum speed is 5 RPM. For higher speed operation please call the factory. 3 Measured Line to Line, +/- 1%. 4 Value is measured peak of sine wave. 5 +/-3%, Line-to-Line, inductance bridge 6 Initial winding temperature must be 6 C or less before peak current is applied. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. 7 DC current through a pair of motor phases of a trapazoidally (six state) commutated motor. 8 Peak of the sinusoidal current in any phase for a sinusoidally commutated motor. 9 Total motor torque per peak of the sinusoidal amps measured in any phase, +/-1%. 1 Maximum time duration with 2 times rated current applied with initial winding temp at 6 C. 11 Maximum time duration with 3 times rated current applied with initial winding temp at 6 C. Custom Designed Servo Motors For Your Specific Application. Call Today. 35 Parker Hannifin Corporation

19 Catalog 8-4/USA E Series SERVO MOTORS Size 16, Encoder Feedback, Performance Curves E161CJ I cs (sine) = 2.9 amps, I pk (sine) = 8.7 amps E161DJ I cs (sine) = 4.6 amps, I pk (sine) = 13.8 amps E161FJ I cs (sine) = 7. amps, I pk (sine) = 21. amps E162CJ E162DJ E162FJ I cs (sine) = 3. amps, I pk (sine) = 9. amps I cs (sine) = 4.5 amps, I pk (sine) = 13.5 amps I cs (sine) = 6.8 amps, I pk (sine) = 2.4 amps E163CJ I cs (sine) = 2.9 amps, I pk (sine) = 8.7 amps E163DJ I cs (sine) = 4. amps, I pk (sine) = 12. amps E163FJ I cs (sine) = 6.3 amps, I pk (sine) = 18.9 amps E164CJ E164DJ E164FJ I cs (sine) = 3. amps, I pk (sine) = 9. amps I cs (sine) = 3.8 amps, I pk (sine) = 11.4 amps I cs (sine) = 6. amps, I pk (sine) = 18. amps CONTINUOUS PEAK (17VDC) 36 Parker Hannifin Corporation

20 Catalog 8-4/USA E Series SERVO MOTORS Size 23, Encoder Feedback, Specifications Parameter Symbol Units E23D E23F E231D E231F E232D E232F E233D E233F Stall Torque Continous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,8 I cs (sine) Amps Peak Stall Current Continuous 1,7 I cs (trap) Amps DC Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,8 I pk (sine) Amps Peak Peak Current 6,7 I pk (trap) Amps DC Rated Speed 2 ω r rpm Rated Speed I r (sine) Amps Peak Rated Speed I r (trap) Amps Rated Speed T r lb-in oz-in Nm Shaft Rated Speed P o watts Voltage Constant 3,4 K b Volts/rad/s Voltage Constant 3,4 K e Volts/Krpm Torque Constant 9 K t (sine) oz-in/amp Peak Nm/Amp Peak Torque Constant 3,4 K t (trap) oz-in/amp DC Nm/Amp DC Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage V m Volts DC Thermal Res Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/Krpm Static Friction T f oz-in Nm Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs Mechanical Time Constant τ mch millisecs Intermittent Torque Duration 1 T 2x seconds Peak Torque Duration 11 T 3x seconds Rotor Inertia J lb-in-sec 2 kg-m 2 Number of Poles Np Motor Weight # lbs kg Winding Class E-3 1.8E-3 2.5E-3 2.5E-3 3.5E-3 3.5E-3 4.9E-3 4.9E E-3 5.3E-3 8.8E-3 8.8E-3 1.4E-2 1.4E-2 1.8E-2 1.8E E-5 4.6E-5 8.E-5 8.E-5 1.5E-4 1.5E-4 2.1E-4 2.1E-4 5.2E-6 5.2E-6 9.E-6 9.E-6 1.7E-5 1.7E-5 2.4E-5 2.4E H H H H H H H H 25 C ambient, 125 C winding temperature, motor connected to a 1"x1"x1/4" aluminum mounting C ambient derate phase currents and torques by 12%. 2 Operation with 34 VDC bus. Maximum speed is 5 RPM. For higher speed operation please call the factory. 3 Measured Line to Line, +/- 1%. 4 Value is measured peak of sine wave. 5 +/-3%, Line-to-Line, inductance bridge 6 Initial winding temperature must be 6 C or less before peak current is applied. 7 DC current through a pair of motor phases of a trapazoidally (six state) commutated motor. 8 Peak of the sinusiodal current in any phase for a sinusoidally commutated motor. 9 Total motor torque per peak of the sinusoidal amps measured in any phase, +/-1%. 1 Maximum time duration with 2 times rated current applied with initial winding temp at 6 C. 11 Maximum time duration with 3 times rated current applied with initial winding temp at 6 C. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. Custom Designed Servo Motors For Your Specific Application. Call Today. 37 Parker Hannifin Corporation

21 Catalog 8-4/USA E Series SERVO MOTORS Size 23, Encoder Feedback, Performance Curves 2 E23DJ Ics (sine)=3.1 amps, Ipk(sine)=9.4 amps E23FJ Ics (sine)=6.1 amps, Ipk(sine)=18.2 amps E231DJ Ics (sine)=2.8 amps, Ipk(sine)=8.2 amps E231FJ Ics (sine)=5.3 amps, Ipk(sine)=15.9 amps E232DJ Ics (sine)=2.8 amps, Ipk(sine)=8.4 amps E232FJ Ics (sine)=5.4 amps, Ipk(sine)=16.3 amps E233DJ Ics (sine)=2.5 amps, Ipk(sine)=7.5 amps E233FJ Ics (sine)=4.9 amps, Ipk(sine)=14.6 amps CONTINUOUS 17 VDC PEAK CONTINUOUS PEAK 34 VDC 38 Parker Hannifin Corporation

22 Catalog 8-4/USA E Series SERVO MOTORS Size 23, Resolver Feedback, Specifications Parameter Symbol Units E23D E23F E231D E231F E232D E232F E233D E233F Stall Torque Continous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,8 I cs (sine) Amps Peak Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,8 I pk (sine) Amps Peak Rated Speed 2 ω r rpm Rated Speed I r (sine) Amps Peak Rated Speed T r lb-in oz-in Nm Shaft Rated Speed P o watts Voltage Constant 3,4 K b Volts/rad/s Voltage Constant 3,4 K e Volts/Krpm Torque Constant 9 K t (sine) oz-in/amp Peak Nm/Amp Peak Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage V m Volts DC Thermal Res Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/Krpm 1.8E-3 1.8E-3 2.5E-3 2.5E-3 3.5E-3 3.5E-3 4.9E-3 4.9E-3 Static Friction T f oz-in Nm 5.3E-3 5.3E-3 8.8E-3 8.8E-3 1.4E-2 1.4E-2 1.8E-2 1.8E-2 Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs Mechanical Time Const. τ mch millisecs Intermittent Torque Duration 1 T 2x seconds Peak Torque Duration 11 T 3x seconds Rotor Inertia J lb-in-sec 2 4.6E-5 4.6E-5 8.E-5 8.E-5 1.5E-4 1.5E-4 2.1E-4 2.1E-4 kg-m 2 5.2E-6 5.2E-6 9.E-6 9.E-6 1.7E-5 1.7E-5 2.4E-5 2.4E-5 Number of Poles Np Motor Weight # lbs kg Winding Class H H H H H H H H 25 C ambient, 15 C winding temperature, motor connected to a 1"x1"x1/4" aluminum mounting C ambient derate phase currents and torques by 12%. 2 Operation with 34 VDC bus. Maximum speed is 5 RPM. For higher speed operation please call the factory. 3 Measured Line to Line, +/- 1%. 4 Value is measured peak of sine wave. 5 +/-3%, Line-to-Line, inductance bridge 6 Initial winding temperature must be 6 C or less before Peak Current is Applied. 7 Peak of the sinusiodal current in any phase for a sinusiodally comutated motor. 8 Total motor torque per peak of the sinusiodal amps measured in any phase, +/-1%. 9 Maximum Time duration with 2 times rated current applied with initial winding temp at 6 C. 1 Maximum Time duration with 3 times rated current applied with initial winding temp at 6 C. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. Custom Designed Servo Motors For Your Specific Application. Call Today. 39 Parker Hannifin Corporation

23 Catalog 8-4/USA E Series SERVO MOTORS Size 23, Resolver Feedback, Performance Curves 2 E23DR Ics (sine)=3.4 amps, Ipk(sine)=1.1 amps E23FR Ics (sine)=6.6 amps, Ipk(sine)=19.7 amps E231DR Ics (sine)=3. amps, Ipk(sine)=8.9 amps E231FR Ics (sine)=5.7 amps, Ipk(sine)=17.2 amps E232DR Ics (sine)=3. amps, Ipk(sine)=9.1 amps E232FR Ics (sine)=5.9 amps, Ipk(sine)=17.6 amps E233DR Ics (sine)=2.7 amps, Ipk(sine)=8.1 amps E233FR Ics (sine)=5.3 amps, Ipk(sine)=15.8 amps CONTINUOUS 17 VDC PEAK CONTINUOUS PEAK 34 VDC 4 Parker Hannifin Corporation

24 Catalog 8-4/USA E Series SERVO MOTORS Size 34, Encoder Feedback, Specifications Parameter Symbol Units E341F E341J E342H E342K E343J E343L E344J E344L Stall Torque Continous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,8 I cs (sine) Amps Peak Stall Current Continuous 1,7 I cs (trap) Amps DC Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,8 I pk (sine) Amps Peak Peak Current 6,7 I pk (trap) Amps DC Rated Speed 2 ω r rpm Rated Speed I r (sine) Amps Peak Rated Speed I r (trap) Amps Rated Speed T r lb-in oz-in Nm Shaft Rated Speed P o watts Voltage Constant 3,4 K b Volts/rad/s Voltage Constant 3,4 K e Volts/Krpm Torque Constant 9 K t (sine) oz-in/amp Peak Nm/Amp Peak Torque Constant 3,4 K t (trap) oz-in/amp DC Nm/Amp DC Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage V m Volts DC Thermal Res Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/Krpm Static Friction T f oz-in Nm Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs Mechanical Time Constant τ mch millisecs Intermittent Torque Duration 1 T 2x seconds Peak Torque Duration 11 T 3x seconds Rotor Inertia J lb-in-sec 2 kg-m 2 Number of Poles Np Motor Weight # lbs kg Winding Class E-3 7.6E-3 9.3E-3 9.3E-3 1.2E-2 1.2E-2 1.4E-2 1.4E E-2 1.2E-2 1.9E-2 1.9E-2 2.9E-2 2.9E-2 3.5E-2 3.5E E-4 2.7E-4 4.4E-4 4.4E-4 6.1E-4 6.1E-4 7.2E-4 7.2E-4 3.1E-5 3.1E-5 5.E-5 5.E-5 6.9E-5 6.9E-5 8.1E-5 8.1E H H H H H H H H 25 C ambient, 125 C winding temperature, motor connected to a 1"x1"x1/4" aluminum mounting C ambient derate phase currents and torques by 12%. 2 Operation with 34 VDC bus. Maximum speed is 5 RPM. For higher speed operation please call the factory. 3 Measured Line to Line, +/- 1%. 4 Value is measured peak of sine wave. 5 +/-3%, Line-to-Line, inductance bridge 6 Initial winding temperature must be 6 C or less before peak current is applied. 7 DC current through a pair of motor phases of a trapazoidally (six state) commutated motor. 8 Peak of the sinusoidal current in any phase for a sinusoidally commutated motor. 9 Total motor torque per peak of the sinusoidal amps measured in any phase, +/-1%. 1 Maximum time duration with 2 times rated current applied with initial winding temp at 6 C. 11 Maximum time duration with 3 times rated current applied with initial winding temp at 6 C. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. Custom Designed Servo Motors For Your Specific Application. Call Today. 41 Parker Hannifin Corporation

25 Catalog 8-4/USA E Series SERVO MOTORS Size 34, Encoder Feedback, Performance Curves E341FJ Ics (sine)=5.1 amps, Ipk(sine)=15.4 amps E341JJ Ics (sine)=1.4 amps, Ipk(sine)=31.3 amps Torque (lb-in) Torque (lb-in) E342HJ Ics (sine)=6.9 amps, Ipk(sine)=2.6 amps E343JJ Ics (sine)=9.9 amps, Ipk(sine)=29.8 amps Torque (lb-in) Torque (lb-in) E342KJ Ics (sine)=13.5 amps, Ipk(sine)=4.4 amps E343LJ Ics (sine)=15.8 amps, Ipk(sine)=47.4 amps Torque (lb-in) Torque (lb-in) E344JJ Ics (sine)=9.1 amps, Ipk(sine)=27.2 amps E344L Ics (sine)=14.3 amps, Ipk(sine)=43. amps 16.8 Torque (lb-in) Torque (lb-in) CONTINUOUS 17 VDC PEAK CONTINUOUS PEAK 34 VDC 42 Parker Hannifin Corporation

26 Catalog 8-4/USA E Series SERVO MOTORS Size 34, Resolver Feedback, Specifications Parameter Symbol Units E341F E341J E342H E342K E343J E343L E344J E344L Stall Torque Continous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,8 I cs (sine) Amps Peak Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,8 I pk (sine) Amps Peak Rated Speed 2 ω r rpm Rated Speed I r (sine) Amps Peak Rated Speed T r lb-in oz-in Nm Shaft Rated Speed P o watts Voltage Constant 3,4 K b Volts/rad/s Voltage Constant 3,4 K e Volts/Krpm Torque Constant 9 K t (sine) oz-in/amp Peak Nm/Amp Peak Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage V m Volts DC Thermal Res Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/Krpm Static Friction T f oz-in Nm Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs Mechanical Time Constant τ mch millisecs Intermittent Torque Duration 1 T 2x seconds Peak Torque Duration 11 T 3x seconds Rotor Inertia J lb-in-sec 2 kg-m 2 Number of Poles Np Motor Weight # lbs kg Winding Class E-3 7.6E-3 9.3E-3 9.3E-3 1.2E-2 1.2E-2 1.4E-2 1.4E E-2 1.2E-2 1.9E-2 1.9E-2 2.9E-2 2.9E-2 3.5E-2 3.5E E-4 2.9E-4 4.6E-4 4.6E-4 6.3E-4 6.3E-4 8.E-4 8.E-4 3.3E-5 3.3E-5 5.2E-5 5.2E-5 7.1E-5 7.1E-5 9.E-5 9.E H H H H H H H H 25 C ambient, 15 C winding temperature, motor connected to a 1"x1"x1/4" aluminum mounting ambient derate phase currents and torques by 12%. 2 Operation with 34 VDC bus. Maximum speed is 5 RPM. For higher speed operation please call the factory. 3 Measured Line to Line, +/- 1%. 4 Value is measured peak of sine wave. 5 +/-3%, Line-to-Line, inductance bridge 6 Initial winding temperature must be 6 C or less before peak current is applied. 7 Peak of the sinusoidal current in any phase for a sinusoidally commutated motor. 8 Total motor torque per peak of the sinusoidal amps measured in any phase, +/-1%. 9 Maximum time duration with 2 times rated current applied with initial winding temp at 6 C. 1 Maximum time duration with 3 times rated current applied with initial winding temp at 6 C. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. Custom Designed Servo Motors For Your Specific Application. Call Today. 43 Parker Hannifin Corporation

27 Catalog 8-4/USA E Series SERVO MOTORS Size 34, Resolver Feedback, Performance Curves 5 E341FR Ics (sine)=5.6 amps, Ipk(sine)=16.7 amps E341JR Ics (sine)=11.3 amps, Ipk(sine)=33.8 amps 5.6 Torque (lb-in) Torque (lb-in) E342HR Ics (sine)=7.4 amps, Ipk(sine)=22.2 amps E343JR Ics (sine)=1.7 amps, Ipk(sine)=32.2 amps Torque (lb-in) Torque (lb-in) E342KR Ics (sine)=14.6 amps, Ipk(sine)=43.6 amps E343LR Ics (sine)=17.1 amps, Ipk(sine)=51.2 amps Torque (lb-in) Torque (lb-in) E344JR Ics (sine)=9.8 amps, Ipk(sine)=29.3 amps E344LR Ics (sine)=15.5 amps, Ipk(sine)=46.5 amps 16.8 Torque (lb-in) Torque (lb-in) CONTINUOUS 17 VDC PEAK CONTINUOUS PEAK 34 VDC 44 Parker Hannifin Corporation

28 Catalog 8-4/USA E Series SERVO MOTORS E Series Dimensional Drawings Size 16 Dimensional Drawing Dimensions in inches (mm) Model Motor Length Standard FO Option rake E (83.6) 2.2 (51.2) 2.7 (68.6) E (96.3) 2.52 (63.9) 3.2 (81.3) E (19.) 3.2 (76.6) 3.7 (94.) E (121.7) 3.52 (89.3) 4.2 (16.7) Motor Sizes Model L E (34.8) E (47.5) E (6.2) E (72.9) Size 23 Dimensional Drawing Dimensions in inches (mm) Model Motor Length Standard FO Option rake E (8) 2.5 (93) 4.51 (115) E (93) 3. (77) 5.1 (127) E (118) 4. (12) 6.1 (153) E (143) 5. (128) 7.1 (178) (4x).218 (5.54) THRU EQ. SP. ON A (66.68).C SQ. (57.3) ( ) 1.25 (31.7).63 (1.6) MOTOR LENGTH ( ) 3.4 (77.2) SHAFT OPTIONS.322 (8.17).68 (17.27) MOTOR LENGTH.34 (8.64).75 (19.5) ( ) FLAT KEYWAY "FO" CONNECTION OPTION Custom Designed Servo Motors For Your Specific Application. Call Today. 45 Parker Hannifin Corporation

29 Catalog 8-4/USA E Series SERVO MOTORS E Series Dimensional Drawings Size 34 Dimensional Drawing Dimensions in inches (mm) Model Motor Length Standard FO Option rake E (112) 3.65 (93) 5.65 (144) E (138) 4.65 (118) 6.65 (169) E (163) 5.65 (144) 7.65 (194) E (188) 6.65 (169) 8.65 (22) 3.35 SQ. (85.1) (4x).218 (5.54) THRU EQ. SP. ON A (98.43).C (3.2).93 (2.36) MOTOR LENGTH ( ) ( ) 3.89 (98.8) SHAFT OPTIONS MOTOR LENGTH.473 (12.1).43 (1.92) 1. (25.4) 1. (25.4) FLAT KEYWAY ( ) "FO" CONNECTION OPTION 46 Parker Hannifin Corporation

30 Catalog 8-4/USA E Series SERVO MOTORS E Series, Feedback Specifications Resolver Schematic Diagram Resolver Specifications R2 WHITE RED S3 Parameter Value R1 ROWN ROTOR PRIMARY Phasing Equation: For CW rotation of rotor facing mounting flange end. E S1-S3 = KE R1-R2 COSØ E S2-S4 = KE R1-R2 SINØ Encoder Specifications LUE S4 GREEN S2 LACK S1 STATOR SECONDARY Input 7 khz 4.25 volts Input current, max 55 ma Input power, nominal.12 watts Impedance ZSO (@ 9 ) 58+j145 ohms Impedance ZRO 53+j72 ohms Impedance ZRS 42+j55 ohms Transformation ratio.47 ±5% Output voltage 2. ±5% volts DC rotor resistance 23 ±1% ohms DC stator resistance 19 ±1% ohms Sensitivity 35 mv/degree Max error from EZ ±1 minutes Phase shift, open circuit 5 leading, ±3" Null voltage, total 2 mv rms Impedance ZSS 5+j128 ohms Inertia Incl. with motor spec. Mechanical Accuracy ±2 min of arc Electrical Input power Operating frequency Output device Sink/Source, nominal Suggested user interface 5 VDC ±5%, 135 ma 25 khz max 26LS31 2 ma 26LS32 Commutation Chart Clockwise rotation as viewed from front shaft. Hall-Effect Specifications Phase -A Phase A-C Phase C- Electrical Input power Output device open collector Maximum pull up Sink 5 VDC ±5%, 8 ma LM VDC 16 ma Hall #1 Electrically Released rakes Hall #2 rakes Size 23 Size 34 Static rated torque 1 in-lb 4 in-lb Coil voltage 24 VDC 24 VDC Coil current.38 amps.7 amps Weight.7 lbs 1.2 lbs Inertia 1.87 E-5 lb-in-sec E-4 lb-in-sec 2 Engage/Disengage 1/2 msec 2/4 msec Hall #3 Custom Designed Servo Motors For Your Specific Application. Call Today. 47 Parker Hannifin Corporation

31 Catalog 8-4/USA E Series Wiring and Cable Specifications Flying Leads, Cabled and MS Connection Options The FO connection option for the E Series motors features 18 leads extending from the motor body. This option features a plastic encoder cover and no connector housing. Wire color codes are the same as listed below for MS wired E Series motors. The FO option is only available on motors with encoder feedback. The FL connection option for the E Series motors features 18 leads extending from the motor body. This option features an extruded aluminum housing. Wire color codes are the same as listed below for MS wired E Series motors. The FL option is only available on motors with encoder feedback. The 1 connection option for the E Series motors consists of 1 feet of hard-wired cable extending from the motor body. These cables terminate in flying leads. Wire color codes are the same as listed below for the MS connection option. The 1 option is only available on motors with encoder feedback. The MS connection option for the E Series motors provides quick disconnect, bayonet style connectors attached to the motor body. Mating cables are specified and ordered separately. With the MS connection option, the motor phase wires are in one connector, and the hall, encoder, temperature switch, and brake wires are in the other connector. This option works well when using an amplifier with a built-in controller, or when all cables enter into a cabinet or enclosure and then are wired into a terminal strip. When specifying the R (resolver) feedback option, the motor phase wires reside in one connector, the resolver signal, temperature switch, and brake wires in the other. SERVO MOTORS Encoder/Hall Feedback Connection Designation Pin Number MS rake will operate regardless of polarity of connection Resolver Feedback Connection Wire Color Encoder +5 H Red Encoder Ground G lack CH A + A White CH A - Yellow CH + C Green CH - D lue Index + E Orange Index - F rown Hall Ground K White/Green Hall +5 M White/lue Hall 1 T White/rown Hall 2 U White/Orange Hall 3 P White/Violet rake 1 R Red/lue rake 1 S Red/lue Temp L Orange/Yellow Temp N Orange/Yellow Shield N.C. Clear Motor Connection Designation Pin Number MS Wire Color MS / RS Cables Wire Color GS/G Cables Phase A J Red/Yellow lack 1 Phase K White/Yelow lack 2 Phase C L lack/yellow lack 3 Ground M Green/Yellow Green/Yellow Shield N.C. Clear N.C. Designation Pin Number MS14-18 Wire Color S1, COS + E lack S2, SIN + L Green S3, COS - J Red S4, SIN - G lue R1, EXC + C rown R2, EXC - U White Temp R Orange/Yellow or Yellow Temp N Orange/Yellow or Yellow rake 2 S Red/lue rake 2 T Red/lue Shield N.C. Clear 48 Parker Hannifin Corporation

32 Catalog 8-4/USA E Series SERVO MOTORS Wiring and Cable Specifications (continued) TQ Connection Option The TQ Connection option for the E series motors provides quick disconnect, bayonet style connectors attached to the motor body. Mating cables are specified and ordered separately. The TQ connection option joins the motor phase wires, temperature switch, and hall effect signals in one connector. The second connector has only encoder signals. This connection option applies well in applications where the hall and motor phase wires connect directly to an amplifier, while the encoder signals connect directly to a controller. Motor/Hall Connection Encoder Feedback Connection Designation Pin Number MS14-12 Wire Color Designation Pin Number MS14-18 Wire Color Phase A J Red/Yellow Phase K White/Yellow Phase C L lack/yellow Ground M Green/Yellow Temp G Orange/Yellow or Yellow Temp H Orange/Yellow or Yellow Shield N.C. Clear Hall Ground F White/Green Hall +5 White/lue Hall 1 C White/rown Hall 2 D White/Orange Hall 3 E White/Violet Encoder +5 H Red Encoder Ground G lack CH A + A White CH A - Yellow CH + C Green CH - D lue Index + E Orange Index - F rown rake 1 R Red/lue rake 1 S Red/lue 1 rake will operate regardless of polarity of connection Custom Designed Servo Motors For Your Specific Application. Call Today. 49 Parker Hannifin Corporation

33 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS Innovative ridged Stator Design The NeoMetric and J Series brushless servo motors feature a bridged stator design. This state-of-the-art motor design establishes industry-leading torque to inertia ratios in a very compact package size. The bridged stator construction also reduces audible noise generated by the motor. Conventional motor designs allow magnetic forces to act upon the stator teeth, creating movement in them much like a cantilever beam. The bridges between the teeth in the NeoMetric design effectively stiffen the teeth, reducing movement. This same design principle also allows advanced manufacturing techniques. The two-piece stator lamination of the bridged stator design allows the slot opening, traditionally on the inside diameter, to be transferred to the outside diameter, simplifying winding insertion. The NeoMetric Series brushless servo motors provide extremely high torque to inertia ratios. For applications involving a high inertial load, a larger rotor inertia may be desirable. The J Series motors were designed specifically for these types of applications. The J Series motors provide the same performance as the NeoMetric Series, but feature a higher rotor inertia. Part Numbering System The size 34 NeoMetric Series and J Series servo motors are available with integrated planetary gearheads in ratios up to 1:1. Our unique package integrates the gearhead pinion into the motor shaft, reducing the overall package length by up to 2 inches. Features 7mm, 92mm, and size 34 6 to 61 lb-in continuous torque rushless construction High torque density packaging Outstanding torque-to-inertia ratios ridged stator design - quiet operation High performance neodymium magnets Thermoswitch protection TENV housing, IP65 option Resolver, encoder, Hall feedback options 1-day deliveries Two year warranty CAD (.dxf) drawings available CE Compliant N 923 H R- N MS Series N: NeoMetric Series J: Medium Inertia Series 4 Frame, Magnet Length Winding Identifying character D, E, F, etc mm motors only 2 7mm and 34 frame only 3 34 & 92 frame motors only. Specify K shaft option with gearheads Feedback D - 5 ppr encoder 2 E - 1 ppr encoder H - Hall-effect only R - Resolver Shafting N - Normal F - Flat K - Keyway Connections FL - Flying leads cable 2 PT - Pipe Thread Taps 1 TQ - Trap drive MS - Military style 4 Four stack motor lengths not available with J Series 5 With MS or TQ connectors, IP65. Options N - None - rake V - Shaft seal 5 GXX - Gearhead 3 5 Parker Hannifin Corporation

34 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS 7 mm or Size 34, Encoder Feedback, Specifications* N71D N71F N72E N72F N73F N73G N74F N74G Parameter Symbol Units N341D N341F N342E N342F N343F N343G N344F N344G Stall Torque Continous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,8 I cs (sine) Amps Peak Stall Current Continuous 1,7 I cs (trap) Amps DC Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,8 I pk (sine) Amps Peak Peak Current 6,7 I pk (trap) Amps DC Rated Speed 2 ω r rpm Rated Speed I r (sine) Amps Rated Speed I r (trap) Amps Rated Speed T r lb-in oz-in Nm Shaft Rated Speed P o watts Voltage Constant 3,4 K b Volts/rad/s Voltage Constant 3,4 K e Volts/KRPM Torque Constant 9 K t (sine) oz-in/amp Peak Nm/Amp Peak Torque Constant 3,4 K t (trap) oz-in/amp DC Nm/Amp DC Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage V m Volts DC Thermal Res Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/krpm 1.4 E E E E E E E E-3 Static Friction T f oz-in Nm 5.6 E E E E E E E E-2 Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs NeoMetric Mech. Time Const. τ mch millisecs J Series Mech. Time Const. τ mch millisecs N/A N/A Intermittent Torque Duration 1 T 2x seconds Peak Torque Duration 11 T 3x seconds NeoMetric Rotor Inertia J lb-in-sec E E E E E E E E-4 kg-m E E-5 2. E-5 2. E E E E E-5 J Series Rotor Inertia J lb-in-sec E E E E E E-3 N/A N/A kg-m E E E E E E-4 N/A N/A Number of Poles Np NeoMetric Weight # lbs kg J Series Weight # lbs N/A N/A kg N/A N/A Winding Class H H H H H H H H * NeoMetric and J Series Specifications are identical unless otherwise noted. 7 DC current through a pair of motor phases of a trapazoidally (six state) 25 C ambient, 125 C winding temperature, motor connected to a commutated motor. 1"x1"x1/4" aluminum mounting C ambient derate phase currents and torques by 12%. 8 Peak of the sinusoidal current in any phase for a sinusoidally commutated motor. 2 Maximum speed is 75 RPM. For higher speed operation please call the factory. 9 Total motor torque per peak of the sinusoidal amps measured in any phase, +/-1%. 3 Measured Line to Line, +/- 1%. 1 Maximum time duration with 2 times rated current applied with initial 4 Value is measured peak of sine wave. winding temp at 6 C. 5 +/-3%, Line-to-Line, inductance bridge 11 Maximum time duration with 3 times rated current applied with initial 6 Initial winding temperature must be 6 C or less before peak current is Applied. winding temp at 6 C. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. Custom Designed Servo Motors For Your Specific Application. Call Today. 51 Parker Hannifin Corporation

35 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS 7 mm or Size 34, Encoder Feedback, Performance Curves (Neometric & J Series data are identical unless otherwise noted) Torque (lb-in) Torque (lb-in) N71DR Ics (sine)=3.7 amps, Ipk(sine)=11.2 amps N72ER Ics (sine)=4.3 amps, Ipk(sine)=12.9 amps Torque (lb-in) Torque (lb-in) N71FR Ics (sine)=5.8 amps, Ipk(sine)=17.5 amps N72FR Ics (sine)=6. amps, Ipk(sine)=17.9 amps N73FR Ics (sine)=5.9 amps, Ipk(sine)=17.6 amps N73GR Ics (sine)=8.2 amps, Ipk(sine)=24.5 amps Torque (lb-in) Torque (lb-in) N74FR Ics (sine)=6.1 amps, Ipk(sine)=18.2 amps N74GR Ics (sine)=8.4 amps, Ipk(sine)=25.3 amps Torque (lb-in) Torque (lb-in) CONTINUOUS 17 VDC PEAK CONTINUOUS PEAK 34 VDC 52 Parker Hannifin Corporation

36 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS 7 mm or Size 34, Resolver Feedback, Specifications* N71D N71F N72E N72F N73F N73G N74F N74G Parameter Symbol Units N341D N341F N342E N342F N343F N343G N344F N344G Stall Torque Continous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,7 I cs (sine) Amps Peak Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,7 I pk (sine) Amps Peak Rated Speed 2 ω r rpm Rated Speed I r (sine) Amps Rated Speed T r lb-in oz-in Nm Shaft Rated Speed P o watts Voltage Constant 3,4 K b Volts/rad/s Voltage Constant 3,4 K e Volts/KRPM Torque Constant 8 K t (sine) oz-in/amp Peak Nm/Amp Peak Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage Vm Volts DC Thermal Res Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/krpm 1.4 E E E E E E E E-3 Static Friction T f oz-in Nm 5.6 E E E E E E E E-2 Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs NeoMetric Mech. Time Constant τ mch millisecs J Series Mech. Time Constant τ mch millisecs N/A N/A Intermittent Torque Duration 9 T 2x seconds Peak Torque Duration 1 T 3x seconds NeoMetric Rotor Inertia J lb-in-sec E E-4 2. E-4 2. E E E E E-4 kg-m E E E E-5 3. E-5 3. E E E-5 J Series Rotor Inertia J lb-in-sec E E E E E E-3 N/A N/A kg-m E E E E E E-4 N/A N/A Number of Poles Np NeoMetric Weight # lbs kg J Series Weight # lbs N/A N/A kg N/A N/A Winding Class H H H H H H H H * NeoMetric and J Series Specifications are identical unless otherwise noted. 25 C ambient, 15 C winding temperature, motor connected to a 1"x1"x1/4" aluminum mounting C ambient derate phase currents and torques by 12%. 2 Maximum speed is 75 RPM. For higher speed operation please call the factory. 3 Measured Line to Line, +/- 1%. 4 Value is measured peak of sine wave. 5 +/-3%, Line-to-Line, inductance bridge 6 Initial winding temperature must be 6 C or less before peak current is Applied. 7 Peak of the sinusoidal current in any phase for a sinusoidally commutated motor. 8 Total motor torque per peak of the sinusoidal amps measured in any phase, +/-1%. 9 Maximum time duration with 2 times rated current applied with initial winding temp at 6 C. 1 Maximum time duration with 3 times rated current applied with initial winding temp at 6 C. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. Custom Designed Servo Motors For Your Specific Application. Call Today. 53 Parker Hannifin Corporation

37 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS 7mm or Size 34, Resolver Feedback, Performance Curves (Neometric & J Series data are identical unless otherwise noted) Torque (lb-in) N71DE Ics (sine)=3.3 amps, Ipk(sine)=1. amps Torque (lb-in) N71FE Ics (sine)=5.2 amps, Ipk(sine)=15.6 amps N72EE Ics (sine)=3.8 amps, Ipk(sine)=11.5 amps N72FE Ics (sine)=5.4 amps, Ipk(sine)=16.1 amps Torque (lb-in) Torque (lb-in) Torque (lb-in) N73FE Ics (sine)=5.2 amps, Ipk(sine)=15.7 amps Torque (lb-in) N73GE Ics (sine)=7.3 amps, Ipk(sine)=21.9 amps N74FE Ics (sine)=5.4 amps, Ipk(sine)=16.3 amps N74GE Ics (sine)=7.5 amps, Ipk(sine)=22.6 amps Torque (lb-in) Torque (lb-in) CONTINUOUS 17 VDC PEAK CONTINUOUS PEAK 34 VDC 54 Parker Hannifin Corporation

38 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS 92 mm, Encoder Feedback, Specifications* Parameter Symbol Units N921F N921G N922G N922J N923H N923K N924J N924K Stall Torque Continous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,8 I cs (sine) Amps Peak Stall Current Continuous 1,7 I cs (trap) Amps DC Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,8 I pk (sine) Amps Peak Peak Current 6,7 I pk (trap) Amps DC Rated Speed 2 ω r rpm Rated Speed I r (sine) Amps Rated Speed I r (trap) Amps Rated Speed T r lb-in oz-in Nm Shaft Rated Speed P o watts Voltage Constant 3,4 K b Volts/rad/s Voltage Constant 3,4 K e Volts/KRPM Torque Constant 9 K t (sine) oz-in/amp Peak Nm/Amp Peak Torque Constant 3,4 K t (trap) oz-in/amp DC Nm/Amp DC Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage V m Volts DC Thermal Res Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/krpm 3.5 E E E E E E E E-3 Static Friction T f oz-in Nm 1.8 E E E E E E E E-2 Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs NeoMetric Mech. Time Constant τ mch millisecs J Series Mech. Time Constant τ mch millisecs N/A N/A Intermittent Torque Duration 1 T 2x seconds Peak Torque Duration 11 T 3x seconds NeoMetric Rotor Inertia J lb-in-sec E E E E E E E E-3 kg-m E E-5 7. E-5 7. E-5 1. E-4 1. E E E-4 J Series Rotor Inertia J lb-in-sec E E E E E E-3 N/A N/A kg-m E E E E E E-4 N/A N/A Number of Poles Np NeoMetric Weight # lbs kg J Series Weight # lbs N/A N/A kg N/A N/A Winding Class H H H H H H H H * NeoMetric and J Series Specifications are identical unless otherwise noted. 25 C ambient, 125 C winding temperature, motor connected to a 1"x1"x1/4" aluminum mounting plate. 7 DC current through a pair of motor phases of a trapazoidally (six state) commutated C ambient derate phase currents and torques by 12%. 8 Peak of the sinusoidal current in any phase for a sinusoidally commutated 2 Maximum speed is 75 RPM. motor. For higher speed operation please call the factory. 9 Total motor torque per peak of the sinusoidal amps measured in any phase, 3 Measured Line to Line, +/- 1%. +/-1%. 4 Value is measured peak of sine wave. 1 Maximum time duration with 2 times rated current applied with initial 5 +/-3%, Line-to-Line, inductance bridge winding temp at 6 C. 6 Initial winding temperature must be 6 C or less before peak current is Applied. 11 Maximum time duration with 3 times rated current applied with initial winding temp at 6 C. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. Custom Designed Servo Motors For Your Specific Application. Call Today. 55 Parker Hannifin Corporation

39 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS 92 mm, Encoder Feedback, Performance Curves (Neometric & J Series data are identical unless otherwise noted) 6 N921FR Ics (sine)=5.3 amps, Ipk(sine)=15.9 amps N921GR Ics (sine)=7.4 amps, Ipk(sine)=22.1 amps 6.72 Torque (lb-in) Torque (lb-in) N922GR Ics (sine)=7.3 amps, Ipk(sine)=21.8 amps Torque (lb-in) Torque (lb-in) N922JR Ics (sine)=11.3 amps, Ipk(sine)=33.8 amps N923HR Ics (sine)=11.1 amps, Ipk(sine)=33.4 amps N923KR Ics (sine)=19.4 amps, Ipk(sine)=58.3 amps Torque (lb-in) Torque (lb-in) N924JR Ics (sine)=12.1 amps, Ipk(sine)=36.4 amps Torque (lb-in) Torque (lb-in) N924KR Ics (sine)=17. amps, Ipk(sine)=51. amps CONTINUOUS 17 VDC PEAK CONTINUOUS PEAK 34 VDC 56 Parker Hannifin Corporation

40 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS 92 mm, Resolver Feedback, Specifications* Parameter Symbol Units N921F N921G N922G N922J N923H N923K N924J N924K Stall Torque Continous 1 T cs lb-in oz-in Nm Stall Current Continuous 1,4,7 I cs (sine) Amps Peak Peak Torque 6 T pk lb-in oz-in Nm Peak Current 4,6,7 I pk (sine) Amps Peak Rated Speed 2 ω r rpm Rated Speed I r (sine) Amps Rated Speed T r lb-in oz-in Nm Shaft Rated Speed P o watts Voltage Constant 3,4 K b Volts/rad/s Voltage Constant 3,4 K e Volts/KRPM Torque Constant 8 K t (sine) oz-in/amp Peak Nm/Amp Peak Resistance 3 R Ohms Inductance 5 L mh Maximum us Voltage V m Volts DC Thermal Res Wind-Amb R th w-a C/watt Motor Constant K m oz-in/ watt Nm/ watt Viscous Damping oz-in/krpm Nm/krpm 3.5 E E E E E E E E-3 Static Friction T f oz-in Nm 1.8 E E E E E E E E-2 Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs NeoMetric Mech. Time Const. τ mch millisecs J Series Mech. Time Constant τ mch millisecs N/A N/A Intermittent Torque Duration 9 T 2x seconds Peak Torque Duration 1 T 3x seconds NeoMetric Rotor Inertia J lb-in-sec E E E E E E E E-3 kg-m 2 6. E-5 6. E-5 9. E-5 9. E E E E E-4 J Series Rotor Inertia J lb-in-sec E E E E-3 5. E-3 5. E-3 N/A N/A kg-m^2 4.9 E E E E E E-4 N/A N/A Number of Poles Np NeoMetric Weight # lbs kg J Series Weight # lbs N/A N/A kg N/A N/A Winding Class H H H H H H H H * NeoMetric and J Series Specifications are identical unless otherwise noted. 25 C ambient, 15 C winding temperature, motor connected to a 1"x1"x1/4" aluminum mounting ambient derate phase currents and torques by 12%. 2 Maximum speed is 75 RPM. For higher speed operation please call the factory. 3 Measured Line to Line, +/- 1%. 4 Value is measured peak of sine wave. 5 +/-3%, Line-to-Line, inductance bridge 6 Initial winding temperature must be 6 C or less before peak current is applied. 7 Peak of the sinusoidal current in any phase for a sinusoidally commutated motor. 8 Total motor torque per peak of the sinusoidal amps measured in any phase, +/-1%. 9 Maximum time duration with 2 times rated current applied with initial winding temp at 6 C. 1 Maximum time duration with 3 times rated current applied with initial winding temp at 6 C. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. Custom Designed Servo Motors For Your Specific Application. Call Today. 57 Parker Hannifin Corporation

41 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS 92 mm, Resolver Feedback, Performance Curves (Neometric & J Series data are identical unless otherwise noted) 6 N921FR Ics (sine)=5.3 amps, Ipk(sine)=15.9 amps N921GR Ics (sine)=7.4 amps, Ipk(sine)=22.1 amps 6.72 Torque (lb-in) Torque (lb-in) N922GR Ics (sine)=7.3 amps, Ipk(sine)=21.8 amps Torque (lb-in) Torque (lb-in) N922JR Ics (sine)=11.3 amps, Ipk(sine)=33.8 amps N923HR Ics (sine)=11.1 amps, Ipk(sine)=33.4 amps N923KR Ics (sine)=19.4 amps, Ipk(sine)=58.3 amps Torque (lb-in) Torque (lb-in) N924JR Ics (sine)=12.1 amps, Ipk(sine)=36.4 amps Torque (lb-in) Torque (lb-in) N924KR Ics (sine)=17. amps, Ipk(sine)=51. amps CONTINUOUS 17 VDC PEAK CONTINUOUS PEAK 34 VDC 58 Parker Hannifin Corporation

42 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS NeoMetric & J Series Dimensional Drawings 7 mm Dimensional Drawing Dimensions in mm (inches) 4 x 5.8 (.228) Thru Holes Eq Spaced on a 75. (2.953) olt Circle for 5mm or #1 olt 23.1 (.91) 2.36 (.93) 7. (2.75) Sq. 11 (.43) [ ] [ ] 5 (.2) - N (None) - F (Flat) Shaft Options 1.4 (.41) (.53) Motor Length 12.7 (.5) Size 34, Dimensional Drawing Dimensions in inches (mm) 4.1 (.158) - K (Sq. Key) (.5) 82.8 (3.3) Model Motor Sizes Motor Length N (4.94) N72 J (5.94) N73 J (6.94) N74 J (7.94) N71 w/ rake (7.) N72 w/ rake J71 w/ rake 23.2 (8.) N73 w/ rake J72 w/ rake (9.) N74 w/ rake J73 w/ rake 254. (1.) 4 x.223 (5.66) Thru Holes Eq Spaced on a (98.43) olt Circle for 5mm or #1 olt 1.19 (3.23).93 (2.36) Motor Sizes 3.25 (82.6) Sq..5 (12.7) ( ) [ ].228 (5.8) Shaft Options.473 (12.1).25 (6.35).5 (12.7) Motor Length.125 (3.175) - N (None) - F (Flat) - K (Sq. Key).56 (14.22) 3.26 (82.8) Model Motor Length N (125.5) N342 J (15.9) N343 J (176.3) N344 J (21.7) N341 w/ rake 7. (177.8) N342 w/ rake J341 w/ rake 8. (23.2) N343 w/ rake J342 w/ rake 9. (228.6) N344 w/ rake J343 w/ rake 1. (254.) 92 mm Dimensional Drawing Dimensions in mm (inches) 4 x 7.14 (.281) Thru Holes Eq Spaced on a 1 (3.937) olt Circle for 6mm or 1/4" olt 3. (1.18) 2.36 (.93) Motor Sizes [ ] 14.9 (4.1) Model Motor Length 92. (3.62) Sq. 14 (.5512) [ ] Shaft Options 6.4 (.25) 13.5 (.53) 16 (.63) Motor Length 5 (.197) (.521) - N (None) - F (Flat) - K (Sq. Key) 16 (.63) N (6.63) N922 J (8.13) N923 J (9.63) N924 J (11.13) N921 w/ rake (9.) N922 w/ rake J921 w/ rake (1.5) N923 w/ rake J922 w/ rake 34.8 (12.) N924 w/ rake J923 w/ rake (13.5) Custom Designed Servo Motors For Your Specific Application. Call Today. 59 Parker Hannifin Corporation

43 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS NeoMetric and J Series, Feedback Specifications Resolver Schematic Diagram Resolver Specifications R2 WHITE RED S3 Parameter Value R1 ROWN ROTOR PRIMARY Phasing Equation: For CW rotation of rotor facing mounting flange end. E S1-S3 = KE R1-R2 COSØ E S2-S4 = KE R1-R2 SINØ Encoder Specifications Mechanical Electrical Accuracy LUE S4 Input power Operating frequency Output device Sink/Source, nominal Suggested user interface GREEN S2 LACK S1 STATOR SECONDARY ±2 min of arc 5 VDC ±5%, 135 ma 1 khz max 26LS31 2 ma 26LS32 Input 7 khz 4.25 volts Input current, max Designation 55 ma Input power, nominal.12 watts Impedance ZSO (@ 9 ) 58+j145 ohms Impedance ZRO 53+j72 ohms Impedance ZRS 42+j55 ohms Transformation ratio.47 ±5% Output voltage 2. ±5% volts DC rotor resistance 23 ±1% ohms DC stator resistance 19 ±1% ohms Sensitivity 35 mv/degree Max error from EZ ±1 minutes Phase shift, open circuit 5 leading, ±3" of arc Null voltage, total 2 mv rms Impedance ZSS 5+j128 ohms Inertia Incl. with motor spec. Commutation Chart Clockwise rotation as viewed from front shaft. Hall-Effect Specifications Designation Pin Number MS Wire Color MS / RS Cables Phase Wire -A Color GS/G Cables Phase A-C Phase C- Electrical Designation Input power Output device open collector Maximum pull up Sink 5 VDC ±5%, 8 ma LM VDC 16 ma Hall #1 Electrically Released rakes Hall #2 7 mm or rakes 34 Frame 92 mm Static rated torque 24 in-lb 72 in-lb Coil voltage 24 VDC 24 VDC Coil current.8 amps.52 amps Weight 1. lbs 2.51 lbs Inertia.38 lb-in-sec 2.15 lb-in-sec 2 Engage/Disengage 1/2 ms 1/25 ms Hall #3 6 Parker Hannifin Corporation

44 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS Wiring and Cable Specifications Flying Leads, Cabled and MS Connection Options The FL (Flying Lead) Connection option for the NeoMetric and J Series motors features 18 leads extending from the motor body. Wire color codes are the same as listed below for MS wired NeoMetric and J Series motors. The FL option is only available on 7 mm/size 34 motors with encoder feedback. The 1 connection option for the NeoMetric and J Series motors consists of 1 feet of hard-wired cable extending from the motor body. These cables terminate in flying leads. Wire color codes are the same as listed below for the MS connection option. The 1 option is only available on 7 mm/size 34 motors with encoder feedback. The MS connection option for the NeoMetric and J Series motors provides quick disconnect, bayonet style connectors attached to the motor body. Mating cables are specified and ordered separately. With the MS connection option, the motor phase wires are in one connector, and the hall, encoder and temperature switch wires are in the other connector. This option works well when using an amplifier with a built-in controller, or when all cables enter into a cabinet or enclosure and then are wired into a terminal strip. When specifying the R (resolver) feedback option, the motor phase wires reside in one connector, the resolver signal and temperature switch wires in the other. Encoder/Hall Feedback Connection Designation Pin Number MS14-18 Wire Color Encoder +5 H Red Encoder Ground G lack CH A + A White CH A - Yellow CH + C Green CH - D lue Index + E Orange Index - F rown Hall Ground K White/Green Hall +5 M White/lue Hall 1 T White/rown Hall 2 U White/Orange Hall 3 P White/Violet rake 2 R Red/lue rake 2 S Red/lue Temp L Orange/Yellow Temp N Orange/Yellow Shield N.C. Clear Wire Color Designation Motor Connection Pin Number MS14-12 Wire Color MS/RS Cables Wire Color GS/G Cables Phase A J Red/Yellow lack 1 Phase K White/Yelow lack 2 Phase C L lack/yellow lack 3 Ground M Green/Yellow Green/Yellow Shield N.C. Clear N.C. 1 7 mm/size 34 motor connector is MS mm motor connector is MS rake will operate regardless of polarity of connection. Resolver Feedback Connection Designation Pin Number MS14-12 Wire Color S1, COS + E lack S2, SIN + L Green S3, COS - J Red S4, SIN - G lue R1, EXC + C rown R2, EXC - U White Temp R Orange/Yellow or Yellow Temp Pin Number MS14-18 N Orange/Yellow or Yellow rake 2 S Red/lue rake 2 T Red/lue Shield N.C. Clear Custom Designed Servo Motors For Your Specific Application. Call Today. 61 Parker Hannifin Corporation

45 Catalog 8-4/USA NeoMetric & J Series SERVO MOTORS Wiring and Cable Specifications (continued) TQ Connection Option (7mm/Size 34 Only) The TQ Connection option for the NeoMetric or J series motors provides quick disconnect, bayonet style connectors attached to the motor body. Mating cables are specified and ordered separately. The TQ connection option joins the motor phase wires, temperature switch, and hall effect signals in one connector. The second connector has only encoder signals. This connection option applies well in applications where the hall and motor phase wires connect directly to an amplifier, while the encoder signals connect directly to a controller. Motor/Hall Connection Encoder Feedback Connection Designation Pin Number MS14-12 Wire Color Designation Pin Number MS14-18 Wire Color Phase A J Red/Yellow Phase K White/Yellow Phase C L lack/yellow Ground M Green/Yellow Temp G Orange/Yellow or Yellow Temp H Orange/Yellow or Yellow Shield N.C. Clear Hall Ground F White/Green Hall +5 White/lue Hall 1 C White/rown Hall 2 D White/Orange Hall 3 E White/Violet Encoder +5 H Red Encoder Ground G lack CH A + A White CH A - Yellow CH + C Green CH - D lue Index + E Orange Index - F rown rake 1 R Red/lue rake 1 S Red/lue 1 rake will operate regardless of polarity of connection PT Connection Option The PT connection option features two 1/2-14 NPT threaded holes in the connector housing, and internal screw terminal connections for motor and feedback leads. This connection option is recommended when running cable conduit between the motor and an enclosure containing the amplifier and controller. The PT connection option is only available on 92mm motors. 62 Parker Hannifin Corporation

46 Catalog 8-4/USA M Series SERVO MOTORS Low Cost, High Performance The M Series is Compumotor s newest series of motors. Completing Compumotor s line of servos, the M Series moves innovative design into larger-frame motors, yet they remain affordably priced. An eight-pole design allows for highly dynamic motion while minimizing power loss within the motor itself. Features Size 15, 145 and 25mm diameters 53 to 625 lb-in continuous torque rushless construction Thermal protection IP65 option Resolver and encoder feedback options Two-year warranty CAD (.dxf) drawings available CE compliant Electrically released brakes available Part Numbering System M 153 K J- K MS N M Series Frame, Magnet Length Winding J, K, L, M, N, P, R, S Feedback J - 2 ppr encoder R - Resolver 1 Shaft N - Normal K - Keyway 3 Connection MS - Military style PT - Pipe thread 2 Options N - None V - IP65 - rake 1 Standard resolver not compatible w/ APEX drives. Please contact Compumotor s Custom Servo Motor group for motors compatible with the APEX series of drives 2 Pipe thread only available in M253 and M254 resolver motors 3 Standard Custom Designed Servo Motors For Your Specific Application. Call Today. 63 Parker Hannifin Corporation

47 Catalog 8-4/USA M Series SERVO MOTORS 15mm, 145mm & 25mm Encoder Feedback Specifications Parameter Symbol Units M153K M154K M1453L M1454N M1455P M252P M253R M254S Stall Torque Cont [1] Tcs oz-in Stall Torque Cont [1] Tcs lb-in Stall Torque Cont [1] Tcs Nm Stall Current Cont [1,4,8] Ics(sine) Amps peak Stall Current Cont [1] Ics(RMS) Amps RMS Peak Torque [6] Tpk oz-in Peak Torque Tpk lb-in Peak Torque [6] Tpk Nm Peak Current [4,6,8] Ipk(sine) Amps Peak Peak Current [6] Ipk(RMS) Amps RMS Rated Speed [2] Wr rpm Rated Speed Ir(sine) Amps Peak Rated Speed Ir(RMS) Amps RMS Rated Speed Tr oz-in Rated Speed Tr Nm Shaft Rated Speed Po watts Voltage Constant [3,4] Kb volts/rad/s Voltage Constant [3,4] Ke volts/krpm Torque Constant [3,9] Kt(sine) oz-in/ Amps Peak Torque Constant [3,4] Kt(trap) oz-in/ Amps DC Torque Constant [3] Kt(RMS) oz-in/ Amps RMS Resistance [3] R Ohms Inductance [5] L mh Max us Voltage Vm Volts DC Thermal Resistance Wind-Amb Rth w-a C/watt Motor Constant Km oz-in/ sqrt(watt) Viscous Damping oz-in/krpm Static Friction Tf oz-in Elect Time Constant Tau_elec millsecs Mech Time Constant Tau_mch millisecs Rotor Inertia J lb-in-sec^2 4.2E-3 5.5E-3 1.4E-2 1.9E-2 2.4E-2 7.1E-2 9.7E-2 9.7E-2 Rotor Inertia J kgm^2 4.8E-4 6.2E-4 1.6E-3 2.2E-3 2.7E-3 8.E-3 1.1E-2 1.1E-2 Rated Winding Temp WTr C Rated Ambient Temp Tamb C Rated Case Temp Tcase C Number of Poles Np Weight # lbs Winding Class H H H H H H H H 4 C ambient, derate phase currents and torques by 7%. 2 For higher-speed operation, please call the factory. 3 Measured line to line, +/- 1%. 4 Value is measured peak of sine wave. 5 +/- 3%, line to line, inductance bridge 1Khz. 6 Initial winding temperature mut be 6 C or less before peak current is applied. 7 Direct current through a pair of motor phases of a trapezoidally (six state) commutated motor. 8 Peak of sinusoidal current in any phase for a sinusoidally commutated motor. 9 Total motor torque per peak of the sinusoidal amps measured in any phase, +/- 1%. 1 Maximum time duration with 2 times (or 3 times) rated current applied with initial winding temperature at 6 C. 64 Parker Hannifin Corporation

48 Catalog 8-4/USA M Series SERVO MOTORS M Series Performance Curves Torque (Lb-in) I cs (sine) = 2.3 amps, I pk (sine) = 6.9 amps M153K Torque (Lb-in) I cs (sine) = 23.7 amps, I pk (sine) = 71.1 amps M154K Torque (Lb-in) M1453L I cs (sine) = 4.7 amps, I pk (sine) = amps Torque (Lb-in) I cs (sine) = 55.7 amps, I pk (sine) = amps I cs (sine) = 63.6 amps, I pk (sine) = 19.8 amps I cs (sine) = 6.9 amps, I pk (sine) = amps M1454N Torque (Lb-in) M1455P Torque (Lb-in) M252P Torque (Lb-in) M253R M254S I cs (sine) = 85. amps, I pk (sine) = 255. amps I cs (sine) = 19.4 amps, I pk (sine) = amps Torque (Lb-in) CONTINUOUS PEAK (56VDC) Custom Designed Servo Motors For Your Specific Application. Call Today. 65 Parker Hannifin Corporation

49 Catalog 8-4/USA M Series SERVO MOTORS M Series Dimensional Drawings Dimensions in inches (mm) 15 mm Dimensional Drawing Power Connector MS312A16S-1P Feedback Connector MS3112E14-15P 145 mm Dimensional Drawing Feedback Connector MS3112E14-15P Power Connector M145: M312A2-15P 25 mm Dimensional Drawing Motor Sizes Terminal ox Only on Models 253 and 254 Model Motor Length M (273.) M (317.) Dack Connector: MS3112E14-15P Power Connector: MS312A24-1P on Model M252 only M (292.) M (354.) M (416.) M252-MS (342.) M253-PT (411.) M254-PT 18.9 (48.1) 66 Parker Hannifin Corporation

50 Catalog 8-4/USA M Series SERVO MOTORS Wiring and Cable Specifications MS Connection Options The M Series Motors are available standard with MS connectors. These bayonet-style connectors provide quickdisconnect. Mating cables are specified and ordered separately. With the MS connection option, the motor phase and brake wires are in one connector, and the hall, encoder, and temperature switch wires are in the other connector. This option works well when using an amplifier with a built-in controller, or when all cables enter into a cabinet or enclosure and then are wired into a terminal strip. PT Connection Options The M253 and M254 motors with resolver feedback are available with the PT connector option due to the high current requirements of these motors. A terminal block is available inside the motor housing to make the required connections. Motor Connection Designation Encoder Connection Pin Number Wire Color CH A + C White CH A - D Yellow CH + A Green CH - lue CH Z + E Orange CH Z - F rown Hall 1 H White/rown Hall 2 J White/Orange Hall 3 G White/Violet +5V K Red V L lack Temp M Yellow/Orange Shield N Shield Temp R Yellow/Orange Designation Pin Number Wire Color Phase A A lack #1 Phase lack #2 Phase C C lack #3 Ground D/E Green/Yellow Shield Shell Clear rake F Red/lue rake G Red/lue Resolver Connection Designation Pin Number Wire Color SIN + A Green SIN - lue COS + D lack COS - E Red EXC + G rown EXC - H White Temp K Yellow/Orange Temp L Yellow/Orange Drain M Custom Designed Servo Motors For Your Specific Application. Call Today. 67 Parker Hannifin Corporation

51 Catalog 8-4/USA M Series SERVO MOTORS M Series, Feedback Specifications Encoder Specifications Commutation Chart Clockwise rotation as viewed from front shaft. Mechanical Accuracy ±2 min of arc Phase -A Phase A-C Phase C- Electrical Input power Operating frequency Output device Sink/Source, nominal 5 VDC ±5%, 135 ma 3 khz max 26LS31 2 ma Hall-Effect Specifications Hall #1 Hall #2 Electrical Input power Output device open collector Maximum pull up Sink 5 VDC ±5%, 8 ma LM VDC 16 ma Hall #3 Resolver Specifications rakes Parameter Value Input 7 khz 4.25 volts Input current, max 55 ma Input power, nominal.12 watts Impedance ZSO (@ 9 ) 58+j145 ohms Impedance ZRO 53+j72 ohms Impedance ZRS 42+j55 ohms Transformation ratio.47 ±5% Output voltage 2. ±5% volts DC rotor resistance 23 ±1% ohms DC stator resistance 19 ±1% ohms Sensitivity 35 mv/degree Max error from EZ ±1 minutes Phase shift, open circuit 5 leading, ±3" of arc Null voltage, total 2 mv rms Impedance ZSS 5+j128 ohms Inertia Incl. with motor spec. Type Units 15mm 145mm 25mm Supply voltage vdc C amps C ohms Max static torque Nm Max static torque in-lb Moment of inertia kgm^2 1E Moment of inertia lb-in-sec^2 1E Parker Hannifin Corporation

52 Catalog 8-4/USA SL Series SERVO MOTORS Slotless Linear Servo Motor Compumotor s SL Series brushless linear servo motors feature the same slotless winding design made popular by our SM and SE Series rotary servo motors. Along with reduced manufacturing costs, the slotless design creates several performance advantages when compared to traditional ironcore and ironless linear servo motors: Forcer Part Numbering System Single-row magnet bar Lower cost and weight (compared to ironless design) etter heat dissipation (compared to ironless design) More force per package size (compared to ironless design) Lighter weight forcer (compared to ironcore design) Lower attractive forces (compared to ironcore design) Less cogging force (compared to ironcore design) SL 63 8 A H - 1 N SL Series Forcer Width # of Poles Winding A 1 Commutation N - None H - Hall effect Connection FL - Flying Leads Hi-Flex Cable Hi-Flex Cable Options N - None W - Water Cooling 3 Magnet ar Part Numbering System L SL Series Magnet ar Forcer Width ar Length 42: 42mm 84: 84mm 21: 21mm 336: 336mm 462: 462mm 588: 588mm Linear Motor sizing software CD available at! 1 Special windings can be designed to meet customer specifications. Please consult factory. 2 For motors without hall effect commutation, motor phase and temperature switch wires are located in a single cable. For motors with hall effect commutation, motor phase wires are in one cable, hall effect and temperature switch wires are in a second cable. 3 Not available on SL43. Custom Designed Servo Motors For Your Specific Application. Call Today. 69 Parker Hannifin Corporation

53 Catalog 8-4/USA SL Series SERVO MOTORS The Linear Motor Concept The idea is simple enough. Take a conventional rotary servo motor and unwrap it. What was the stator is now a forcer and the rotor becomes a magnet bar. With this design, the motor is connected directly to the load. Direct linear motion is achieved without any rotary to linear transmission devices. The direct coupling of the forcer to the load provides these performance benefits: High Speeds Zero acklash Fast Response High Precision High Stiffness Low Maintenance Summary Chart: elow is a summary of linear motor attributes and how each technology compares to the others. ATTRIUTE IronCore AirCore Slotless Cost Low High Lowest Attractive Force Highest None Moderate Cogging Highest None Moderate Force / Size est Moderate Good Thermal Characteristics est Lowest Good Forcer Weight Heaviest Lightest Moderate Forcer Strength est Worst Good SL43, Uncooled, Specifications (Preliminary) Parameter Symbol Units SL434A SL436A SL438A SL431A SL4312A Peak Force 1, 3 T pk N lbf Continuous Stall Force 1, 2 F cs N lbf SL43 specifications are preliminary. 2 Measured Line to Line, +/- 1%. 3 +/-3%, Line-to-Line, inductance bridge 7 Parker Hannifin Corporation

54 Catalog 8-4/USA SL Series SERVO MOTORS SL63, General Specifications Parameter Symbol Units SL634A SL636A SL638A SL631A SL6312A Parameter Symbol Units SL634A SL636A SL638A SL631A SL6312A Voltage Constant 1,2 K b Volts/m/s Volts/in/s Force Constant 8 K f (sine) N/Amp Peak lbf/amp Peak Resistance 1 R Ohms Inductance 3 L mh Maxumum us Voltage V m Volts DC Motor Constant K m N/ watt Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs Mechanical Time Constant τ mch millisecs Intermittent Force Duration 4 F 2x seconds Peak Force Duration 5 F 3x seconds Magnetic Attraction 6 F a N lbf Electrical Pitch 7 P e mm Forcer Mass M f kg lb Rated Winding Temperature T max C Winding Class H H H H H SL63, Uncooled, Specifications Parameter Symbol Units SL634A SL636A SL638A SL631A SL6312A Peak Force 3 T pk N lbf Continuous Stall Force 1 F cs N lbf Peak Current 2,3,4 I pk (sine) Amps Peak Stall Current Continuous 1,2,4 I cs (sine) Amps Peak Thermal Resistance 1 R th C/watt Measured Line to Line, +/- 1%. 2 Value is measured peak of sine wave. 3 +/-3%, Line-to-Line, inductance bridge 4 Maximum Time duration with 2 times rated current applied with initial winding temp at 6 C. 5 Maximum time duration with 3 times rated current applied with initial winding temp at 6 C. 6 Measured with a.76mm gap 7 Distance from the leading edge of a north pole to the leading edge of the next north pole 8 Total motor torque per peak of the sinusiodal amps measured in any phase, +/-1%. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. Custom Designed Servo Motors For Your Specific Application. Call Today. 71 Parker Hannifin Corporation

55 Catalog 8-4/USA SL Series SERVO MOTORS SL63, Air Cooled, Specifications Parameter Symbol Units SL634A SL636A SL638A SL631A SL6312A Peak Force 3 T pk N lbf Continuous Stall Force 1 F cs N lbf Peak Current 2,3,4 I pk (sine) Amps Peak Stall Current Continuous 1,2,4 I cs (sine) Amps Peak Thermal Resistance 1 R th C/watt SL63, Water Cooled, Specifications Parameter Symbol Units SL634A SL636A SL638A SL631A SL6312A Peak Force 3 T pk N lbf Continuous Stall Force 1 F cs N lbf Peak Current 2,3,4 I pk (sine) Amps Peak Stall Current Continuous 1,2,4 I cs (sine) Amps Peak Thermal Resistance 1 R th C/watt Parker Hannifin Corporation

56 Catalog 8-4/USA SL Series SERVO MOTORS SL12, General Specifications Parameter Symbol Units SL124A SL126A SL128A SL121A SL1212A Voltage Constant 1,2 K b Volts/m/s Volts/in/s Force Constant 8 K f (sine) N/Amp Peak lbf/amp Peak Resistance 1 R Ohms Inductance 3 L mh Maxumum us Voltage V m Volts DC Motor Constant K m N/ watt Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs Mechanical Time Constant τ mch millisecs Intermittent Force Duration 4 F 2x seconds Peak Force Duration 5 F 3x seconds Magnetic Attraction 6 F a N lbf Electrical Pitch 7 P e mm Forcer Mass M f kg lb Rated Winding Temperature T max C Winding Class H H H H H SL12, Uncooled, Specifications Parameter Symbol Units SL124A SL126A SL128A SL121A SL1212A Peak Force 3 T pk N lbf Continuous Dynamic Force 1, 9 F cs N lbf Continuous Stall Force 1 F cs N lbf Peak Current 2,3,4 I pk (sine) Amps Peak Dynamic Current Continuous 1,2,4,9 I cs (sine) Amps Peak Stall Current Continuous 1,2,4 I cs (sine) Amps Peak Thermal Resistance 1 R th C/watt Measured Line to Line, +/- 1%. 2 Value is measured peak of sine wave. 3 +/-3%, Line-to-Line, inductance bridge 4 Maximum Time duration with 2 times rated current applied with initial winding temp at 6 C. 5 Maximum time duration with 3 times rated current applied with initial winding temp at 6 C. 6 Measured with a.76mm gap 7 Distance from the leading edge of a north pole to the leading edge of the next north pole 8 Total motor torque per peak of the sinusiodal amps measured in any phase, +/-1% 9 Dynamic force and current measured at a carriage velocity of.5m/s. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. Custom Designed Servo Motors For Your Specific Application. Call Today. 73 Parker Hannifin Corporation

57 Catalog 8-4/USA SL Series SERVO MOTORS SL12, Air Cooled, Specifications Parameter Symbol Units SL124A SL126A SL128A SL121A SL1212A Peak Force T pk N lbf Continuous Stall Force F cs N lbf Peak Current I pk (sine) Amps Peak Stall Current Continuous I cs (sine) Amps Peak Thermal Resistance R th C/watt SL12, Water Cooled, Specifications Parameter Symbol Units SL124A SL126A SL128A SL121A SL1212A Peak Force 3 T pk N lbf Continuous Stall Force 1 F cs N lbf Peak Current 2,3,4 I pk (sine) Amps Peak Stall Current Continuous 1,2,4 I cs (sine) Amps Peak Thermal Resistance 1 R th C/watt Parker Hannifin Corporation

58 Catalog 8-4/USA SL Series SERVO MOTORS SL14, General Specifications Parameter Symbol Units SL144A SL146A SL148A SL141A SL1412A Voltage Constant 1,2 K b Volts/m/s Volts/in/s Force Constant 8 K f (sine) N/Amp Peak lbf/amp Peak Resistance 1 R Ohms Inductance 3 L mh Maxumum us Voltage V m Volts DC Motor Constant K m N/ watt Motor Thermal Time Constant τ th minutes Electrical Time Constant τ elec millisecs Mechanical Time Constant τ mch millisecs Intermittent Force Duration 4 F 2x seconds Peak Force Duration 5 F 3x seconds Magnetic Attraction 6 F a N lbf Electrical Pitch 7 P e mm Forcer Mass M f kg lb Rated Winding Temperature T max C Winding Class H H H H H SL14, Uncooled, Specifications Parameter Symbol Units SL144A SL146A SL148A SL141A SL1412A Peak Force 3 T pk N lbf Continuous Dynamic Force 1, 9 F cs N lbf Continuous Stall Force 1 F cs N lbf Peak Current 2,3,4 I pk (sine) Amps Peak Dynamic Current Continuous 1,2,4,9 I cs (sine) Amps Peak Stall Current Continuous 1,2,4 I cs (sine) Amps Peak Thermal Resistance 1 R th C/watt Measured Line to Line, +/- 1%. 2 Value is measured peak of sine wave. 3 +/-3%, Line-to-Line, inductance bridge 4 Maximum Time duration with 2 times rated current applied with initial winding temp at 6 C. 5 Maximum time duration with 3 times rated current applied with initial winding temp at 6 C. 6 Measured with a.76mm gap 7 Distance from the leading edge of a north pole to the leading edge of the next north pole 8 Total motor torque per peak of the sinusiodal amps measured in any phase, +/-1% 9 Dynamic force and current measured at a carriage velocity of.5m/s. Note: These specifications are based on theoretical motor performance and are not specific to any amplifier. Custom Designed Servo Motors For Your Specific Application. Call Today. 75 Parker Hannifin Corporation

59 Catalog 8-4/USA SL Series SERVO MOTORS SL14, Air Cooled, Specifications Parameter Symbol Units SL144A SL146A SL148A SL141A SL1412A Peak Force 3 T pk N lbf Continuous Stall Force 1 F cs N lbf Peak Current 2,3,4 I pk (sine) Amps Peak Stall Current Continuous 1,2,4 I cs (sine) Amps Peak Thermal Resistance 1 R th C/watt SL14, Water Cooled, Specifications Parameter Symbol Units SL144A SL146A SL148A SL141A SL1412A Peak Force 3 T pk N lbf Continuous Stall Force 1 F cs N lbf Peak Current 2,3,4 I pk (sine) Amps Peak Stall Current Continuous 1,2,4 I cs (sine) Amps Peak Thermal Resistance 1 R th C/watt Parker Hannifin Corporation

60 Catalog 8-4/USA SL Series SERVO MOTORS SL63 Dimensional Drawings 26,8 [ 1.55 ] 14,73 [.58 ] 7,11 [.28 ] 3,81 [.15 ],51 -,76 [ ] MAGNET TO FORCER AIR GAP Dimensions in mm (inches) 27,2 [ 1.7 ] LENGTH N 14,48 [.57 ] SYM 4,74 [ 1.64 ] SYM. 56,2 [ 2.21] 63 [ 2.48 ] 1 1,1-1,5 [ ] 2 MAGNET TO HALL SENSOR AIR GAP (HALL VERSION ONLY) A,12 [.5],12 [.5 ] / 25,4 [ 1. ] x 25,4 [ 1. ] 3 18,5 42 TYP [.728 ] [ ] C 3,4 [.134 ] 1 AND 25 FOOT CALE M4 x.7 9,7 [.38 ] (N) HOLES O,25 [.1] A C FLYING LEADS Motor Length NOTES: 1 FLEX CALE IS DESIGNED FOR 1 MILLION CYCLES AT A END RADIUS > 8 MM. DO NOT FLEX CALES WITHIN 3 MM OF CALE EXIT. 2 FORCER MOUNTING SURFACE MUST MEET THIS FLATNESS SPEC. 3 DIMENSION USED TO ESTALISH POSITIONAL TOLERANCE ON M4 MOUNTING HOLES. 1 [.4 ] (2x) 1/8" ID HOSE AR FITTING 3,2 [.13 ] HEAT SINK PLUGS NO HALL COMMUTATION (CALE VERSION SHOWN) HALL COMMUTATION (CALE VERSION SHOWN WITH AIR/WATER COOLING) Model Length Holes SL (5.33) 6 SL (6.99) 8 SL (8.64) 1 SL (1.3) 12 SL (11.95) 14 2,75 [.817 ] TYP [ ] ø 6,35±,12 3,18±,12 [.25±.5] [.125±.5] ø 3,58±,12 THRU [.141±.5] (N) HOLES O,25 [.1] A C 63,5±,12 [ 2.5±.5] 45 [ 1.772] N S C 9,25 [.364] LENGTH 2,59 +,5 -, [ ] 5,8±,5 [.2±.2 ] 11,43±,25 [.45±.1 ],7 [.3],2 [.1 ] / 25,4 [ 1. ] x 25,4 [ 1. ] 6,35±,12 [.25±.5] A 6,35±,12 [.25±.5 ] Magnet Length Model Length Holes L (1.654) 2 L (3.37) 4 L (8.268) 1 L (13.228) 16 L (18.189) 22 L (23.15) 28 2,59 +,5 -, [ ] Custom Designed Servo Motors For Your Specific Application. Call Today. 77 Parker Hannifin Corporation

61 Catalog 8-4/USA SL Series SERVO MOTORS SL12 Dimensional Drawings Dimensions in mm (inches) Motor Length Model Length Holes SL (5.26) 9 SL (6.92) 12 SL (8.57) 15 SL (1.22) 18 SL (11.88) 21 Magnet Length Model Length Holes L (1.654) 2 L (3.37) 4 L (8.268) 1 L (13.228) 16 L (18.189) 22 L (23.15) Parker Hannifin Corporation

62 Catalog 8-4/USA SL Series SERVO MOTORS SL14 Dimensional Drawings Dimensions in mm (inches) Motor Length Model Length Holes: A SL (5.26) 2 9 SL (6.92) 3 12 SL (8.57) 4 15 SL (1.22) 5 18 SL (11.88) 6 21 Magnet Length Model Length Holes L (1.654) 2 L (3.37) 4 L (8.268) 1 L (13.228) 16 L (18.189) 22 L (23.15) 28 Custom Designed Servo Motors For Your Specific Application. Call Today. 79 Parker Hannifin Corporation

63 Catalog 8-4/USA Planetary Gearheads SERVO MOTORS Integrated Design for Shortest Possible Package Compumotor can provide an integrated planetary gearhead with the SM, SE, E, NeoMetric Series or J Series brushless servo motors. y incorporating the pinion of the reducer into the motor s shaft design, Compumotor has achieved the shortest package length in the industry. This design eliminates the need for an adapter plate and coupling, resulting in a space savings of over two inches in total package length. The integrated planetary gearheads are available in size 16, 23, 34 and 92mm. To simplify the application process, Compumotor provides a true system of specification for each motor gearhead combination. Compumotor can also provide custom gearhead solutions. Custom ratios, mounting flanges, and shafts can easily be incorporated into our standard package. Part Numbering System Features Size 16, 23, 34 and 92mm Integrated design Compact and short Shaft seal included with every gearhead Ratios: GXX G3 G5 G5 G7 G8 G1 G15 G22 G25 G3 G4 G5 G55 G1 RATIO 3:1 5:1 5.5:1 7:1 8:1 1:1 15:1 22:1 25:1 3:1 4:1 5:1 55:1 1:1 SM/SE (16, 23) E (23, 34) Neo/J (34) Neo/J (92) SM 233 A E- K MS G1 Series SM SE E J N Frame, Magnet Length 16X 23X 34X 92X Winding Identifying character A,, D, E, F, etc. 1 Refers to keyway on gearhead output shaft 2 Currently available as standard product only on E and Neometric motors 3 Shaft seal is included with the gearhead 4 Not available on Neometric 92mm 5 Neometric 92mm only 6 With MS, TQ or GS connectors - IP65 Feedback D - 5 ppr encoder E - 1 ppr encoder H - Hall-effect only J - 2 ppr encoder R - Resolver Shaft K - Keyway 1 Connection FL MS GS TQ PT 1 25 Options N - None - rake 2 G3-3:1 ratio 3 G5-5:1 ratio 3, 5 or 5.5:1 3, 4 G7-7:1 ratio 3, 4 G8-8:1 ratio 3 G1-1:1 ratio 3 G15-15:1 ratio 3, 5 G22-22:1 ratio 3, 4 G25-25:1 ratio 3, 5 G3-3:1 ratio 3, 5 G4-4:1 ratio 3, 5 G5-5:1 ratio 3, 5 G55-55:1 ratio 3, 4 G1-1:1 ratio 3, 4 V - Shaft seal 6 8 Parker Hannifin Corporation

64 Catalog 8-4/USA Planetary Gearheads SERVO MOTORS Size 16 Gearhead Mechanical Specifications Parameter Symbol Units G3 G5 G7 G1 G22 G55 G1 Ratio 3:1 5.5:1 7:1 1:1 22:1 55:1 1:1 Maximum Input Torque T r lb-in oz-in Nm Friction Torque T f oz-in Nm Viscous Damping T d oz-in/krpm Nm/Krpm Torque Efficiency E Torsional Stiffness oz-in/arc-min Nm/arc-min Gearhead Weight lbs Kg acklash arc-min Note: These specifications are for gearheads which have been operated for less than one hour. Gearhead Torque = (Motor Torque - T f - (T d x Motor Shaft Speed)) x Gear Ratio x E Size 16 Motor/Gearhead System Specifications Motor Planetary Ratio Continuous Peak Gearhead Thermal Frame Identifier Stall Torque Stall Torque Inertia Resistance lb - in Nm lb - in Nm lb-in-sec 2 Kg-m 2 ( C/Watt) SM16 G5 5.5: E E SE16 G7 7: E E G1 1: E E G22 22: E E G55 55: E E G1 1: E E SM161 G3 3: E E SE161 G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E G55 55: E E G1 1: E E SM162 G3 3: E E SE162 G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E G55 55: E E Torque limited by gearhead design. Motor must not exceed listed maximum input torque. Custom Designed Servo Motors For Your Specific Application. Call Today. 81 Parker Hannifin Corporation

65 Catalog 8-4/USA Planetary Gearheads SERVO MOTORS Size 23 Gearhead Mechanical Specifications Parameter Symbol Units G3 G5 G7 G1 G22 G55 G1 Ratio 3:1 5.5:1 7:1 1:1 22:1 55:1 1:1 Maximum Input Torque T r lb-in oz-in Nm Friction Torque T f oz-in Nm Viscous Damping T d oz-in/krpm Nm/Krpm Torque Efficiency E Torsional Stiffness oz-in/arc-min Nm/arc-min Gearhead Weight lbs Kg acklash arc-min Note: These specifications are for gearheads which have been operated for less than one hour. Gearhead Torque = (Motor Torque - T f - (T d x Motor Shaft Speed)) x Gear Ratio x E Size 23 Motor/Gearhead System Specifications Motor Planetary Ratio Continuous Peak Gearhead Thermal Frame Identifier Stall Torque Stall Torque Inertia Resistance lb - in Nm lb - in Nm lb-in-sec 2 Kg-m 2 ( C/Watt) SM23 G3 3: E E SE23 G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E G55 55: E E G1 1: E E SM231 G3 3: E E SE231 G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E G55 55: E E G1 1: E E SM232 G3 3: E E SE232 G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E G55 55: E E SM233 G3 3: E E SE233 G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E G55 55: E E Torque limited by gearhead design. Motor must not exceed listed maximum input torque. 82 Parker Hannifin Corporation

66 Catalog 8-4/USA Planetary Gearheads SERVO MOTORS Size 23 Motor/Gearhead System Specifications Motor Planetary Ratio Continuous Peak Gearhead Thermal Frame Identifier Stall Torque Stall Torque Inertia Resistance lb - in Nm lb - in Nm lb-in-sec 2 Kg-m 2 ( C/Watt) E23 G3 3: E E G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E G55 55: E E G1 1: E E E231 G3 3: E E G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E G55 55: E E E232 G3 3: E E G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E E233 G3 3: E E G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E Torque limited by gearhead design. Motor must not exceed listed maximum input torque. Custom Designed Servo Motors For Your Specific Application. Call Today. 83 Parker Hannifin Corporation

67 Catalog 8-4/USA Planetary Gearheads SERVO MOTORS Size 34 Gearhead Mechanical Specifications Parameter Symbol Units G3 G5 G7 G1 G22 G55 G1 Ratio 3:1 5.5:1 7:1 1:1 22:1 55:1 1:1 Maximum Input Torque T r lb-in oz-in Nm Friction Torque T f oz-in Nm Viscous Damping T d oz-in/krpm Nm/Krpm Torque Efficiency E Torsional Stiffness oz-in/arc-min Nm/arc-min Gearhead Weight lbs Kg acklash arc-min Note: These specifications are for gearheads which have been operated for less than one hour. Gearhead Torque = (Motor Torque - T f - (T d x Motor Shaft Speed)) x Gear Ratio x E Size 34 Motor/Gearhead System Specifications Motor Planetary Ratio Continuous Peak Gearhead Thermal Frame Identifier Stall Torque Stall Torque Inertia Resistance lb - in Nm lb - in Nm lb-in-sec 2 Kg-m 2 ( C/Watt) N341 G3 3: E E J341 G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E G55 55: E E G1 1: E E N342 G3 3: E E J342 G5 5.5: E E G7 7: E E G1 1: E5 8.93E G22 22: E E G55 55: E E G1 1: E E N343 G3 3: E E J343 G5 5.5: E E G7 7: E E5 1.2 G1 1: E E G22 22: E E G55 55: E E N344 G3 3: E E-5.89 J344 G5 5.5: E E-5.89 G7 7: E E-5.89 G1 1: E E-6.89 G22 22: E E-5.96 G55 55: E E-6.96 Torque limited by gearhead design. Motor must not exceed listed maximum input torque. 84 Parker Hannifin Corporation

68 Catalog 8-4/USA Planetary Gearheads SERVO MOTORS Size 34 Motor/Gearhead System Specifications Motor Planetary Ratio Continuous Peak Gearhead Thermal Frame Identifier Stall Torque Stall Torque Inertia Resistance lb - in Nm lb - in Nm lb-in-sec 2 Kg-m 2 ( C/Watt) E341 G3 3: E E G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E G55 55: E E E342 G3 3: E E G5 5.5: E E G7 7: E E G1 1: E5 8.93E G22 22: E E G55 55: E E E343 G3 3: E E G5 5.5: E E G7 7: E E G1 1: E E G22 22: E E E344 G3 3: E E-5.89 G5 5.5: E E-5.89 G7 7: E E-5.89 G1 1: E E-6.89 G22 22: E E-5.96 Torque limited by gearhead design. Motor must not exceed listed maximum input torque. Custom Designed Servo Motors For Your Specific Application. Call Today. 85 Parker Hannifin Corporation

69 Catalog 8-4/USA Planetary Gearheads SERVO MOTORS Size 92 Gearhead Mechanical Specifications Parameter Symbol Units G3 G5 G8 G1 G15 G25 G3 G4 G5 Ratio 3:1 5:1 8:1 1:1 15:1 25:1 3:1 4:1 5:1 Max. Input Torque T r lb-in oz-in Nm Friction Torque T f oz-in Nm Viscous Damping T d oz-in/krpm Nm/Krpm Torque Efficiency E Torsional Stiffness oz-in/arc-min Nm/arc-min Gearhead Weight lbs Kg acklash arc-min Note: These specifications are for gearheads which have been operated for less than one hour. Gearhead Torque = (Motor Torque - T f - ( x Motor Shaft Speed)) x Gear Ratio x E Size 92 Motor/Gearhead System Specifications Motor Planetary Ratio Continuous Peak Gearhead Thermal Frame Identifier Stall Torque Stall Torque Inertia Resistance lb - in Nm lb - in Nm lb-in-sec 2 Kg-m 2 ( C/Watt) N921 G3 3: E-4 8.3E-5 1. G5 5: E-4 5.4E-5 1. G8 8: E-4 4.7E-5 1. G1 1: E-4 4.5E-5 1. G15 15: E-4 7.8E-5.85 G25 25: E-4 5.E-5.85 G3 3: E-4 4.8E-5.85 G4 4: E-4 4.7E-5.85 G5 5: E-4 5.E-5.85 N922 G3 3:1 71: E-4 8.3E-5.85 G5 5: E-4 5.4E-5.85 G8 8: E-4 4.7E-5.85 G1 1: E-4 4.5E-5.85 G15 15: E-4 7.8E-5.75 G25 25: E-4 5.E-5.75 G3 3: E-4 4.8E-5.75 N923 G3 3: E-4 8.3E-5.68 G5 5: E-4 5.4E-5.68 G8 8: E-4 4.7E-5.68 G1 1: E-4 4.5E-5.68 G15 15: E-4 7.8E-5.59 N924 G3 3: E-4 8.3E-5.53 G5 5: E-4 5.4E-5.53 G8 8: E-4 4.7E-5.53 G15 15: E-4 7.8E-5.52 Torque limited by gearhead design. Motor must not exceed listed maximum input torque. 86 Parker Hannifin Corporation

70 Catalog 8-4/USA Planetary Gearheads SERVO MOTORS Planetary Gearheads Dimensional Drawings Size 16, Dimensional Drawing Dimensions in inches (mm) (4X) Ø.125 [ 3,18 ] THRU HOLES EQUALLY SPACED ON A [46.69] OLT CIRCLE.313 [ 7.95 ] 1. [ 25.4 ] 1.79 [ 45.4].351 [ 8.92 ] 1. [ 25.4 ] 2.66 [ 67.5 ] WOODRUFF KEY #32.5 WOODRUFF KEY #44 Ø.865±.1 [ ±.2 ] Ø.865 ±.1 [ ±.2 ] 1.6 SQ. [ 4.6 ] Ø , -.1 [ ].62 [ 1.57 ] Ø [ ].62 [ 1.57 ] RATIOS: 3:1 THRU 1:1 RATIOS: 22:1 THRU 1:1 Size 23, Dimensional Drawing Dimensions in inches (mm) (4X).218 [ 5.54 ] THRU HOLES EQUALLY SPACED ON A [66.68] OLT CIRCLE.375 [ 9.53 ] 1.25 [ 31.8 ] 2.14 [ 54.3 ] WOODRUFF KEY #33 WOODRUFF KEY # [ ] 1.25 [ 31.8 ] 3.24 [ 82.3 ] fl [ ] fl [ ] 2.25 SQ. [ 57.2 ] fl [ ].62 [ 1.57 ] fl [ ].62 [ 1.57 ] RATIOS: 3:1 THRU 1:1 RATIOS: 22:1 THRU 1:1 Size 34, Dimensional Drawing Dimensions in inches (mm) 1.5 [ 38.1 ] 2.63 [ 66.7 ] (4X).218 [ 5.54 ] THRU HOLES EQUALLY SPACED [ 12.7 ] [ ] ON A [98.43] OLT CIRCLE WOODRUFF KEY #44 WOODRUFF KEY # [ 38.1 ] 4. [ 11.6 ] fl [ 73.2 ] fl [ 73.2 ] 3.25 SQ. [ 82.6 ] fl [ ].62 [ 1.57 ] RATIOS: 3:1 THRU 1:1 fl [ ].62 [ 1.57 ] RATIOS: 22:1 THRU 1:1 Custom Designed Servo Motors For Your Specific Application. Call Today. 87 Parker Hannifin Corporation

71 Catalog 8-4/USA Planetary Gearheads SERVO MOTORS Planetary Gearheads Dimensional Drawings, continued Size 92, Dimensional Drawing Dimensions in inches (mm) RATIOS GH_OAL 3, 5, 8, 1: , 25, 3, 4, 5: Parker Hannifin Corporation

72 Catalog 8-4/USA Motor Cable Table SERVO MOTORS Motor Cable Table Motor Family Motor Amplifier * Cable Set (Consists of 1 Motor Cable and 1 Feedback Cable) Motor Cable Motor Cable Includes ** Feedback Cable Feedback Cable Includes ** Length -XX SM 16 SM16XXE-NGSN Gemini -L3E 23GS CALE-XX XX m XX e,h,t 2 SM16XXE-NMSN miscellaneous 23MS CALE-XX XX m,t XX e,h 2 23 SM23XXE-NGSN Gemini -L3E 23GS CALE-XX XX m XX e,h,t 2 SM23XXE-NGS Gemini -L3E 23G CALE-XX XX m XX e,h,t,b 2 SM23XXR-NGSN Gemini -L3R 23GR CALE-XX XX m XX r,t 3 SM23XXR-NGS Gemini -L3R 23GR CALE-XX XX m XX r,t,b 3 SM23XXE-NMSN miscellaneous 23MS CALE-XX XX m,t XX e,h 2 SM23XXE-NMS miscellaneous 23MS CALE-XX XX m,t XX e,h,b 2 SM23XXR-NMSN miscellaneous 23RS CALE-XX XX m XX r,t 3 SM23XXR-NMS miscellaneous 23RS CALE-XX XX m XX r,t,b 3 SM23XXE-NTQN OEM77 23TQ CALE-XX XX m,t,h XX e 2 SM23XXE-NTQ OEM77 23TQ CALE-XX XX m,t,h XX e,b 2 SM23XXR-NMSN Compax1SL 23CX CALE-XX XX m XX r,t 2 E 16 E16XXE-NMSN Gemini -U3E E-GS CALE-XX XX m XX e,h*** 2 E16XXE-NMSN miscellaneous E-MS CALE-XX XX m XX e,h*** 2 E16XXE-NTQN OEM77 E-TQ CALE-XX XX m,h*** XX e 2 23 E23XXE-NMSN Gemini -UXXE E-GS CALE-XX XX m XX e,h,t 2 E23XXE-NMS Gemini -UXXE E-G CALE-XX XX m XX e,h,t,b 2 E23XXR-NMSN Gemini -UXXR E-GR CALE-XX XX m XX r,t 3 E23XXR-NMS Gemini -UXXR E-GR CALE-XX XX m XX r,t,b 3 E23XXE-NMSN miscellaneous E-MS CALE-XX XX m XX e,h,t 2 E23XXE-NMS miscellaneous E-MS CALE-XX XX m XX e,h,t,b 2 E23XXR-NMSN SLVD5 E-RS CALE-XX XX m XX r,t 3 E23XXR-NMS SLVD5 E-RS CALE-XX XX m XX r,t,b 3 E23XXR-NMSN Compax1SL 23CX CALE-XX XX m XX r,t 2 E23XXE-NTQN OEM77 E-TQ CALE-XX XX m,t,h XX e 2 E23XXE-NTQ OEM77 E-TQ CALE-XX XX m,t,h XX e,b 2 34 E34XXE-NMSN Gemini -UXXE E-GS CALE-XX XX m XX e,h,t 2 E34XXE-NMS Gemini -UXXE E-G CALE-XX XX m XX e,h,t,b 2 E34XXR-NMSN Gemini -UXXR E-GR CALE-XX XX m XX r,t 3 E34XXR-NMS Gemini -UXXR E-GR CALE-XX XX m XX r,t,b 3 E34XXE-NMSN miscellaneous E-MS CALE-XX XX m XX e,h,t 2 E34XXE-NMS miscellaneous E-MS CALE-XX XX m XX e,h,t,b 2 E34XXR-NMSN SLVD5 E-RS CALE-XX XX m XX r,t 3 E34XXR-NMS SLVD5 E-RS CALE-XX XX m XX r,t,b 3 E34XXR-NMSN Compax25S 34CX CALE-XX XX m XX r,t 2 Custom Designed Servo Motors For Your Specific Application. Call Today. 89 Parker Hannifin Corporation

73 Catalog 8-4/USA Motor Cable Table SERVO MOTORS Motor Cable Table, continued Motor Family Motor Amplifier * Cable Set (Consists of 1 Motor Cable and 1 Feedback Cable) Motor Cable Motor Cable Includes ** Feedback Cable Feedback Cable Includes ** Length -XX NEO & J 7/34 N/J7XXE-NGSN Gemini -UXXE 7GS CALE-XX XX m XX e,h,t 2 N/J7XXE-NGS Gemini -UXXE 7G CALE-XX XX m XX e,h,t,b 2 N/J7XXR-NGSN Gemini -UXXR 7GR CALE-XX XX m XX r,t 3 N/J7XXR-NGS Gemini -UXXR 7GR CALE-XX XX m XX r,t,b 3 N/J7XXE-NMSN miscellaneous 7MS CALE-XX XX m XX e,h,t 2 N/J7XXE-NMS miscellaneous 7MS CALE-XX XX m XX e,h,t,b 2 N/J7XXR-NMSN SLVD5 7RS CALE-XX XX m XX r,t 3 N/J7XXR-NMS SLVD5 7RS CALE-XX XX m XX r,t,b 3 N/J7XXR-NMSN Compax25S 7CX CALE-XX XX m XX r,t 2 N/J7XXE-NTQN OEM77 7TQ CALE-XX XX m,t,h XX e 2 N/J7XXE-NTQ OEM77 7TQ CALE-XX XX m,t,h XX e,b 2 92 N/J92XXE-NGSN Gemini -UXXE 92GS CALE-XX XX m XX e,h,t 2 N/J92XXE-NGS Gemini -UXXE 92G CALE-XX XX m XX e,h,t,b 2 N/J92XXR-NGSN Gemini -UXXR 92GR CALE-XX XX m XX r,t 3 N/J92XXR-NGS Gemini -UXXR 92GR CALE-XX XX m XX r,t,b 3 N/J92XXE-NMSN miscellaneous 92MS CALE-XX XX m XX e,h,t 2 N/J92XXE-NMS miscellaneous 92MS CALE-XX XX m XX e,h,t,b 2 N/J92XXR-NMSN miscellaneous 92RS CALE-XX XX m XX r,t 3 N/J92XXR-NMS miscellaneous 92RS CALE-XX XX m XX r,t,b 3 N/J92XXR-NMSN Compax25S 92CX CALE-XX XX m XX r,t 2 M **** 15 M15XXJ-KMSN Gemini -HXXE 15GS CALE-XX XX m XX e,h,t 1 M15XXR-KMSN Gemini -HXXR 15GR CALE-XX XX m XX r,t 1 M15XXR-KMSN HPD 15RS CALE-XX XX m XX r,t 1 M15XXR-KMSN Compax15M 15CX CALE-XX Contact Factory m Contact Factory r,t M145XXJ-KMSN Gemini -HXXE 145GS CALE-XX XX m XX e,h,t 1 M145XXR-KMSN Gemini -HXXR 145GR CALE-XX XX m XX r,t 1 M145XXR-KMSN HPD 145RS CALE-XX XX m XX r,t 1 M145XXR-KMSN Compax35M 145CX CALE-XX Contact Factory m Contact Factory r,t 1 25 M25XXJ-KMSN Gemini -HXXE 25GS CALE-XX XX m XX e,h,t 1 M25XXR-KMSN Gemini -HXXR 25GR CALE-XX XX m XX r,t 1 M25XXR-KPTN Gemini -HXXR 25GRP CALE-XX XX m XX r,t 1 M25XXR-KMSN HPD 25RS CALE-XX XX m XX r,t 1 M25XXR-KPTN HPD 25RP CALE-XX XX m XX r,t 1 M25XXR-KMSN Compax35M 25CX CALE-XX Contact Factory m Contact Factory r,t 1 Key Notes m motor phase wires * Refer to applicable amplifier section of the catalog for specific motor/amplifier compatibility t temperature switch ** Only the signals used by the motor are shown, cable may contain additional unused signal wires e encoder signals *** Size 16 E motors do not contain temperature switches h hall effect signals **** All M series motor cables include brake wires r resolver signals 1 Cables and Cable Sets in this row are available in -1 & -25 foot lengths b brake wires 2 Cables and Cable Sets in this row are available in -1, -25, & -35 foot lengths 3 Cables and Cable Sets in this row are available in -1, -25, -35 & -5 foot lengths For Hi-Flex cables see motor cable table at www. 9 Parker Hannifin Corporation

74 Catalog 8-4/USA Drive Selection Compumotor Drives Compumotor offers a variety of digital drives in many input and output power ranges. The drive families include the Gemini GV, SLVD, HPD, OEM77 and Dynaserv G2. Refer to the chart below to select the optimal drive for your application requirements, or refer to each drive's particular section in the catalog. Drive/Controllers Need a little more control? The GV, SLVD and HPD drive products offer the user basic control capabilities: I/O, position presets and encoder tracking; however, if your application requires additional control capabiltiies, Compumotor offers a full range of drive/ controllers. For complete information on Compumotor's drive/controller offering, please refer to the drive/controller selection table on the next page. Drive Selection GV SLVD HPD OEM77 Dynaserv G2 Motor Type rushless rushless rushless rushless Direct-Drive Servo Motors Servo Motors Servo Motors Servo Motors Dynaserv (SM, E, Neo, (E, Neo & J) (M) (SM & E) Motors J & M) (DM & DR) Language Type Mnemonic Parameter- Parameter- NA NA command based based language command command (binary format) (ASCII format) (ASCII format) Support Software Motion Planner SLVD Utility HPD Utility NA G2 Utility Robustness Moderate - Moderate - High - Moderate - Moderate - for light for light for industrial for light for light industrial industrial application industrial industrial application application application application Power Input 12 1 Phase 24 3 Phase 24 3 Phase 24 VDC 12 1 Phase 24 1 Phase 48 3 Phase 75 VDC 24 1 Phase 24 3 Phase Shaft Power 3 RPM 4W - 7.1kW 1W - 62W 2.5kW - 17kW 3W - 2W NA Feedback Choices Encoder Resolver Resolver Encoder Dynaserv standard feedback only (resolver option) Front Panel Windows CE uilt-in menu- uilt-in menu- NA NA device driven display driven display compatibility Inputs/Outputs 3 Inputs 2 or 4 inputs 8 Inputs NA NA 2 Outputs 2 Outputs 7 Outputs Position Presets No Yes Yes No No Following (Encoder Tracking) Yes Yes Yes No No Internal PLC No Yes Yes No No 92 Parker Hannifin Corporation compumoto.com

75 Catalog 8-4/USA Drive/Controller Selection Why Drive/Controllers? Drive/controllers offer a unique and efficient solution for single axis or independent axis of motion. y combining the controller and the drive into one package, packaging and cabling can be eliminated, which translates into cost savings. Drive/controllers come in a variety of types and styles that allow many options of connection to the machine control elements and allow varying amounts of control complexity. Drive/Controllers Drive/Controller Selection Compumotor offers the most diverse and complete line of servo drive/controllers in the industry. ased on the exact needs of the application, Compumotor will recommend a different model of drive/controller. The following table and key decision points will help you decide the best product for your application. Drive/Controller Selection GV6 GV6K COMPAX SLVD HPD OEM77X Dynaserv M2 Motor Type rushless rushless rushless rushless rushless rushless Direct-Drive Servo Motors Servo Motors Servo Motors Servo Motors Servo Motors Servo Motors Dynaserv (SM, E, Neo, (SM, E, Neo (SM, E, Neo (E, Neo & J) (M) (SM & E) Motors J & M) J & M) J & M) (DM &DR) Language Type Mnemonic Mnemonic Parameter- Parameter- Parameter- Mnemonic Specialized command command based based based command G code language language command command command language (ASCII format) (ASCII or binary (ASCII format) language language language (ASCII format) format) (ASCII format) (ASCII format) (ASCII format) Application Complexity Moderate High High Moderate Low Low Moderate Support Software Motion Planner Motion Planner Servo Manager SLVD Utility HPD Utility Xware M2 Utility Robustness Moderate - Moderate - High - Moderate - High - Moderate - Moderate - for light for industrial for industrial for light for industrial for light for light industrial application application industrial application industrial industrial application application application application Power Input 12 1 Phase 12 1 Phase 12 1 Phase 24 3 Phase 24 3 Phase 24 VDC 12 1 Phase 24 1 Phase 24 1 Phase 24 1 Phase 48 3 Phase 75 VDC 24 1 Phase 24 3 Phase 24 3 Phase 24 3 Phase 48 3 Phase Shaft Power 4W - 7.1kW 4W - 7.1kW 118W - 17kW 1W - 62W 2.5kW - 17kW 3W - 2W NA continuous (@15 RPM) (@15 3 RPM Feedback Encoder Encoder Resolver Resolver Resolver Encoder Dynaserv Choices standard standard standard feedback (resolver option) (resolver option) (SinCos + only Absolute option) Front Panel Windows CE device RP24 & Parker Operator uilt-in menu- uilt-in menu- NA NA compatibility MotionPanel Panel (POP) driven display driven display & MotionPanel Supported DeviceNet Ethernet Profibus CAN RS485 RS232 DeviceNet Fieldbuses Profibus RS485, RS232 Interbus- RS485 Profibus & Interfaces RS485, RS232 RS485 CS31 RS232 CAN bus CAN open Find Your Local Factory Authorized Distributor at www. or Call Parker Hannifin Corporation compumoto.com

76 Catalog 8-4/USA Recommendations Key Decision Points and Recommendations Language Type and Programming Style ased on your background and training, you may have different preferences for the style of programming you desire. Engineers familiar with Ladder logic and PLC systems are more comfortable with parameter-based products. These products allow setting up of many parameters (e.g., velocity, distance, modes) and then have only a few commands to command motion. Engineers familiar with computer programming are more comfortable with mnemonic languages that have a specific command for each function or setup parameter. Finally G codes are a well accepted programming style adapted from CNC machining systems. Industry Robustness (Input Power, Feedback and I/O) For applications in industrial environments, Compumotor recommends the COMPAX or HPD families. These drives also contain 48 VAC input and I/O made to stand up in industrial application. These products are also the most economical and highest performance choices when a resolver is desired as the primary motor feedback. All Compumotor drive products are required to be mounted in a suitable enclosure based on the environment. Drive/Controllers Specialty Applications All drive/controllers can solve simple point-to-point moves for general motion control applications. Cam Control COMPAX Servo Manager software allows easy setup and designing of complex electronic cam motion. Ethernet Networking The GV6K is one of the first drive/ controllers available with a standard Ethernet port. Combined with Compumotor software, the GV6K provides high-speed, flexible and low-cost connectivity to a wide variety of devices. General following The GV6K position-based following is flexible and powerful and can handle advanced features such as advance/retard and error correction without losing synchronization. Computer-Free Operation The front panel on the HPD and the SLVD allows setup and configuration of the drive controllers without the use of a computer for editing. Efficient solutions: Compumotor's line of drive/controllers includes the COMPAX 1SL (left), the HPD (above) and the Gemini GV6K (right). 94 Parker Hannifin Corporation compumoto.com

77 Catalog 8-4/USA GV Servo Drives GEMINI The Gemini GV Digital Servo Drive The Gemini GV is a compact, low-cost, digital servo drive available in six power levels for producing up to 4 Amps continuous and 1 Amps peak current, or up to 29.4 kw of peak power. The Gemini GV is easily configurable via RS232/ 485 using Compumotor s Motion Planner TM on a PC or Pocket Motion Planner TM on a Window s CE TM -based palm PC. With the available power levels, small package size, low cost, and numerous drive features, the Gemini GV will be the obvious choice for all of your low-to-mid power servo drive applications. Simplified Tuning/Configuration Tuning and configuration are easy. They are accomplished via RS232/485 with a PC or palm PC. Only the motor and some basic load information must be known by the drive to determine baseline-tuning gains. These are simple parameter entries the user can complete with the help of the front-end software tools. Users also have the ability to override these parameters for special application requirements. Features Performance Provides six power ranges for up to 11.8 kw of continuous power Torque, velocity, step & direction and CW/CCW modes Encoder tracking mode Digital notch filters provide the tools to eliminate mechanical resonance Sinusoidal commutation with encoder or resolver feedback Simplified tuning and configuration Variable resolution for encoder signal output as well as the command input Wide range of PWM frequencies for linear motor support Protection Short-circuit protection phase-to-phase and phase-toground Inrush current protection Drive over-voltage protection Drive under-voltage (brownout) protection Drive and motor over-temperature protection Current-foldback protection Regeneration protection Physical A wide selection of brushless servo motors are available from Compumotor including the SM, E, NeoMetric, J and M Series motors; a family of Linear Motors is also available Three input power ranges available: low 12V, universal 12/24V, and high 24V Diagnostic LEDs for drive status, firmware download, and optional keep alive mode Gemini Family Features 24V Keep Alive (not required) keeps logic alive if AC power is removed Error Log records 1 most recent errors with time stamp Approvals: UL Recognition, cul, CE (LVD), and CE (EMC) Configurable via RS232/485 using Compumotor s Motion Planner TM on a PC or Pocket Motion Planner TM on a Windows CE TM -based Palm PC See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers. 95 Parker Hannifin Corporation

78 Catalog 8-4/USA GV6 GEMINI The Gemini GV6 Digital Servo Drive with asic Controller Compumotor's Gemini GV6 is a compact, low-cost, digital servo drive/controller. In addition to all of the drive features of the Gemini GV, the GV6 incorporates basic motion control and programming capabilities, allowing solutions for many distributed control applications. The Gemini GV6 is easily configured/ programmed via RS232/485 using Compumotor s Motion Planner TM on a PC or Pocket Motion Planner TM on a Windows CE TM -based Palm PC. The Gemini GV6 also offers connectivity to several field buses including Profibus and DeviceNet. Features Performance Incorporates all of the powerful features of the Gemini GV digital servo drive Provides six power ranges for up to 11.8 kw of continuous power Stand-alone servo controller and drive in one small package Full ASCII communications capability Control features such as registration, motion profiles, S-curve velocity profiling and conditional statements Program storage: Up to 32 programs or 19 lines of program code Daisy chain up to 99 units Simplified configuration and tuning 8 programmable inputs and 6 programmable outputs Wide range of PWM frequencies for linear motor support Protection Short-circuit protection phase-to-phase and phase-toground Inrush current protection Drive over-voltage protection Protection, continued Drive under-voltage (brownout) protection Drive and motor over-temperature protection Current-foldback protection Regeneration protection Physical A wide selection of brushless servo motors are available from Compumotor including the SM Series, NeoMetric, J Series and M Series motors; a family of Linear Motors is also available Three input power ranges available: low 12V, universal 12/24V, and high 24V Diagnostic LEDs for drive status, firmware download, and keep alive mode Connectivity RS232/485 serial communications (ASCII) Profibus DP (optional) DeviceNet (optional) Gemini Family Features 24V Keep Alive (not required) keeps logic alive if AC power is removed Error Log records 1 most recent errors with time stamp Approvals: UL Recognition, cul, CE (LVD), and CE (EMC) Configurable/Programmable via RS232/485 using Compumotor s Motion Planner TM on a PC or Pocket Motion Planner TM on a Windows CE TM -based Palm PC When can I take advantage of a low-cost stepper motor? Applications with... Predictable loads Continuous power needs High stiffness at rest required Speed less than 5 rps High accuracy, resolution and reliability required 96 Parker Hannifin Corporation

79 Catalog 8-4/USA GV6K GEMINI The Gemini GV6K Digital Servo Drive with Full- Feature Controller Compumotor's Gemini GV6K is the most powerful addition to the Gemini servo family lineup. This full-feature, standalone drive/controller offers a complete motion control solution in one economical, compact package. The GV6K comes complete with the same features, connectivity and front-end software tools as the Gemini GV and Gemini GV6. In addition to offering many of the drive features of the Gemini GV and control features of the Gemini GV6, the GV6K incorporates the flexibility and control functionality of Compumotor's 6K Controller to allow highly advanced motion control and sequencing capabilities for unrivaled flexibility in many distributed-control applications. The GV6K is easily configured/ programmed via RS232/485 using Compumotor s Windowsbased Motion Planner TM software package. The GV6K also offers connectivity to any ASCII-based serial device, including HMI panels and PLC ASCII modules. Products such as OPTO 22 TM Snap I/O, DVT TM Vision Systems and A TM SLC 5/5 PLC platforms can also be used for data chaining using the GV6K's Ethernet Client feature. Features Performance Combines the powerful features of the 6K Controller with the Gemini GV digital servo drive for a complete standalone servo solution in one small package Six power ranges for up to 11.8 kw of continuous power Full ASCII communication capability Control features such as following, registration, multitasking, PLC scan, electronic cam profiling, S-curve profiling, scaling, high-level math functionality and more Program storage: 3K standard (battery backed) Daisy chaining of up to 99 units Simplified configuration and tuning Protection Short-circuit protection phase-to-phase and phase-toground Inrush current protection Drive over-voltage protection Drive under-voltage (brownout) protection Drive and motor over-temperature protection Current-foldback protection Regeneration protection Physical Compatible with a wide selection of brushless servo motors, such as the Compumotor SM, E, NeoMetric, J and M Series motors Supports linear servo motors, such as the Compumotor LXR and SL motor series Three input power ranges available: low 12VAC, universal 12/24VAC, and high 24VAC Gemini Family Features 24VDC Keep Alive Circuit (24VDC supply required) powers the controller section independent of AC power and maintains vital position and controller information Error Log records 1 most recent errors with time stamp Wide range of PWM frequencies for linear motor support Approvals: UL Recognition, cul, CE (LVD), and CE (EMC) Diagnostic LEDs for drive status, firmware, download and 24VDC control power active Configurable/Programmable via RS232/485 or Ethernet using Compumotor s Motion Planner TM Gemini Offers Greater Flexibility and More Reliability Than Ever efore. Call Today. 97 Parker Hannifin Corporation

80 GEMINI FAMILY FEATURES Catalog 8-4/USA Gemini Features GEMINI Connectivity Two serial communication ports: one RS232 port (3 wire) and one RS232/RS485 port (4 wire) Ethernet communication port (1 ase-t, 1 Mbps twisted pair) Imbedded Ethernet Client provides up to six client connections to the following devices: A TM SLC 5/5 PLC, OPTO 22 SNAP TM I/O or DVT TM vision camera system Peer-to-peer data chain allows direct Ethernet connectivity with up to 8 Gem6K or 6K devices for distributed control Master encoder port allows for following from an external feedback signal Expandable I/O (up to 256 additional discrete I/O points, and/or 192 Ethernet I/O points) Software and Standard Control Features Complete position-based following and electronic cam profiling Compiled motion functionality Multitasking (up to 1 individual programs simultaneously) PLC scan mode Floating point, integer and binary variables with high-level math functionality Full scaling functionality Comprehensive program monitoring, status and diagnostic features Full-feature 6K language command set Compatibility with platforms such as Visualasic TM, Visual C++ TM and NI LabVIEW TM Gemini Family Summary CE, UL Recognition RS232/485 Encoderless Stall Detect Ethernet Profibus DeviceNet ± 1V Command Input Step/Direction, CW/CCW Command Input Encoder Signal Input Onboard I/O Expandable I/O Registration System Status & Diagnostics Scaling Variables Following Multitasking Compiled Motion Full Functionality Limited Functionality GV I/O Capabilities Onboard I/O: 8 digital inputs (3 programmable limits, 5 programmable), 6 digital outputs, 1 analog input, 2 D/A monitor outputs, 1 relay output Software selectable onboard input/output functionality Expandable serial I/O of up to 256 additional discrete digital I/O points, 64 analog I/O points or a combination of both digtial and analog points Expandable Ethernet I/O of up to 192 additional digital or analog I/O points using Ethernet Client with OPTO 22 SNAP TM I/O modules Registration input capability Software selectable I/O high/low active level 5-24VDC selectable input reference voltage Inputs: selectable as sinking or sourcing; outputs: open collector (sinking) Servo GV6 GV6K GT Stepper GT6 GT6K 98 Parker Hannifin Corporation

81 Catalog 8-4/USA GV/GV6 Common Specifications GEMINI GV/GV6 Common Specifications Specifications GV (GV6)-L3 GV (GV6)-U3 GV (GV6)-U6 GV (GV6)-U12 GV (GV6)-H2 GV (GV6)-H4 Drive Input Power Voltage VAC VAC VAC VAC VAC VAC Phase 1Ø 1Ø 1Ø 1Ø 1 or 3Ø 3Ø Frequency 5/6 Hz 5/6 Hz 5/6 Hz 5/6 Hz 5/6 Hz 5/6 Hz 24V Keep Alive (Optional) 24 VDC +/- 2% 24 VDC +/- 2% 24 VDC +/- 2% 24 VDC +/- 2% 24 VDC +/- 2% 24 VDC +/- x Amps max Drive Output Power us Voltage 17 VDC 17/34 VDC 7/34 VDC 17/34 VDC 295/34 VDC 295/34 VDC PWM** 4 khz 8 khz 8, 16, 2 KhZ User selectable (current deration applies ) Continuous Current * 3 Amps 3 Amps 6 Amps 12 Amps 2 Amps 4 Amps Continuous Power.44 kw.88 kw 1.75 kw 3.5 kw 5.9 kw 11.8 kw Peak Current* 7.5 Amps 7.5 Amps 15 Amps 3 Amps 5 Amps 1 Amps Peak Power 1.1 kw 2.2 kw 4.4 kw 8.75 kw 14.7 kw 29.4 kw Commutation Sinusoidal Sinusoidal Sinusoidal Sinusoidal Sinusoidal Sinusoidal Performance Servo Update Accuracy Command Inputs GV Velocity and Torque Mode Position Mode Inputs GV Enable, Reset Neg/Pos Limits User Fault Encoder 5 micro secondsm Solid lines represent 24VAC operation, continuous and peak. Dashed lines represent performance using 12VACinput. Speed/torque curves may vary +/- 1%. +/-.5 arc min (.833 ), encoder dependent. 12 bit, +/- 1 V Step & Direction/CW & CCW/Encoder Tracking 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold 8 MHz Post Quadrature Inputs GV6 8 Programmable 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold Enable, Reset 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold Encoder 8 MHz Post Quadrature M Analog Input 12 bit, +/- 1 VDC input voltage (1 ms update) Outputs GV Fault, At Limit Position Error Analog Monitors Encoder Relay Open collector, 3mA sink capability Open collector, 3mA sink capability +/- 1 V scalable, 8 bit (not to be used as control functions) Programmable up to 1,24, counts/rev post quadrature Normally open, dry contact Outputs GV6 6 Programmable Open collector, 3mA sink capabilities Analog Monitors +/- 1 V scalable, 8 bit (not to be used as control functions) Encoder Programmable up to 1,24, counts/rev post quadrature Relay Normally open, dry contact Communications Type RS232/ RS485 (4-wire), ASCII or 8 bit binary protocol aud Rate Fixed at 96 Daisy Chain GV6 Up to 99 Fieldbus (GV6) Profibus (optional), DeviceNet (optional) Environmental Temperature Humidity Shock/Vibration Protection Short Circuit rownout Over Temperature Still air: 113 F (45 C), moving air: 122 F (5 C) -95%, non-condensing Shock:15G 11 msec/vibration: 2G, 1-2 Hz Phase-to-phase, phase-to-ground AC drops below 85 VAC Shutdown fault at 131 F (55 C) Standards UL, cul, CE (LVD), CE ( EMC) Physical Compumotor Motors SM Series, E Series, NeoMetric Series, J Series, M Series, and Linear Motors * Peak of sine wave Non-Compumotor Motors Please refer to the GV and GV6 Hardware Installation Guide Connectors ** Motor ripple frequency Serial 9-pin D-shell (male) is rated at twice the Motor and Power arrier screw terminal Command and I/O 5-pin High density Amp Champ -.5 Series II (with screw attachment) PWM value for a given Feedback 26-pin High density Amp Champ -.5 Series II (with screw attachment) drive Gemini +24VDC/Relay Offers Greater Flexibility 4-pin removable and More terminal Reliability block Than Ever efore. Call Today. 99 Parker Hannifin Corporation

82 Catalog 8-4/USA GV6K Common Specifications GEMINI GV6K Common Specifications Specifications GV6K-L3 GV6K-U3 GV6K-U6 GV6K-U12 GV6K-H2 GV6K-H4 Drive Input Power Voltage VAC VAC VAC VAC VAC VAC Phase 1Ø 1Ø 1Ø 1Ø 1Ø or 3Ø 3Ø Frequency 5/6 Hz 5/6 Hz 5/6 Hz 5/6 Hz 5/6 Hz 5/6 Hz 24V Keep Alive (Required) 24 VDC +/- 2% 24 VDC +/- 2% 24 VDC +/- 2% 24 VDC +/- 2% 24 VDC +/- 2% 24 VDC +/- 2% Drive Output Power us Voltage 17 VDC 17/34 VDC 7/34 VDC 17/34 VDC 295/34 VDC 295/34 VDC PWM** 4 khz 8 khz 8, 16, 2 KhZ User selectable (current deration applies ) Continuous Current * 3 Amps 3 Amps 6 Amps 12 Amps 2 Amps 4 Amps Continuous Power.44 kw.88 kw 1.75 kw 3.5 kw 5.9 kw 11.8 kw Peak Current* 7.5 Amps 7.5 Amps 15 Amps 3 Amps 5 Amps 1 Amps Peak Power 1.1 kw 2.2 kw 4.4 kw 8.75 kw 14.7 kw 29.4 kw Commutation Sinusoidal Sinusoidal Sinusoidal Sinusoidal Sinusoidal Sinusoidal Performance Servo Update Accuracy 5 micro secondsm Solid lines represent 24VAC operation, continuous and peak. Dashed lines represent performance using 12VACinput. Speed/torque curves may vary +/- 1%. +/-.5 arc min (.833 ), encoder dependent. Inputs Onboard 8 Programmable 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold 1 Analog 12-bit, +/- 1 VDC input voltage (2 ms update) Enable, Reset Encoder Inputs Expansion (Optional) 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold 8 MHz Post Quadrature MHz Up to 256 additional digital inputs (2ms update) Up to 64 additional 12-bit analog inputs (+/- 1 VDC) Up to 192 analog or digital Ethernet inputs via Ethernet Client and OPTO22 SNAP I/ Module Outputs Onboard 6 Progammable Open collector, 3mA sink capability 2 Analog Monitors +/- 1 V scalable, 8 bit (not to be used as control functions) Encoder / Resolver Programmable up to 1,24, counts/rev post quadrature Relay Normally open, dry contact Outputs Expansion (Optional) Up to 256 additional digital outputs (2ms update) Up to 64 additional 12-bit analog outputs (+/- 1 VDC) Up to 192 analog or digital Ethernet outputs via Ethernet Client and OPTO22 SNAP I/ Module Communications Type Serial: RS232/ RS485 (4-wire), ASCII aud Rate Selectable up to 1152 Daisy Chain Up to 99 Ethernet 1 ase-t (1 Mbps twisted pair) Protocols supported TCP/IP and UDP, Modus/TCP, A Ethernet and ASCII over Ethernet Environmental Temperature Humidity Shock/Vibration Protection Short Circuit rownout Over Temperature Standards Physical Compumotor Motors Non-Compumotor Motors Connectors Serial (Com1 & Com2) Ethernet Motor and Power Command, Onboard I/O Feedback Master Encoder Expandable I/O +24VDC/Relay Still air: 113 F (45 C), moving air: 122 F (5 C) -95%, non-condensing Shock:15G 11 msec/ vibration: 2G, 1-2 Hz Phase-to-phase, phase-to-ground AC drops below 85 VAC Shutdown fault at 131 F (55 C) UL, cul, CE (LVD), CE ( EMC) SM Series, E Series, NeoMetric Series, J Series, M Series, and Linear Motors Please refer to the GV and GV6 Hardware Installation Guide 9-pin D-shell (male) RJ45 connector for 1 ase-t arrier screw terminal 5-pin High density Amp Champ -.5 Series II (with screw attachment) 26-pin High density Amp Champ -.5 Series II (with screw attachment) 9-pin D shell (female) 15-pin D shell (female) 4-pin removable terminal block * Peak of sine wave ** Motor ripple frequency is rated at twice the PWM value for a given drive 1 Parker Hannifin Corporation

83 Catalog 8-4/USA GV/GV6 Connections GEMINI Gemini GV/GV6 Connections and LEDs RS232/485 9 pin D-connector Green/Red Yellow/Green LEDs RS-485 Connections Rx+ Tx+ Gnd (RD ) (TD ) RS-232 Connections Rx Tx Gnd LED Color: Left Right Indicated State* Off Yellow Initialization Red (flash) Off Awaiting flash download Green (flash) Yellow (flash) Programming flash memory Red Grn Keep alive mode Green Grn (flash) Incoming steps (variable rate) Green Yellow/Green (flash) Autorun mode Red Off Drive not enabled Drive faulted Green Off Drive ready Male Pins Rx- Tx- (RD A) (TD A) 24VDC/Relay (Optional) + 24VDC - provides logic keep alive to the drive Relay 5A at 24 VDC or 12 VAC Relay opens when drive is disabled/faulted RS-232/ V DC 24V RTN GV & GV6 -Drive Inputs/Outputs 5-pin.5 Series II AMP CHAMP Gemini GV RELAY COM RELAY N.O. +24V DC 24V RTN RELAY COM RELAY N.O. Motor Output Connections Terminals: #8 (M4) Mating Terminals: spade fork,.325 max width Compumotor Cable Color Code: lack #1 DRIVE U WARNING: Hazardous voltage may exist for up to 3 seconds after power is removed. MOTOR COMPUMOTOR SERVO U V W VUS+ VUS L2/N L1 GV-U3/6/12 DRIVE I/O MOTOR FEEDACK reserved 5 reserved 49 reserved 48 Output Ground 47 Output 4 46 Output 3 45 Output Ground 44 Output 2 43 Output Ground 42 reserved 41 Input Ground 4 reserved 39 reserved 38 reserved 37 Input Ground 36 reserved 35 reserved 34 reserved 33 Input Ground 32 Input 3 31 Input Ground 3 Input 2 29 Input 1 28 CNTRL-P 27 VINref Analog Ground 1V Cmd 1V Cmd+ Analog Output Analog Output A Digital Ground Encoder Out Z Encoder Out Z+ Encoder Out Encoder Out + Encoder Out A Encoder Out A+ Reserved Reserved Dir-/CCW-/X Dir+/CW+/X+ Step-/CCW-/AX Step+/CW+/AX+ Digital Ground Digital Ground Encoder +5V Encoder +5V Reset Digital Ground Enable lack #2 lack #3 V W Gemini GV6 Motor Cable Grn/Yel AC Input Connections Terminals: #8 (M4) Mating Terminals: spade fork,.325 max width Fuses VAC, 1-phase L3 L2 L1 Fuses 165VAC 264VAC 3-phase L3 L2 L1 Motor Feedback Connector 26-pin.5 Series II AMP CHAMP Reserved 26 Reserved 25 Reserved 24 Reserved 23 Reserved 22 Reserved 21 Reserved 2 Reserved 19 Hall C 18 Hall 17 Hall A 16 Hall Ground 15 Hall +5V Thermal Switch Thermal Switch Digital Ground Encoder Z Encoder Z+ Encoder Encoder + Encoder A Encoder A+ Encoder Ground Encoder Ground Encoder +5V Encoder +5V Output Ground 5 Output 6 49 Output 5 48 Output Ground 47 Output 4 46 Output 3 45 Output Ground 44 Output 2 43 Output Ground 42 Output 1 41 Input Ground 4 Input 8 39 Input 7 38 Input 6 37 Input Ground 36 Input 5 35 Input 4 34 Pullup-Inputs 4,5,6,7 33 Input Ground 32 Input 3 31 Input Ground 3 Input 2 29 Input 1 28 Pullup-Inputs 1,2,3 27 VINref Analog Ground ±1V Input ±1V Input+ Analog Output Analog Output A Digital Ground Encoder Out Z Encoder Out Z+ Encoder Out Encoder Out + Encoder Out A Encoder Out A+ Reserved Reserved Dir-/CCW-/X Dir+/CW+/X+ Step-/CCW-/AX Step+/CW+/AX+ Digital Ground Digital Ground Encoder +5V Encoder +5V Reset Digital Ground Enable GV6K-H2n at 28/ 24VAC 1-phase GV6K-H2n/H4n at 28/24VAC 3-phase *Please Consult the User Guide for Proper Fuse Selection See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers. 11 Parker Hannifin Corporation

84 Catalog 8-4/USA GV6 Fieldbus Specification GEMINI Gemini GV6 with Profibus Option Profibus LED Indicators LED Steady Flash Function Status F Not used -- F2 Off Module is not online FS bit #4= Green Module is online FS bit #4= 1 F3 Off Module is not offline FS bit #4= 1 Red Module is offline FS bit #4= F4 Off No diagnostics present -- Red 1 flash/second - FSIZE setting does not match network configuration -- Red 4 flashes/second - hardware failure -- Profibus Connector Pin Out Pin Name Function Housing Shield Protective earth 1 Not connected -- 2 Not connected Line Positive Rx/TxD 4 RTS Request to send* 5 GND US Isolated GND* 6 +5V US Isolated +5V* 7 Not connected -- 8 A-Line Negative Rx/TxD 9 Not connected -- Profibus aud Rate The GV6 will automatically detect the baud rate of the Profibus network. For a complete list of supported baud rates, see the CMTRØ9ØE.GSD file, which accompanies the Gemini product. GV6 Gemini Servo Profibus connector Termination switch Hardware address settings LEDs Gemini GV6 with DeviceNet Option DeviceNet LED Indicators LED Steady Flash Function Status F Not used -- F2 Off Not powered/not online -- Green Network link is OK FS bit #4= 1 Red Network critical link failure FS bit #5= 1 Green 1 flash/second - network link not connected FS bit #6= 1 Red 1 flash/second - network connection timeout FS bit #7= 1 F3 Off No power -- Green Module device operational FS bit #8= 1 Red Unrecoverable fault FS bit #9= 1 Green 1 flash/second - module in standby FS bit #1= 1 Red 1 flash/second - module minor fault FS bit #11= 1 F Not used -- DeviceNet connector Hardware address settings DeviceNet Connector Pin Out Pin Name Function 1 V- DC Return 2 CAN_L CANUS LOW 3 SHIELD Protective earth 4 CAN_H CANUS HIGH 5 V+ +24 VDC Power* LEDs * 3mA in standby and 1mA in rush DeviceNet aud Rate To configure baud rate via hardware, dip switches are provided to set a baud rate of 125, 25 or 5kb. Setting the dip switches to xff (all ON) enables software configuration of baud rate. See Also: aud rate (it/sec) D1 D2 125k OFF OFF 25k OFF ON 5k ON OFF Reserved ON ON The Profibus or DeviceNet User Guide for complete specifications 12 Parker Hannifin Corporation

85 Catalog 8-4/USA GV6K Specifications GEMINI RS-232/485 Connector COM1 Port 1 To configure drive parameters, connect a PC to this port. Use Motion Planner for drive configuration. Enabling Ethernet will disable the COM1 port. RS-485 Connections Rx+ Tx+ Gnd (RD ) (TD ) RS-232 Connections Rx Tx Gnd GV6K Digital Controller/Drive RS-232 Connector COM2 Port 2 Connect an RP24, or use this port for RS-232. Download OS through this port only. Ethernet and COM2 can both be active at the same time. RS-232 Connections Rx Tx Gnd Rx- Tx- (RD A) (TD A) Male Pins +24VDC/Relay Connector Required +24VDC input VDC, 5 ma maximum. When drive is enabled, it +24V DC holds relay closed. 24V RTN Relay rating: 5A at 24VDC or RELAY COM 12VAC. RELAY N.O. If drive is faulted or disabled, relay will open. (Typical use: control of motor brake.) Motor Output Connections Compumotor Servo Cable Color Code: lack #1 lack #2 lack #3 Grn/Yel Motor Cable DRIVE U V W RS-232/ V DC 24V RTN RELAY COM RELAY N.O. WARNING: Hazardous voltage may exist for up to 3 seconds after power is removed. GV-U3/6/12 COMPUMOTOR SERVO U V W MOTOR VUS+ VUS L2/N L1 DRIVE I/O MOTOR FEEDACK GV6K Gemini Servo RS-232 EXPANSION I/O ETHERNET MASTER ENCODER VDC Expansion I/O Connector Male Pins Connect as many as eight EVM32-II I/O modules in series, for up to 256 additional I/O points. Output Ground Output 6 Output 5 Output Ground Output 4 Output 3 Output Ground Output 2 Output Ground Output 1 Input/Limit Ground Input 3 (Trig ) Input 2 (Trig A) Input 1 Input/Limit Ground (Master Trig) Input 5 Input 4 CNTRL-P: Inputs 1 5 Input/Limit Ground (Home) Limit 3 Input/Limit Ground (Neg) Limit 2 (Pos) Limit 1 CNTRL-P: Lim 1 3 VINref Pin DRIVE I/O Connector Analog Ground Analog Input Analog Input+ Analog Output Analog Output A Digital Ground Enc Out Z Enc Out Z+ Enc Out /Dir Out Enc Out + /Dir+ Out Enc Out A /Step Ou Enc Out A+ /Step+ Out Reserved Reserved Reserved Reserved Reserved Reserved Digital Ground Digital Ground Reserved Reserved Reset Digital Ground Enable GV6K AC Input Connections Fuses N/C Fuses VUS Fuses L3 Fuses L3 26 Pin MOTOR FEEDACK Connector N VAC L1 L2/N VAC L VAC, 1-phase L2 L1 165VAC 264VAC 3-phase L2 L1 GV6K-L3n at 12VAC Protective Circuits Short Circuit Protection Inrush Current Protection Drive Overtemperature Protection Motor Overtemperature Protection Undervoltage Protection Overvoltage Protection Current Foldback Regeneration Protection GV6K-U3n/6n/12n at 12/24VAC Environmental Specifications Operating Temperature Still Air: 45 C (113 F) Moving Air: 5 C (122 F) Storage Temperature: -4 C 85 C (-4 F 185 F) Humidity: 95%, non-condensing GV6K-H2n at 28/ 24VAC 1-phase Green/Red Yellow/Green LEDs GV6K-H2n/H4n at 28/24VAC 3-phase LED Color: Left Right Indicated State Red Grn +24VDC only Red Yel AC only Grn Grn (flash) Motion in progress Grn Yel/Grn (flash) Autorun mode Red Off Drive not enabled; or Drive faulted Off Yel Initializing Grn Off Drive ready Cos Cos+ Sin Sin+ Reserved Reserved Ref 1 Ref 1+ Hall C Hall Hall A Hall Ground Hall +5V Thermal Switch Thermal Switch Digital Ground Encoder Z Encoder Z+ Encoder Encoder + Encoder A Encoder A+ Encoder Ground Encoder Ground Encoder +5V Encoder +5V Ethernet Connector RJ-45 connector for 1ase-T (1Mbps twisted pair) TCP/IP protocol. Default address is Green LED on = Connection OK; Amber LED on = Transmitting Master Encoder Connector Connect an encoder for Following. Not for servo feedback or stepper stall detect See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers. 13 Parker Hannifin Corporation

86 Catalog 8-4/USA Gemini Dimensions GEMINI Gemini Dimensional Drawings GV/GV6 Dimensions in inches (mm) W 2.75 (7) 6. (153.) FH 1.38 (35) 3x clearance for #8 or M4 mounting screws 5.4 (138.) Power W FH Level Width FIN Height IN (mm) IN (mm) L (79.4).38 (9.5) U (79.4).38 (9.5) 7. (177.8) 7.75 (196.9) 8. (23.2) U (95.3) 1. (25.4) U (95.3) 1. (25.4) H2 5. (127) 2.25 (57.2) H4 5. (127) 2.25 (57.2) GPDM 2.75 (7.). (.).88 (22.2) 1. (25.4 ) GV6K/GV6-P/GV6-DN Dimensions in inches (mm) FH 1.38 (35) OW 3.5 (88.9) 3x clearance for #8 or M4 mounting screws 6. (153.) 5.4 (138.) Power OW FH OL OH Level Overall Width Fin Height Overall Length Overall Height IN (mm) IN (mm) IN (mm) IN (mm) L (98.6).38 (9.5) 8. (23.2) 6. (153.) U (98.6).38 (9.5) 8. (23.2) 6. (153.) 8. (23.2) U6 4.5 (114.3) 1. (25.4) 8. (23.2) 6. (153.) U (114.3) 1. (25.4) 8. (23.2) 6. (153.) H (146.1) 2.25 (57.2) 9.9 (251.5) 6. (153.) H (144.6) N/A 12.5 (317.5) 8.49 (215.7) 14 Parker Hannifin Corporation

87 Catalog 8-4/USA Ordering Information GEMINI Gemini Ordering Nomenclature Control Level: lank - drive only 6 - basic drive/controller 6K - full-feature drive/ controller GV - - (Example: GV6K-U6E) Option: P (Profibus - GV6 only) DN (DeviceNet - GV6 only) (blank) no fieldbus Feedback: E - Encoder R - Resolver Input Voltage (VAC) us Voltage (VDC) Continuous Current (Apk) Maximum Current (Apk) Servo Power Levels L3 U3 U6 U12 H2 H /24 1 ø 17/ /24 1 ø 17/ /24 1 ø 17/ /24 1 or 3 ø 295/ /24 3 ø 295/ Compatible Servo Motors SM Series (in 16 and 23 frame sizes) E Series (in 16, 23 and 34 frame sizes) NeoMetric Series (in 34, 7mm and 92 frame sizes) J Series (in 34, 7mm and 92 frame sizes) M Series (in 15mm - 25mm frame sizes) Motor Cabling Options CE(LVD & EMC) compliant MS connector option Flying lead option (with GF-Kit) 1' cable option (with GF-Kit) C1 quick connection option (Coming Soon) See Also: The Gemini Family of Digital Stepper Drive Products in the Stepper Section See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers. 15 Parker Hannifin Corporation

88 Catalog 8-4/USA Ordering Information GEMINI Cables and Accessories Gemini to 6K Controller (GV only) Part Number Product Description Gemini to 6K Step & Direction command cable, 1', CE(LVD&EMC) (position mode) Gemini to 6K Analog command cable, 1', CE(LVD&EMC) (torque or velocity mode) Gemini to 6K Step & Dir or Analog command cable, 1', CE(LVD&EMC) (all modes) Gemini to 6K Step & Direction command cable, 4', (non CE) (position mode) Gemini to 6K Step & Dir or Analog command cable, 4', (non-ce) (all modes) 5-Pin High Density (Entire Family) Part Number Product Description GEM-VM5 Gemini 5-pin screw terminal breakout board with 3' cable ' cable, 5-pin high density to flying leads, CE(LVD&EMC) ' cable, Gemini 5-pin high density to flying leads (non-ce) ' cable, Gemini 5-pin high density to flying leads (non-ce) GC-5 5-pin Gemini connector with terminal strips GC-SDA Gemini connector with 11-pin terminal strips (drive commands only) 26-Pin HighDensity (Entire Family) Part Number GC-26 GF-KIT Product Description Gemini connector with 26-pin terminal strips 26-pin Gemini connector kit Additional Accessories (Entire Family) Part Number Product Description ' cable, RS232/485 null modem, CE(LVD&EMC) GPDM Gemini Power Dissipation Module 16 Parker Hannifin Corporation

89 Catalog 8-4/USA Cables GEMINI Selecting a Servo Motor and Cables The following cable sets are recommended when combining the shown Gemini GV, GV6 and GV6K power levels with the following Compumotor servo motors. Power Level Motor Cable Sets Power Level Motor Cable Sets L3E E161CJ-NMSN E-GS CALE-nn E162CJ-NMSN E163CJ-NMSN E162CJ-NMSN SM161AE-NGSN 23GS CALE-nn SM162AE-NGSN SM231AE-NGSN SM232AE-NGSN L3R SM231AR-NMSN 23GR CALE-nn SM232AR-NMSN SM233AR-NMSN U12R E341JR-NMSN E-GR CALE-nn E342HR-NMSN E343JR-NMSN E344JR-NMSN N/J71FR-NMSN N/J72FR-NMSN N/J73GR-NMSN 7GR CALE-nn N74GR-NMSN N/J921GR-NMSN 92GR CALE-nn N/J922GR-NMSN N/J923HR-NMSN N924JR-NMSN M153KR-KMSN 15GR CALE-nn M154KR-KMSN U3E E161CJ-NMSN E-GS CALE-nn E162CJ-NMSN E163CJ-NMSN E164CJ-NMSN E23CJ-NMSN E-GS CALE-nn E231DJ-NMSN E232DJ-NMSN E233DJ-NMSN U3R E23DR-NMSN E-GR CALE-nn E231DR-NMSN E232DR-NMSN U6E E232FJ-NMSN E-GS CALE-nn E233FJ-NMSN E341FJ-NMSN E342FJ-NMSN N/J71DE-NMSN 7GS CALE-nn N/J72EE-NMSN N/J73FE-NMSN N74FE-NMSN H2E E342KJ-NMSN E-GS CALE-nn E343LJ-NMSN N/J923KE-NMSN 92GS CALE-nn N924KE-NMSN M153KJ-KMSN 15GS CALE-nn M154KJ-KMSN M1453LJ-KMSN 145GS CALE-nn M1454NJ-KMSN M1455PJ-KMSN M252PJ-KMSN 25GS CALE-nn H2R E342KR-NMSN E-GR CALE-nn E343LR-NMSN N/J923KR-NMSN 92GR CALE-nn N924KR-NMSN M153KR-KMSN 15GR CALE-nn M154KR-KMSN M1453LR-KMSN 145GR CALE-nn M1454NR-KMSN M1455PR-KMSN M252PR-KMSN 25GR CALE-nn U6R E232FR-NMSN E-GR CALE-nn E233FR-NMSN E341FR-NMSN E342FR-NMSN N/J71DR-NMSN 7GR CALE-nn N/J72ER-NMSN N/J73FR-NMSN N74FR-NMSN N/J921FE-NMSN 92GR CALE-nn U12E E341JJ-NMSN E-GS CALE-nn E342JJ-NMSN E232JJ-NMSN N/J71FE-NMSN 7GS CALE-nn N/J72FE-NMSN N/73GE-NMSN N/J74GE-NMSN N/J921GE-NMSN 92GS CALE-nn N/J922GE-NMSN N/J922JE-NMSN N/J923HE-NMSN N924JE-NMSN M153KJ-NMSN 15GS CALE-nn M154KJ-NMSN For complete motor and cable information, please refer to the Motor Cable Table at the end of the Servo Motors section. H4E M153KJ-KMSN 15GS CALE-nn M154KJ-KMSN M1453LJ-KMSN 145GS CALE-nn M1454NJ-KMSN M1455PJ-KMSN 25GS CALE-nn M252PJ-KMSN H4R M153KR-KMSN 15GR CALE-nn M154KR-KMSN M1453LR-KMSN 145GR CALE-nn M1454NR-KMSN M1455PR-KMSN 25GR CALE-nn M252PR-KMSN M253RR-KPTN M254SR-KPTN ADDITIONAL CALE INFORMATION Each cable set comes with 1 motor cable and 1 feedback cable. N73GE-NMS All cables have MS connectors and are CE(LVD&EMC) compliant. Motors may also be purchased with either flying leads or nonremovable cables if GC-26 or GF KIT are purchased. Motor and/or feedback cables may also be purchased individually. Cable sets: nn denotes cable lengths. Cables available in selected lengths. Call for details. For motors with brake option, refer to the motor/cable table for approriate cable part numbers. 17 Parker Hannifin Corporation

90 Catalog 8-4/USA Speed-Torque Curves GEMINI Motor Speed-Torque Peformance Curves Gemini with SM motors, 16 and 23 frame, encoder feedback, 12 VAC* SM161A with GV/6/6K-L3E (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) SM162A with GV/6/6K-L3E (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) SM231A with GV/6/6K-L3E (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) SM232A with GV/6/6K-L3E SM233A with GV/6/6K-L3E GV(GV6)-L3E (17) (33) (5) (67) (83) Speed RPM (rps) (8.3) (17) (25) (33) (42) (5) Speed RPM (rps) CONTINUOUS PEAK NOTES: Speed-torque curves limited to 7,5 rpm (motor mechanical limit). Curves represent 12VAC (nominal) operation. Actual speed-torque curves may vary ±1%. Speed-torque curves are based on motor current values listed in Motor Parameter Table, available on the Motion Planner CD and on the Compumotor Web site, For speed-torque curves of motors that may have been released after this catalog was published, see the Gemini Motor Reference section of the Compumotor Web site. *Encoder feedback performance shown. Resolver-based systems provide up to an 8% increase of continuous and peak torque at all speeds over encoder-based systems. Refer to the Servo Motors section for more information on resolver motors. 18 Parker Hannifin Corporation

91 Catalog 8-4/USA Speed-Torque Curves GEMINI Motor Speed-Torque Peformance Curves Gemini with E motors, 16 and 23 frame, encoder feedback, 12/24 VAC* E161C with GV/6/6K-U3E E162C with GV/6/6K-U3E E163C with GV/6/6K-U3E E164C with GV/6/6K-U3E CONTINUOUS PEAK (17V) PEAK (34V) 12 E23D with GV/6/6K-U3E E23F with GV/6/6K-U3E.84 3 E231D with GV/6/6K-U3E E231F with GV/6/6K-U3E E232D with GV/6/6K-U3E E232F with GV/6/6K-U6E E233D with GV/6/6K-U3E E233F with GV/6/6K-U6E CONTINUOUS PEAK 12 VAC MECHANICAL LIMIT *Encoder feedback performance shown. Resolver-based systems provide up to an 8% increase of continuous and peak torque at all speeds over encoder-based systems. Refer to the Servo Motors section for more information on resolver motors. See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers. 19 Parker Hannifin Corporation

92 Catalog 8-4/USA Speed-Torque Curves GEMINI Motor Speed-Torque Peformance Curves Gemini with E motors, 34 frame, encoder feedback, 12/24 VAC* E341F with GV/6/6K-U6E E341J with GV/6/6K-U12E E342H with GV/6/6K-U12E E342K with GV/6/6K-U12E E344L with GV/6/6K-U12E E343J with GV/6/6K-U12E E344J with GV/6/6K-H2E E343L with GV/6/6K-H2E CONTINUOUS PEAK 12 VAC MECHANICAL LIMIT *Encoder feedback performance shown. Resolver-based systems provide up to an 8% increase of continuous and peak torque at all speeds over encoder-based systems. Refer to the Servo Motors section for more information on resolver motors. 11 Parker Hannifin Corporation

93 Catalog 8-4/USA Speed-Torque Curves GEMINI Motor Speed-Torque Peformance Curves Gemini with NeoMetric and J series motors, 7mm and 34 frame, encoder feedback, 12/24 VAC* N71D/J71D with GV/6/6K-U6E N71F/J71F with GV/6/6K-U6E 1.76 N72E/J72E with GV/6/6K-U6E (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) 5 N72F/J72F with GV/6/6K-U6E 3.53 N73G/J73G with G/6/6K-U12E N74G with G/6/6K-U12E (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) CONTINUOUS 12V Limit PEAK NOTES: Speed-torque curves limited to 7,5 rpm (motor mechanical limit). Curves represent 12VAC (nominal) and 24VAC (nominal) operation. Actual speed-torque curves may vary ±1%. Speed-torque curves are based on motor current values listed in Motor Parameter Table, available on the Motion Planner CD and on the Compumotor Web site, For speed-torque curves of motors that may have been released after this catalog was published, see the Gemini Motor Reference section of the Compumotor Web site. *Encoder feedback performance shown. Resolver-based systems provide up to an 8% increase of continuous and peak torque at all speeds over encoder-based systems. Refer to the Servo Motors section for more information on resolver motors. See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers. 111 Parker Hannifin Corporation

94 Catalog 8-4/USA Speed-Torque Curves GEMINI Motor Speed-Torque Peformance Curves Gemini with NeoMetric and J series motors, 92mm frame, encoder feedback, 12/24 VAC* 8 N921F/J921F with GV-U6E N921G/J921G with GV-U12E N922G/J922G with GV-U12E (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) Speed RPM (rps) 16 N922J/J922J with GV-U12E 11.3 N923H/J923H with GV-U12E N924J with GV-U12E (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) Speed RPM (rps) (17) (33) (5) (67) (83) Speed RPM (rps) N923K/J923K with GV-H2E N924K with GV-H2E (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) CONTINUOUS 12V Limit PEAK NOTES: Speed-torque curves limited to 7,5 rpm (motor mechanical limit). Curves represent 12VAC (nominal) and 24VAC (nominal) operation. Actual speed-torque curves may vary ±1%. Speed-torque curves are based on motor current values listed in Motor Parameter Table, available on the Motion Planner CD and on the Compumotor Web site, For speed-torque curves of motors that may have been released after this catalog was published, see the Gemini Motor Reference section of the Compumotor Web site. *Encoder feedback performance shown. Resolver-based systems provide up to an 8% increase of continuous and peak torque at all speeds over encoder-based systems. Refer to the Servo Motors section for more information on resolver motors. 112 Parker Hannifin Corporation

95 Catalog 8-4/USA Speed-Torque Curves GEMINI Motor Speed-Torque Peformance Curves Gemini with M series motors, 15, 145 and 25mm frame, encoder feedback, 24 VAC* Torque (Lb-in) M153K with GV/6/6K-U12E Torque (Lb-in) M153K with GV/6/6K-H2E Torque (Lb-in) M154K with GV/6/6K-U12E Torque (Lb-in) M154K with GV/6/6K-H2E M1453L with GV/6/6K-H2E M1453L with GV/6/6K-H4E Torque (Lb-in) Torque (Lb-in) Torque (Lb-in) M1454N with GV/6/6K-H2E Torque (Lb-in) M1454N with GV/6/6K-H4E Torque (Lb-in) M1455P with GV/6/6K-H2E Torque (Lb-in) M1455P with GV/6/6K-H4E Torque (Lb-in) M252P with GV/6/6K-H2E M252P with GV/6/6K-H4E Torque (Lb-in) Torque (Lb-in) M253R with GV/6/6K-H4E CONTINUOUS PEAK *Encoder feedback performance shown. Resolver-based systems provide up to an 8% increase of continuous and peak torque at all speeds over encoder-based systems. Refer to the Servo Motors section for more information on resolver motors. 34V See Stepper Drive section for the full line of Gemini stepper drives and drive/controllers. 113 Parker Hannifin Corporation

96 Catalog 8-4/USA Introduction COMPAX Digital Servo Drive/Controllers The COMPAX servo drive/controller family is the highpowered cousin to Compumotor's line of Gemini low- to midpower servo drive/controllers. Providing an ideal solution for motion control systems where 12VAC - 46VAC direct input power is used, the COMPAX family provides up to 35kW continuous/7kw peak drive power for those more demanding high-speed, high-inertia, high-load applications. The COMPAX family is flexible, offering the choice of either standalone or modular packages for single- or multi-axis needs, thereby providing a complete motion control solution in a highly reliable and integrated package. All COMPAX units incorporate the easy-to-use Servo Manager TM front-end software package a user-friendly, parameter-based configurator that greatly simplifies setup and programming for software users of any level. The COMPAX can communicate via ASCII and binary or via a number of supported fieldbus protocols for direct interface with PCs, HMIs and PLCs. Moreover, any standard COMPAX unit can be upgraded with specialized functionality and/or alternative feedback devices, allowing users to tailor the COMPAX to their specific application needs. This combination of performance, flexibility and expandability makes the COMPAX a powerful and valuable member of the Compumotor servo product family. Features Performance Eight power ranges available, providing up to 35kW of continuous drive power Direct online single or 3-phase power input (12VAC to 46VAC)* Continuous current levels from 2.5 Amps to 5 Amps (RMS); peak current from 5 Amps to 1 Amps (RMS) Digital control of position, velocity and torque (current) loops High-speed DSP - 1 microsecond servo update rate - 1 millisecond command processing rate (EMC and LVD) COMPAX Family Features Standalone servo controller and drive in one integrated package Control features such as registration, motion profiles, S- curve velocity profiles, conditional statements, arithmetic functions and resolver feedback all standard Specialized functions such as following, cam profiling, electronic gearing or cut-on-the-fly available as options for all COMPAX products Available in standalone or modular configuration for singleor multi-axis applications Serial, binary and fieldbus communication PLC-handshaking via onboard I/O Comprehensive program monitoring, status and diagnostic features Error log records and stores the four most recent errors Easy parameter-based drive setup and motor configuration via the included Servo Manager software package Guided motor setup and tuning via software tools Non-volatile memory for reliable storage of parameters and programs Simple, ASIC-style programming language Floating point, integer and binary variables with high-level math functionality Position or velocity control via external encoder pulse, step/direction or ±1VDC analog signal Fully CE compliant (EMC & LVD) * Input power range depends on COMPAX model Optional feature; standard on COMPAX 1SL 114 Parker Hannifin Corporation

97 Catalog 8-4/USA Introduction COMPAX Protection Short-circuit protection phase-to-phase and phase-toground Over-voltage protection for both drive and controller sections Under-voltage (brownout) protection for both drive and controller sections Drive over-temperature protection Motor over-temperature protection Current foldback protection Regeneration protection Physical Compatible with a wide selection of brushless servo motors, such as the Compumotor SM, E, NeoMetric, J and M Series motors Supports linear servo motors, such as the Daedal LXR and Compumotor SL motor series 3-digit LED display* for monitoring diagnostic status and/ or errors related to the following: - Controller section - Amplifier drive section - Fieldbus us power and 24VDC control power status light uilt-in regeneration (power dissipation) circuitry on all units; optional external modules available for additional power dissipation capability Software Options Software variants available for specialized applications, including: - Complete position-based following - Electronic cam generation and profiling - Electronic gearing - Cut-on-the-fly applications I/O Capabilities Onboard digital I/O 16 inputs, 16 outputs (8 inputs, 8 outputs for COMPAX 1SL) Software-configurable onboard digital input and output functionality 2 D/A monitor outputs, 1 brake output Speed override input and registration input capability 24VDC reference voltage for direct interface with PLCs Optional I/O features: - Additional monitor output (on some models) - Encoder signal output (encoder simulation) to an individual COMPAX unit or multiple COMPAX units via Enocder us - ±1VDC analog input Connectivity RS232 ASCII serial communication standard Additional communication options: - Fieldbus interfaces (Profibus, Interbus-S, CAN us, CANopen or CS31) - RS485 ASCII/binary (2- or 4-wire) * Not available on COMPAX 1SL Standard on COMPAX 1SL For More Information on COMPAX Digital Servo Sytems, Call Today. 115 Parker Hannifin Corporation

98 Catalog 8-4/USA Applications COMPAX Application Specific Variants COMPAX XX3M: Indexing table control High precision control and positioning of indexing tables and endless assembly chains Special features: External position sensing possible with E2 encoder option Indexing calculator up to 1 increments per revolution Control of mechanical clamping Manual fine adjustment of table position No cumulative error COMPAX XX6M: Electronic gearing Synchronous control of angle, synchronous control of speed, processing in motion. Requires E2 or E4 encoder option. Electronic gearing Processing of moving parts Special features: Any desired gear ratio, including negative values Synchronous control of angle or rotational speed Enable/disable external master reference value Internal motion program superimposed on master motion COMPAX XX7M: Cam control Replacement of mechanical elements of machines, for example cam plates and discontinuous shaft, camshaft or gear elements. Requires E2 or E4 encoder option Special features: Several curves storable 8 digital outputs as a function of cam position Up to 25 base points per curve Powerful software tool for design and implementation of curves Flying synchronization into predefined positions 116 Parker Hannifin Corporation

99 Catalog 8-4/USA Standalone Specifications COMPAX COMPAX -S (Standalone) Specifications Parameter Value Performance Resolver Accuracy ±1 arc min Resolution 2,48 or 4,96 post quadurature counts per rev Output Power COMPAX1SL COMPAX25S COMPAX45S COMPAX85S Voltage 17VDC or 325VDC 325VDC 65VDC 65VDC Frequency Current 1 khz 1 khz 1 khz 1 khz Current Cont. (max rms per phase) 2.5A 6.3A 6.5A 12.5A Peak (max rms per phase) 5.A 12.6A 13.A 25.A Power Dissipation 5W 8 W 17 W 17 W Input Power Max Input Voltage, AC Supply 12-23VAC, 1-Phase 12-23VAC, 1- or 3-Ph VAC, 3-Phase 23-46VAC, 3-Phase Frequency 5/6 Hz 5/6 Hz 5/6 Hz 5/6 Hz AC Supply Tolerance +1%, -15% +1%, -15% +1%, -15% +1%, -15% Voltage (Control) +24VDC ±1%, ripple +24VDC ±1%, ripple +24VDC ±1%, ripple +24VDC ±1%, ripple <1V p-p <1V p-p <1V p-p <1V p-p Fuses Input, AC Supply 16 amp 16 amp (1-Phase), 16 amp 16 amp 1 amp (3-Phase) Protection Short Circuit Phase to phase, Phase to earth rownout elow 8VDC Overvoltage Will shut down when power dump capacity is exceeded Overtemperature Motor 17 C (33 F); Drive 85 C (185 F) I 2 t Error generated if peak current > 3 seconds Safety Isolation VDE16 Inputs Programmable Enable, rake, Auto Offset, Mode Select, Limit (NPN type, sinking only) 24V 1 ma high = 14-32V, low <7.5V Internal clamp w/ zener 6.8V, fully optically isolated, sink or source Outputs Digital Encoder 5V line driver (RS485) output, TTL compatible, source 6 ma max, requires external +5VDC 1 ma User selectable 2,48 or 4,96 ppr Programmable: Fault, Error PNP type, sourcing only, rated for 1 ma fully optically isolated, short circuit protected Ready Contact Output 125V, 5 ma, 3W maximum Outputs Analog Velocity Absolute: 8V = 6, rpm Normalized: +1V = max speed Motor Voltage.7 1V = 7-1VDC Current Monitor 1V = 1.2 A for COMPAX 1SL, 25S, COMPAX 45S; 1V = 2.4A for COMPAX 85S Physical Connections Inputs/Outputs Resolver Encoder Output RS-232, RS-485 Motor and brake AC supply Control voltage Absolute encoder 16-pin screw terminal, removable (15-pin D connector on 1SL) 15-pin D connector 15-pin D connector 9-pin D connector 8-pin screw terminal, removable (6-pin screw terminal on 1SL) 4-pin screw terminal, removable (3-pin screw terminal on 1SL) 2-pin screw terminal, removable 9-pin D connector (not available on 1SL) Environment Drive temp range (ambient) -45 C ( F) Maximum heat sink temp 85 C (185 F) Motor temp range (ambient) -4 C (32-14 F) Maximum motor case temp 125 C (257 F) Humidity -95% non-condensing Storage C ( F) Tuning Position Mode Stiffness, damping, speed feedforward, accel feedforward, current feedforward Diagnostics LEDs Ready and error LEDs 3-digit, 7-segment LED display will indicate 23 error conditions and 31 status messages (not available on COMPAX1SL) For More Information on COMPAX Digital Servo Sytems, Call Today. 117 Parker Hannifin Corporation

100 Catalog 8-4/USA Modular Specifications COMPAX COMPAX -M (Modular) Specifications Parameter Value Performance Resolver Accuracy ±1 arc min Resolution 2,48 or 4,96 post quadurature counts per rev Output Power COMPAX2M COMPAX5M COMPAX15M COMPAX35M Voltage 65VDC from NMD power supply module; see NMD module specs below for additional info Frequency Current 1 khz 1 khz 5 khz 5 khz Continuous (max rms per phase) 6.5A 11.5A 25A 5A Peak (max rms per phase) 8.5A 17A 5A 1A Power Dissipation 12 W 25 W 25 W 61W Power Supply Module Voltage NMD1 NMD2 No NMD Module Input AC Supply required for 1-48VAC 3 Phase +1%, -15% Input Control COMPAX 35M +24VDC ±1%, ripple <1V p-p; 1 amp max per drive, 1 amp max per brake Output The 35M is also 16-65VDC Frequency 5/6 Hz 5/6 Hz capable of providing Power (max continuous) 1 kw 2 kw up to 15 kw for Power (peak <3 seconds) 2 kw 4 kw powering additional Fuses COMPAX -M units Input AC Supply 16 amp 35 amp Protection Short Circuit Phase to phase, Phase to earth rownout elow 8VDC Overvoltage 7VDC (Power dump capability) Overtemperature Motor 17 C (33 F); Drive 85 C (185 F) I 2 t Error generated if peak current > 3 seconds Safety Isolation VDE16 Inputs Programmable Enable, rake, Auto Offset, Mode Select, Limit (NPN type, sinking only) 24V 1 ma high = 14-32V, low <7.5V Internal clamp w/ zener 6.8V, fully optically isolated, sink or source Outputs Digital Encoder 5V line driver (RS485) output, TTL compatible, source 6 ma max, requires external +5VDC 1 ma User selectable 2,48 or 4,96 ppr Programmable: Fault, Error PNP type, sourcing only, rated for 1 ma fully optically isolated, short circuit protected Ready Contact Output 125V, 5 ma, 3W maximum Outputs Analog Velocity (X8, pin 1) Absolute: 8V = 6, rpm (X8, pin 11) Normalized: +1V = max speed Motor Voltage (X8, pin 12).7 1V = 7-1VDC Current Monitor 1V = 1.2 A for COMPAX2M; 1V = 2.4 A for COMPAX5M; 1V = 7. A for COMPAX15M Physical Connections Inputs/Outputs Resolver Encoder Output RS-232, RS-485 Motor and brake AC supply Control voltage HEDA, Absolute encoder 16-pin screw terminal, removable 15-pin D connector 15-pin D connector 9-pin D connector 7-pin screw terminal 3-pin screw terminal 2-pin screw terminal 9-pin D connector Environment Drive temperature ambient -45 C ( F) Maximum heat sink temp 85 C (185 F) Motor temperature ambient -4 C (32-14 F) Maximum motor case temp 125 C (257 F) Humidity -95% non-condensing Storage C ( F) Tuning Position Mode Stiffness, damping, speed feedforward, accel feedforward, current feedforward Diagnostics LEDs Ready and error LEDs 3 digit, 7 segment LED display will indicate 23 error conditions and 31 status messages 118 Parker Hannifin Corporation

101 X8 X9 Status Number - + Enter Ready Test Value X6 Input Output Control Error RS232 X1 X11.63 (16) 7.78 (197.5) Catalog 8-4/USA Ordering COMPAX COMPAX1SL Dimensions Dimensions in inches (mm) 3.35 (85) 5.73 (145.5).17 (5) 8.13 (26.5) 7.7 (18) 2.16 (55) Attach with four 5mm hex socket head screws (174) 7.2 (183) COMPAX25S Dimensions in inches (mm) COMPAX45S and COMPAX85S Dimensions in inches (mm).63 (16).39 (1) 1.18 (3) 5.12 (13) 3.86 (98) 2.56 (65) 1.67 (271) 8.7 (221) 5.71 (145) 3.3 (77).94 (24) (325) 1.83 (275) 2.56 (65) (29) 1.63 (27) 9.45 (24) COMPAX S (351) (378) (395) 4.33 (11) 2.56 (65) 3.86 (98) Attach with four 5mm hex socket head screws..43 (11) Attach with four 5mm hex socket head screws. For More Information on COMPAX Digital Servo Sytems, Call Today. 119 Parker Hannifin Corporation

102 Catalog 8-4/USA Modular Specifications COMPAX Mounting Details for direct-panel mounting Dimensions in inches (mm).39 (1) 3.35 (85) (75) (4) 1.97 (5) 2.95 (75) 2.56 (65) (39) (34) 3.78 (96) (364) (43) (45) 1.27 (31) 1.97 (5) 2XXM, 5XXM, 15XXM, NMD1 & NMD (65) Dimensions and Mounting Details for through-panel mounting Dimensions in inches (mm) (294) 9.61 (244) 3.78 (96) 3.23 (82) 1.97 (5) 3.35 (85) 1.97 (5) Mounting plate 1.67 (424) 16.1 (48) 17.3 (441,5) 1.67 (424) 1.97 (5) Panel cut-out dimensions 1.97 (5) Mounting plate All backplate and bracket fixings accept M6 screws. For through-panel mounting, use bracket type MTS2/1. 12 Parker Hannifin Corporation

103 Catalog 8-4/USA Ordering COMPAX Ordering Nomenclature COMPAX 1 SL / / COMPAX 25 S / / COMPAX 45 S / / COMPAX 85 S / / COMPAX 2 M / / COMPAX 5 M / / COMPAX 15 M / / COMPAX 35 M / / Power Supply Module (Required for COMPAX 2M, 5M and 15M) NMD 1 NMD 2 Application Variant Class S or SL - Standalone unit M - Modular unit - Standard drive/controller 3 - Indexing table control 6 - Following / electronic gearing 7 - Electronic cam following Options A1 - Absolute Encoder* D1 - D-to-A monitor w/o box E2 - Encoder input module (individual unit)* E3 - Encoder simulation output* E4 - Encoder input module (encoder bus) E7 - Analog input module F1 - RS485, 4 wire F2 - Interbus-S F3 - Profibus F4 - CAN bus F5 - RS484, 2 wire F8 - CAN open S1 - SinCos encoder (single turn) S2 - SinCos encoder (multi turn) S3 - Linear motor support * Not available on COMPAX1SL For More Information on COMPAX Digital Servo Sytems, Call Today. 121 Parker Hannifin Corporation

104 Catalog 8-4/USA NMD Power Supplies COMPAX NMD Three-phase direct online power supplies Two central power modules are available to power COMPAX-M drives, with continuous ratings of 1 kw (NMD1) and 2 kw (NMD2). These supplies operate from a 3-phase AC input up to 48V. The DC output is connected to one or more servo drives by jumper cables fitted behind a removable front plate. A separate 24 VDC supply is required to power the control circuits, permitting communication and diagnostic facilities to be retained should the main power supply fail. Energy regenerated during deceleration will be stored in the power supply capacitors unless the DC bus voltage exceeds a preset level, in which case a ballast resistor is automatically switched in to dissipate the surplus energy. The high-power NMD2 module may be used in conjunction with an external ballast resistor to handle high regenerated energy levels. Power Supply Characteristics AC supply voltage: 1-48V +1% -15% Supply frequency: 5-6 Hz Safety specification: VDE16 Control voltage: +24 VDC ±1%, ripple <1V p-p Control current: See ratings below Standby contact rating:.5 A, 125V, 3 W Overheating protection: Heatsink temperature >85 C Undervoltage protection: DC output <8V Overvoltage protection: raking resistor switched in at preset level Phase failure monitoring: Red LED flashes on phase failure, system disabled after 4 seconds Power Supply Ratings Model No. Continuous Peak (<3s) AC Supply DC Output AC Supply Power Power Voltage Voltage Protection* NMD1 1kW 2kW 48V 3ø 68V 16A NMD2 2kW 4kW 48V 3ø 68V 35A * External cutout or equivalent cartridge fuse, supplied by customer Power Supply raking & allast Ratings Model No. Continuous Power Intermittent ratings DC us Storable Dissipation Power Duration Cooling Time Capacity Energy NMD1 12W* 4.5kW <1s >5s 11µF 173 Ws 17kW <5ms >1s NMD2 12W* 3kW <1s >5s 165µF 26 Ws 9.5kW <5ms >1s MR4/1 57W 37kW <.4s >12s - - MR4/2 74W 37kW <.6s >12s - - MR4/3 1.5kW 37kW <1.2s >12s - - * Increased to 25W with fan option External ballast used with NMD2 122 Parker Hannifin Corporation

105 Catalog 8-4/USA Accessories COMPAX COMPAX Accessories Additional Accessories (Entire Family) Fieldbus & Communication Cables / Encoder us / Feedback Accessories Part Description Part Description IVD1 Limit switch interface kit DF2/1 Hand-held terminal with cable DF1/2 Teach pendant without housing, no cable DF1/3 Teach pendant with housing, no cable SSK6/1 Teach pendant cable - 1m SSK6/2 Teach pendant cable - 2.5m ASS1/1 D-to-A option junction box with cable Part Power Dissipation Modules/ EMC Accessories (Entire Family) Description RM4/1.57kW resistor for NMD2 RM4/2.74kW resistor for NMD2 RM4/3 1.5kW resistor for NMD2 RM5/1 Power dissipation resistor 25S RM6/1 Power dissipation resistor 45/85S RM7/1 Power dissipation resistor 35M SSK1/1 RS232 cable - 1m SSK1/2 RS232 cable - 2.5m SSK13/1 Fieldbus communication cable - 1m SSK13/2 Fieldbus communication cable - 2.5m EAM4/1 Encoder bus distributor SSK/4/1 COMPAX-to-EAM4/1 cable - 1m SSK/4/2 COMPAX-to-EAM4/1 cable - 2.5m SSK/7/1 COMPAX-to-EAM4/1 encoder bus cable - 1m SSK/7/1 COMPAX-to-EAM4/1 encoder bus cable - 2.5m US1/1 Encoder bus terminator AG1 Absolute encoder with flange GK1/2 Absolute encoder cable - 2.5m GK1/4 Absolute encoder cable - 7.5m GK1/7 Absolute encoder cable - 15m GK1/1 Absolute encoder cable - 3m G71SSLDIO Incremental master encoder GK11/4 Encoder-to-COMPAX cable - 7.5m GK11/7 Encoder-to-COMPAX cable - 15m GK11/1 Encoder-to-COMPAX cable - 3m MDR1/1 Output throttle/choke - 16A/2mH MDR1/2 Output throttle/choke - 3A/1.1mH MDR1/3 Output throttle/choke - >3A/.64mH NFI1/1 AC line filter - 25S (for motor cable >1m), 1SL NFI1/2 AC line filter - 45S, 85S, NMD1, 1SL NFI1/3 AC line filter - NMD2 NFI1/4 AC line filter - 35M NFI1/5 AC line filter - 35M w/ additional COMPAX -M slave units NFI1/6 AC line filter - 25S (motor cable 1m) Compatible Servo Motors Compumotor (rotary brushless) SM Series (in NEMA 23 frame size) E Series (in NEMA 23, 34 frame sizes) NeoMetric Series (in NEMA 34, 7mm and 92 mm frame sizes) J Series (in NEMA 34, 7mm and 92 mm frame sizes) M Series (in NEMA 15, 145 and 25 mm frame sizes) See the Servo Motor section of this catalog for specific dimensions and specifications. Linear Motors Compumotor: SL Series Daedal: LXR, HLE Series Other supported motors HDY (55mm, 7mm, 92mm, 115mm, 142mm, 19mm frame sizes) HJ (96mm, 116mm, 155mm, 19mm frame sizes) Asynchronous motors For More Information on COMPAX Digital Servo Sytems, Call Today. 123 Parker Hannifin Corporation

106 Catalog 8-4/USA NMD Power Supplies COMPAX Selecting a Servo Motor and Cable Set The following chart describes compatible Compumotor motors and the corresponding cable set for COMPAX drive/controllers. Motor Motor Connectivity Options Cable Set For complete motor and cable information, please refer to the Motor Cable Table at the end of the Servo Motors section. SM231AR-NMSN SM232AR-NMSN SM233AR-NMSN E23DR-NMSN E231DR-NMSN E232DR-NMSN E233DR-NMSN E341FR-NMSN E342HR-NMSN E343JR-NMSN E344JR-NMSN JO341FR-NMSN JO342GR-NMSN JO343GR-NMSN JO71FR-NMSN JO72GR-NMSN JO73GR-NMSN NO71FR-NMSN NO72FR-NMSN NO73GR-NMSN NO74GR-NMSN JO921JR-NMSN JO922HR-NMSN JO923JR-NMSN NO921GR-NMSN NO922JR-NMSN NO923HR-NMSN NO924JR-NMSN M153KR-KMSN M154KR-KMSN M1453KR-KMSN M1454LR-KMSN M1455NR-KMSN M252PR-KMSN M253RR-KPTN 23CX CALE-xx 23CX CALE-xx 23CX CALE-xx 23CX CALE-xx 23CX CALE-xx 23CX CALE-xx 23CX CALE-xx 34CX CALE-xx 34CX CALE-xx 34CX CALE-xx 34CX CALE-xx 34CX CALE-xx 34CX CALE-xx 34CX CALE-xx 7CX CALE-xx 7CX CALE-xx 7CX CALE-xx 7CX CALE-xx 7CX CALE-xx 7CX CALE-xx 7CX CALE-xx 92CX CALE-xx 92CX CALE-xx 92CX CALE-xx 92CX CALE-xx 92CX CALE-xx 92CX CALE-xx 92CX CALE-xx CALL FACTORY CALL FACTORY CALL FACTORY CALL FACTORY CALL FACTORY CALL FACTORY CALL FACTORY 124 Parker Hannifin Corporation

107 Catalog 8-4/USA Speed-Torque Curves COMPAX Motor Speed-Torque Performance Curves COMPAX with SM motors, 23 frame, resolver feedback. 12/24 VAC SM231AR/COMPAX 1SL SM232AR/COMPAX 1SL SM233AR/COMPAX 1SL CONTINUOUS PEAK 17 VAC CONTINUOUS PEAK 34 VAC COMPAX with E motors 23 and 34 frame, resolver feedback E23DR/COMPAX 1SL E231DR/COMPAX 1SL E232DR/COMPAX 1SL E233DR/COMPAX 1SL Torque (Lb-in) E341FR/COMPAX 25S Torque (Lb-in) E342HR/COMPAX 25S Torque (Lb-in) E343JR/COMPAX 25S Torque (Lb-in) E344JR/COMPAX 25S CONTINUOUS PEAK 17 VAC CONTINUOUS PEAK 34 VAC For More Information on COMPAX Digital Servo Sytems, Call Today. 125 Parker Hannifin Corporation

108 Catalog 8-4/USA Speed-Torque Curves COMPAX Motor Speed-Torque Performance Curves COMPAX with NeoMetric and J series motors, 7mm and 92mm, resolver feedback, 12/24 VAC 2 N71FR/COMPAX 25S N72FR/COMPAX 25S N73GR/COMPAX 25S 5.6 Torque (Lb-in) Torque (Lb-in) Torque (Lb-in) Torque (Lb-in) N74GR/COMPAX 25S N921GR/COMPAX 25S N922JR/COMPAX 25S Torque (Lb-in) Torque (Lb-in) Torque (Lb-in) N923HR/COMPAX 25S Torque (Lb-in) N924JR/COMPAX 25S CONTINUOUS PEAK 17 VAC CONTINUOUS PEAK 34 VAC 126 Parker Hannifin Corporation

109 Catalog 8-4/USA Speed-Torque Curves COMPAX Motor Speed-Torque Performance Curves COMPAX with M series motors, 15mm, 145mm and 25mm, resolver feedback, 48 VAC Torque (Lb-in) M153KR/COMPAX 15M Torque (Lb-in) M154KR/COMPAX 15M Torque (Lb-in) M1453LR/COMPAX 35M Torque (Lb-in) M1454NR/COMPAX 35M Torque (Lb-in) M1455PR/COMPAX 35M Torque (Lb-in) M252PR/COMPAX 35M Torque (Lb-in) M253RR/COMPAX 35M CONTINUOUS PEAK 56 VAC For More Information on COMPAX Digital Servo Sytems, Call Today. 127 Parker Hannifin Corporation

110 Catalog 8-4/USA SLVD SLVD Small, Low-Voltage Digital Servo Drive The SLVD (Small, Low-Voltage Drive) is a powerful and compact digital servo drive available for use with 24V input providing up to 5 Amps of continuous current (RMS). This equates to 1.5kW of shaft power. It accepts standard drive signals ±1V analog and step & direction signals. In addition to standard drive operation, the SLVD has simple position control functionality. The user has the ability to set preset moves, program I/O, solve following applications and carry out camming functions. It also has an internal PLC for simple machine control functions with up to 15 instructions. A CANUS interface is also available. SLVD Part Numbering System SLVD 5 Small, Low-Voltage Drive Series SLVD Example: SLVD5 Continuous Current Level Optional Keypad part number SK13 KEYPAD SLVD Features Up to 5 Amps of continuous current (RMS) Optional keypad interface for drive configuration, monitoring and application commands Standard D-shell and removable screw terminal connectors Resolver feedback 24 VAC, 3-phase operation ±1V velocity and torque control Step & direction input for position control 24 Volt Keep Alive (required) RS422/485 communication CE (EMC & LVD) Additional control features Position preset mode drive can be set up to perform simple trapezoidal moves. Following (digital locking) drive can ration against encoder signal; acceleration and slip speeds can also be set. Electronic cam profiling cam profiling up to 257 elements. CANUS interface can be used in communication mode and in real-time mode. Internal PLC drive can be programmed via keypad or with a ladder diagram system. - Scan time: ms - Timers: 2 - Instructions: 15 - Stack depth: 1 - Program steps: 64 - Mathematics operation: 16/32 bits - Fast inputs (fast copy): microseconds 128 Parker Hannifin Corporation compumoto.com

111 Catalog 8-4/USA SLVD Specifications SLVD SLVD Common Specifications SLVD1 SLVD2 SLVD5 Drive Input Power Voltage 23V±1% 23V±1% 23V±1% Phase Frequency 5/6 Hz 5/6 Hz 5/6 Hz Drive Output Power us 24VAC 34VDC 34VDC 34VDC PWM 8kHz 8kHz 8kHz Continuous current (peak of sine) 1.75A 3.54A 7.7A Continuous current (RMS) 1.24A 2.5A 5A Peak current (peak of sine) 3.54A 7.7A 14.14A Peak current (RMS) 2.5A 5A 1A Commutation Sinusoidal Sinusoidal Sinusoidal Performance Feedback Resolver Resolver Resolver Inputs Command velocity and torque mode ±1V ±1V ±1V Command position mode Step/direction input Step/direction input Step/direction input 8kHz max 8kHz max 8kHz max Digital inputs (8 inputs) 24V 24V 24V Encoder input 2kHz max 2kHz max 2kHz max Analog input - Aux ±1V (1 bit) ±1V (1 bit) ±1V (1 bit) Outputs Digital outputs (6 inputs) 24V/1mA/PNP 24V/1mA/PNP 24V/1mA/PNP Analog output - Aux ±4.5V ±4.5V ±4.5V Communication Type RS422/485 RS422/485 RS422/485 Daisychain Up to 32 units Up to 32 units Up to 32 units Power Dissipation Control stage 18W 18W 18W Power stage 18W 28W 45W Internal braking resistor 6W 6W 6W Environmental Temperature 113 F (45 C) 113 F (45 C) 113 F (45 C) Protection Grade IP2 IP2 IP2 Compumotor Motors E, J and NeoMetric Series E, J and NeoMetric Series E, J and NeoMetric Series Find Your Local Factory Authorized Distributor at www. or Call Parker Hannifin Corporation compumoto.com

112 Catalog 8-4/USA SLVD Speed-Torque Curves SLVD Motor Speed-Torque Performance Curves SLVD with E, NeoMetric and J Series motors, 23, 34, and 7mm frame, resolver feedback, 24 VAC For complete E, Neometric, and J motor and cable information, please refer to Servo Motor section. E23DR/SLVD5 E231FR/SLVD5 E232DR/SLVD E233FR/SLVD5 E341FR/SLVD5 N71DR/J71DR/SLVD N72ER/J72ER/SLVD N73FR/J73FR/SLVD CONTINUOUS PEAK 34V For complete motor and cable information, please refer to the Motor Cable Table at the end of the Servo Motors section. 13 Parker Hannifin Corporation compumoto.com

113 Catalog 8-4/USA SLVD Connections Terminal oard X1 Resolver/Input D9 Female X2 Com/us SLVD D9 Male X3 Encoder In/Out 1 + ECC 2 - ECC 3 SIN + 4 SIN - 5 COS + 6 COS - 7 V 8 V 9 IN 1 IN 1 1 TX 2 RX 3 /TX 4 /RX 5 CANH 6 +R18 7 -R18 8 CANL 9 V 1 PHA 2 /PHA 3 PH 4 /PH 5 PHC 6 /PHC 7 V 8 Not used 9 Not used Terminal oard X4 CMD/Analog I/O Terminal X6 Power 1 ANALOG REFERENCE + 2 ANALOG REFERENCE - 3 V 4 AUXILIARY ANALOG INPUT + 5 AUXILIARY ANALOG INPUT - 6 V OUT 7 OUT /IN 2 8 OUT 1/IN V 1 V 1 MOTOR PHASE U 2 MOTOR PHASE V 3 MOTOR PHASE W 4 LIVE 1 (L1) 5 LIVE 2 (L2) 6 LIVE 3 (L3) 7 PE Find Your Local Factory Authorized Distributor at www. or Call Parker Hannifin Corporation compumoto.com

114 Catalog 8-4/USA SLVD Dimensions SLVD SLVD Dimensions in inches (mm).28 (7.2) 1.42 (4.) 3.39 (86.).57 (14.7).69 (17.5) 5.49 (139.6) 2.52 (64.1).79 (2.1) 5.56 (141.2) 5.9 (129.) 2.11 (53.5) 2.99 (76.) 3.17 (8.5) 2.9 (53.) 1.99 (5.5).2 (5.).2 (5.).2 (5.) 3.9 (99.2).9 (22.9).4 (1.) 4.56 (115.7) 132 Parker Hannifin Corporation compumoto.com

115 Catalog 8-4/USA HPD HPD High-Power Digital Servo Drive The HPD (High Power Drive) is a digital servo drive that accepts up to 48V input and provides up to 67 Amps of continuous current (RMS). This equates to 33kW of power. The HPD also accepts standard drive signals ±1V analog and step & direction signals. In addition to standard drive operation, the HPD has 8 inputs, 7 outputs and control capabilities that include preset moves, acceleration control, following and even an internal simple PLC. All of these features can be programmed via the keypad interface integrated into the drive. HPD Features Up to 67A continuous (RMS) Resolver feedback 9-48VAC input, 3-phase voltage range ±1V input for velocity and torque control Step & direction input for position control Keypad interface for drive configuration, monitoring and application commands Optional 24V Keep Alive RS422/485 serial interface CE (EMC & LVD) HPD Part Numbering System Additional Control Features In addition to basic drive functionality, the standard HPD drive also offers the following features: Position-preset mode drive can be set up to perform simple trapezoidal moves. Wire-checking mode this trouble-shooting mode provides various tests to check drive wiring. Following (digital locking) drive can ratio against encoder signal; acceleration and slip speeds can also be set. Up to 8 programmable inputs and 7 programmable outputs; can be used as general purpose, in the PLC mode or used as an optional 4-digit thumbwheel. Internal PLC can be programmed via the keypad or programmed with a ladder diagram system. - Scan time: microseconds - Timers: 2 - Instructions: 15 - Stack depth: 1 - Program steps: 64 - Mathematics operation: 16/32 bits - Fast inputs (fast copy): microseconds Inter-Drive Communication specific configuration of the serial port makes it possible to interchange parameters between two or more units. HPD 24N High Performance Drive Series Example: HPD24N Continuous Current Level 2N 16N 35N 5N 2N 45N 8N 24N 67N 25N Find Your Local Factory Authorized Distributor at www. or Call Parker Hannifin Corporation compumoto.com

116 Catalog 8-4/USA HPD Specifications HPD HPD Common Specifications HPD2N HPD5N HPD8N HPD16N HPD2N Drive Input Power Voltage 9-48V 9-48V 9-48V 9-48V 9-48V Phase Frequency 5/6 Hz 5/6 Hz 5/6 Hz 5/6 Hz 5/6 Hz Drive Output Power us 48VAC 68VDC 68VDC 68VDC 68VDC 68VDC PWM 8kHz 8kHz 8kHz 8kHz 8kHz Continuous current (peak of sine) 2.8A 7.1A 11.3A 22.6A 28.3A Continuous current (RMS) Peak current* (peak of sine) 5.7A 14.1A 22.6A 45.2A 91.9A Peak current* (RMS) Commutation Sinusoidal Sinusoidal Sinusoidal Sinusoidal Sinusoidal Performance Feedback Resolver Resolver Resolver Resolver Resolver Inputs Command velocity and torque mode ±1V (15 bit) ±1V (15 bit) ±1V (15 bit) ±1V (15 bit) ±1V (15 bit) Command position mode Step/dir input Step/dir input Step/dir input Step/dir input Step/dir input 8kHz max 8kHz max 8kHz max 8kHz max 8kHz max Digital inputs (8 inputs) 24V 24V 24V 24V 24V Encoder input 2kHz max 2kHz max 2kHz max 2kHz max 2kHz max Analog input - Aux ±1V (1 bit) ±1V (1 bit) ±1V (1 bit) ±1V (1 bit) ±1V (1 bit) Outputs Digital outputs (6 inputs) 24V/1mA/PNP 24V/1mA/PNP 24V/1mA/PNP 24V/1mA/PNP 24V/1mA/PNP Voltage-free output Encoder output 45Hz max 45Hz max 45Hz max 45Hz max 45Hz max Analog output - Aux ±1V (8 bit) ±1V (8 bit) ±1V (8 bit) ±1V (8 bit) ±1V (8 bit) Communication Type RS422/485 RS422/485 RS422/485 RS422/485 RS422/485 Daisy chain Up to 32 units Up to 32 units Up to 32 units Up to 32 units Up to 32 units Power Dissipation Control stage 18W 18W 18W 18W 18W Power stage 25W 6W 89W 158W 2W Internal braking resistor 12W 12W 12W 12W 24W Environmental Temperature 45 C 45 C 45 C 45 C 45 C Protection Grade IP2 IP2 IP2 IP2 IP2 Compumotor Motors Contact factory Contact factory Contact factory M Series M Series 134 Parker Hannifin Corporation compumoto.com

117 Catalog 8-4/USA HPD Specifications HPD HPD Common Specifications HPD24N HPD25N HPD35N HPD45N HPD67N Drive Input Power Voltage 9-48V 9-48V 9-48V 9-48V 9-48V Phase Frequency 5/6 Hz 5/6 Hz 5/6 Hz 5/6 Hz 5/6 Hz Drive Output Power us 48VAC 68VDC 68VDC 68VDC 68VDC 68VDC PWM 8kHz 8kHz 8kHz 8kHz 8kHz Continuous current (peak of sine) 33.9A 35.4A 49.5A 63.6A 94.7A Continuous current (RMS) Peak current* (peak of sine) 7.7A 7.7A 74.9A 94.7A 141.4A Peak current* (RMS) Commutation Sinusoidal Sinusoidal Sinusoidal Sinusoidal Sinusoidal Performance Feedback Resolver Resolver Resolver Resolver Resolver Inputs Command velocity and torque mode ±1V (15 bit) ±1V (15 bit) ±1V (15 bit) ±1V (15 bit) ±1V (15 bit) Command position mode Step/dir input Step/dir input Step/dir input Step/dir input Step/dir input 8kHz max 8kHz max 8kHz max 8kHz max 8kHz max Digital inputs (2+2 inputs) 24V 24V 24V 24V 24V Encoder input 2kHz max 2kHz max 2kHz max 2kHz max 2kHz max Analog input - Aux ±1V (1 bit) ±1V (1 bit) ±1V (1 bit) ±1V (1 bit) ±1V (1 bit) Outputs Digital outputs (2 inputs) 24V/1mA/PNP 24V/1mA/PNP 24V/1mA/PNP 24V/1mA/PNP 24V/1mA/PNP Voltage-free output Encoder output 45Hz max 45Hz max 45Hz max 45Hz max 45Hz max Analog output - Aux ±1V (8 bit) ±1V (8 bit) ±1V (8 bit) ±1V (8 bit) ±1V (8 bit) Communication Type RS422/485 RS422/485 RS422/485 RS422/485 RS422/485 Daisy chain Up to 32 units Up to 32 units Up to 32 units Up to 32 units Up to 32 units Dissipation Control stage 18W 3W 3W 3W 3W Power stage 246W 25W 297W 37W 47W Internal braking resistor 24W 4W 4W 4W 4W Environmental Temperature 45 C 45 C 45 C 45 C 45 C Protection Grade IP2 IP2 IP2 IP2 IP2 Compumotor Motors M Series M Series M Series M Series M Series Find Your Local Factory Authorized Distributor at www. or Call Parker Hannifin Corporation compumoto.com

118 Catalog 8-4/USA HPD Speed-Torque Curves HPD Motor Speed-Torque Performance Curves HPD with M Series motors, 15mm, 145mm, and 25mm frame, resolver feedback, 48 VAC For complete M Series motor and cable information, please refer to the Servo Motor section. Torque (Lb-in) M153KR/HPD16 M154KR/HPD24 M1453LR/HPD Torque (Lb-in) Torque (Lb-in) Torque (Lb-in) M1453LR/HPD Torque (Lb-in) M1454NR/HPD45 M1454NR/HPD Torque (Lb-in) Torque (Lb-in) M1455PR/HPD45 M1455PR/HPD67 M252PR/HPD Torque (Lb-in) Torque (Lb-in) M252PR/HPD M253RR/HPD M254SR/HPD Torque (Lb-in) Torque (Lb-in) Torque (Lb-in) CONTINUOUS PEAK (68V) For complete motor and cable information, please refer to the Motor Cable Table at the end of the Servo Motors section. 136 Parker Hannifin Corporation compumoto.com

119 Catalog 8-4/USA HPD Connections HPD2N - HPD24N Front view HPD Find Your Local Factory Authorized Distributor at www. or Call Parker Hannifin Corporation compumoto.com

120 Catalog 8-4/USA HPD Connections HPD Terminal oard X1 1 Motor PTC + (24V) 2 Motor PTC - 3 Resolver excitation phase high 4 Resolver excitation phase low 5 Resolver Sin high 6 Resolver Sin low 7 Resolver Cos high 8 Resolver Cos low 9 V 1 V Terminal oard X2 Terminal oard X4 1 LIVE 1 (L1) 2 LIVE 2 (L2) 3 LIVE 3 (L3) 4 U PHASE 5 V PHASE 6 W PHASE 7 A-US 8 -US 9 RAKE COMMAND 1 INTER. RAKE RESISTOR 11 + DC US 12 - DC US Terminal oard X3 1 Reference high 2 Reference low 3 V 4 Auxiliary reference high 5 Auxiliary reference low 6 V 7 Auxiliary analog output 8 V 9 Tacho output 1 V 11 Digital out 12 Digital out 1 13 Digital out 2 14 Digital out 3 15 Digital out 4 16 Digital out 5 17 Digital out 6 A 18 Digital out V - OUT 2 ma 2 V 1 + 1V - 1 ma max 2 V 3-1V - 1 ma max 4 V V - IN 6 V 7 V 8 + V backup 9 - V backup 1 V 11 Drive enable 12 Digital input 1 13 Digital input 2 14 Digital input 3 15 Digital input 4 16 Digital input 5 17 Digital input 6 18 Digital input V - OUT 2 ma 2 V D Type X5 (D9 female) D Type X6 (D9 female) D Type X7 (D9 female) 1 TX 2 RX 3 /TX 4 /RX 5 N.C. 6 +R 7 -R 8 V 9 V 1 A 2 /A 3 4 / 5 -RA 6 +R 7 V 8 -R 9 +RA 1 PHA 2 /PHA 3 PH 4 /PH 5 PHC 6 /PHC 7 V 8 N.C. 9 N.C. 138 Parker Hannifin Corporation compumoto.com

121 Catalog 8-4/USA HPD Connections HPD25N - HPD67N HPD Front view Rear view Find Your Local Factory Authorized Distributor at www. or Call Parker Hannifin Corporation compumoto.com

122 Catalog 8-4/USA HPD Connections Terminal oard X1 HPD Terminal oard X4 1 Motor PTC + (24V) 2 Motor PTC - 3 Resolver excitation phase high 4 Resolver excitation phase low 5 Resolver Sin high 6 Resolver Sin low 7 Resolver Cos high 8 Resolver Cos low 9 V 1 V L1 L2 L3 U V W A LIVE 1 (L1) LIVE 2 (L2) LIVE 3 (L3) Motor, phase Motor, phase Motor, phase -DC US R1 C1 R2 C2 22V~AUX a 22V~AUX b Auxiliary voltage Auxiliary voltage Terminal oard X2 Terminal oard X3 1 Reference high 2 Reference low 3 V 4 Auxilary reference high 5 Auxilary reference low 6 V 7 Auxilary analog output 8 V 9 Tacho output 1 V 11 Digital out 12 Digital out 1 13 Digital out 2 14 Digital out 3 15 Digital out 4 16 Digital out 5 17 Digital out 6 A 18 Digital out V - OUT 2 ma 2 V 1 + 1V - 1 ma max 2 V 3-1V - 1 ma max 4 V V - IN 6 V 7 V 8 + V backup 9 - V backup 1 V 11 Drive enable 12 Digital input 1 13 Digital input 2 14 Digital input 3 15 Digital input 4 16 Digital input 5 17 Digital input 6 18 Digital input V - OUT 2 ma 2 V X5 (D9 female) X6 (D9 female) X7 (D9 male) 1 TX 2 RX 3 /TX 4 /RX 5 N.C. 6 +R 7 -R 8 V 9 V 1 A 2 /A 3 4 / 5 -RA 6 +R 7 V 8 -R 9 +RA 1 PHA 2 /PHA 3 PH 4 /PH 5 PHC 6 /PHC 7 V 8 N.C. 9 N.C. 14 Parker Hannifin Corporation compumoto.com

123 Catalog 8-4/USA HPD Dimensions HPD2N-24N Dimensions in inches (mm) HPD 3.21 (81.5).39 (1.).22 (5.5).2 (5.) (31.1).83 (21.2) (364.) (377.) (313.5) 1.9 (27.7).22 (5.5).82 (2.8) 1.57 (4.).82 (2.8) 5.35 (135.9) HPD25N-67N Dimensions in inches (mm) 2.44 (62.) (318.) 7.64 (194.).3 (7.5) 2.44 (62.).31 (8.).5 (1.3) (32.5) 1.4 (26.3) (392.) (367.) (385.) (335.).22 (5.7) 1.21 (3.7).16 (4.) (29.).59 (14.9) Find Your Local Factory Authorized Distributor at www. or Call Parker Hannifin Corporation compumoto.com

124 Catalog 8-4/USA OEM77 & OEM77X OEM Compact, Low-Cost Solutions The Making of a Servo System Servo systems rely on feedback devices to continuously correct for errors in current or torque, velocity, and position. A typical servo system includes a servo controller, amplifier, and motor with a feedback device. The servo amplifier can have varying degrees of complexity and performance. A torque amplifier (e.g. OEM77T) controls only the current loop. A positioning servo (e.g., OEM77X) accepts encoder feedback to close the position loop. The OEM77 Family The OEM77 family of products bring high performance in a small, low-cost package. The OEM77 family offers a costeffective solution to a number of fractional horsepower brushless servo applications. The OEM77 family was designed to operate with Compumotor s SM, SE, NeoMetric, J and E series of motors or any standard three-phase brushless DC servo motor equipped with Hall effect sensors. The OEM77 family uses three-state current control for efficient drive performance and cooler motor operation. The OEM77 family products are small and convenient to use. Units install with only two screws (the screws also provide grounding and captivate the cover). Their right-angle screw terminal allows side-by-side mounting, and their small footprint maximizes cabinet space. The snap-on molded cover is removable for system configuration and helps provide a barrier against environmental contamination. The drives are the same size as a 3U Eurorack card. Their standard 25-pin connector is compatible with universally available connectors. Computer Programmable Standalone Servo Drive/Controllers Compumotor s OEM77X drive/controllers are standalone, fully integrated servo systems for fractional horsepower applications. Designed to provide greater flexibility and user convenience, the single-axis OEM77X incorporates a built-in RS- 232C based controller in the same small package for quick, easy programming. Users can program seven sequences and utilize five programmable inputs and two programmable outputs per unit. See Also: The OEM Family of Stepper Drive Products in the Stepper Section 142 Parker Hannifin Corporation

125 Catalog 8-4/USA OEM77 OEM Compact, Low-Cost Solutions Compumotor s OEM77 Series of servo drives were designed for the needs of OEMs and high-volume users with a fractional horsepower motion control application. These products were developed to provide performance, compact packaging, reliability, and power. The OEM77T is a torque amplifier utilizing a ± 1VDC analog input making it directly compatible with industry standard motion controllers. Features Performance Torque Mode operation with OEM77T Three-state current control for more efficient drive and cooler motor operation Configurable current fold-back Plug-in resistors for peak and fold-back current Six-state drive design with hall effect sensors for commutation Operates with brushless or brushed servo motors Several rushless Servo motors are available from Compumotor providing up to 19 oz-in continous and 57 oz-in peak torque Reliability Short circuit protected phase-to-phase and phase-to-ground Overvoltage circuitry protects the drive from large inertial loads Status/fault LED indicators to confirm proper operation Enclosed packaging reduces danger of environmental contamination Overtemperature circuitry protects the drive from excess heat Packaging Application-specific integrated circuit (ASIC) and surface mount technology minimize product footprint, overall package size, and increase product reliability Removable snap-on molded cover for convenient configuration and protection against contaminants Heat is dissipated through the mounting surface Install with only two screws (also provides grounding and captivates cover) Universally available standard 25-pin D connector Right-angle screw terminal allows side-to-side mounting, or Eurorack compatibility Power Provides 6 Amps continuous current and 12 Amps peak current Single VDC power supply input Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

126 Catalog 8-4/USA OEM77 OEM OEM77 Specifications Parameter Value Power Input Voltage VDC Current 12 amps Power Output-Motor Peak Current 12 A (approx 2 sec max duration at 45 C ambient temperature) Continuous Current 6A Voltage 9 VDC max Peak Power 84 W ( V supply voltage Continuous Power 42 W (.56 hp) Switching Frequency 2 khz andwidth 2 khz typical (dependent on motor) Transconductance 1 volt = 1.2 amp Commutation 12 hall effect sensors for six-state commutation method or brushed DC motor Short-Circuit Protected Yes Power Output-Hall Effect Voltage +5 VDC ±.5 VDC Sensors Current 5 ma max Short-Circuit Protected No Power Output-to Controller Voltage +15 VDC ±1.5 VDC; -15 VDC ± 1.5 VDC Output Stage Current 1 ma max Short-Circuit Protected No Control Inputs Command Input -1 V to +1 V analog voltage; 1 volt input = 1.2 amp output Enable Input Active LOW:.8 2 ma; when disabled: internal 2.49 kω pull-up resistor to +5 VDC Hall Inputs Low State -.8 V High State Internal 1 kω pull-up resistor to +5 V Input Frequency 2 khz max Signal Outputs Fault Output Active High: open collector output, max volts = 24 VDC; Inactive LOW: ma Current Monitor -1 V to +1 V analog voltage; scale: 1 V corresponds to 1.2 A output; Output Impedance: 1 KΩ LEDs Green = power; Red = various fault conditions Protective Circuits Short Circuit Turns off outputs to motor; latched Overtemperature 55 C ±5 C trip temperature; latched Overvoltage 95 V ±5 V trip voltage; latched Undervoltage 21.5 V max; not latched Current Foldback Configurable with 3 resistors Position Error (OEM67SD) 2,47-16,383 post-quad encoder counts Motor Characteristics Minimum Inductance 5 µh (micro Henrys) Minimum Resistance.25 Ω Loop Gain Adjustment Configurable with one resistor Motor Type Compumotor recommends the OEM77 Series with NeoMetric, J, SM, SE and E Series motors. Environmental Minimum Temperature C (32 F) Max Temperature 45 C (113 F) Max Heatplate Temperatsure 45 C (113 F) Package Dissipation Heatplate: 3 W, depending on motor current; PP = (I AVG /12 A) 3 W; Cover: 3 watts max Physical Power Connector 1-pin screw terminal; 14 awg max wire size Input/Output Connector 25-pin D connector Approx Dimensions 5" x 1.6" x 3.5" (127 x 41 x 9) Weight OEM77T: 12 oz 144 Parker Hannifin Corporation

127 Catalog 8-4/USA OEM77X OEM Fully Integrated Controller and rushless Servo Drives The OEM77X is designed for the needs of OEMs and highvolume users with a fractional horsepower motion control application. Compumotor s OEM77X fully integrated servo systems combine the power, compact packaging, and reliability of the OEM77T torque servo amplifiers with a simple, programmable, built-in, RS232C-based servo controller. Users can program seven sequences and have five programmable inputs and two programmable outputs per unit. The OEM77X is ideal for less demanding motion control applications such as rotary indexing, step-and-repeat, and linear positioning. The X version is a cost-effective, singleaxis servo system to meet your high-volume application needs. Features Performance Servo controller and drive in one small package Standard RS-232C serial communications interface Optional 2 kytes of battery-backed RAM to store up to 7 command sequences (-M2 option) Daisy chaining up to 256 units on one serial port Five programmable inputs for remote sequence select, trigger, and home limit, and two dedicated limit inputs Two programmable outputs for machine interaction Operates with standard differential, optical encoder for velocity and position feedback PID control algorithm used for servo tuning Several AC rushless Servo motors are available from Compumotor providing up to 19 oz-in continous and 57 oz-in peak torque Reliability Short-circuit protected: phase-to-phase, and phase-toground Overvoltage circuitry protects the drive from large inertial loads Status/fault LED indicators to confirm proper operation Enclosed packaging reduces danger of environmental contamination Overtemperature circuitry protects the drive from excess heat Packaging Application-specific integrated circuit (ASIC) and surfacemount technology minimize product footprint, overall package size, and increase product reliability Removable snap-on molded cover for convenient configuration and protection against contaminants Heat is dissipated through the mounting surface Install with only two screws (also provides grounding and captivates cover) Universally available standard 25-pin D connector Right-angle screw terminal allows side-to-side mounting, or Eurorack compatibility Overall dimension 5. x 3.6 x 1.6 in (127 x 9 x 41 mm) Power Provides 6 amps continuous current and 12 amps peak current Single VDC power supply input Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

128 Catalog 8-4/USA OEM77X Specifications OEM OEM77X Specifications Parameter Value Power Input Voltage VDC Current 12 amps Power Output- Motor Peak Current 12 A (approx 2 sec max duration at 45 C ambient temperature) Continuous Current 6A Voltage 75 VDC max Peak Power 84 W ( V supply voltage Continuous Power 42 W (.56 hp) Switching Frequency 2 khz andwidth 2 khz typical (dependent on motor) Transconductance 1 volt = 1.2 amp Commutation 12 hall effect sensors for six-state commutation method or brushed DC motor Short-Circuit Protected Yes Power Output-Hall Effect Sensors Voltage +5 VDC ±.5 VDC Current 5 ma max Short-Circuit Protected No Hall Inputs Low State -.8 V High State Internal 1 kω pull-up resistor to +5 V Input Frequency 2 khz max Inputs Programmable Inputs 5 user defined, TTL signal levels: low =.8 V, high = 2 5 V End-of-Travel Limits CW/CCW, -5 TTL signal levels: low =.8 V, high = 2 5 V Enable Input Active Low: -.8V@2mA; when disabled: Internal 2.49W pull-up resistor to +5VDC Encoder 2-phase differential (recommended) or single-ended (+5VDC TTL compatible), 96 khz max frequency Outputs Programmable Outputs 2 user-defined, TTL signal levels: low =.8 V, high = 2 5 V Fault Output Active High: open collector output, max volts = 24 VDC; Inactive LOW: ma Current Monitor -1 V to +1 V analog voltage; scale: 1 V corresponds to 1.2 A output; Output Impedance: 1 KΩ LEDs Green = power; Red = various fault conditions Performance Position Range ±1,73,741,823 Velocity Range.1 to 2 rps Acceleration Range.1 to 9999 rps 2 Velocity Accuracy ±.2% of maximum rate Velocity Repeatability ±.2% of set rate Resolution 4-65,532 encoder counts/rev Digital Servo Loop Update Time 266 µsec Output 12-bit DAC Servo Tuning Digital, via RS232C Tuning Parameters PID with digital filter Protective Circuits Short Circuit Turns off outputs to motor; latched Overtemperature 55 C ±5 C trip temperature; latched Overvoltage 95 V ±5 V trip voltage; latched Undervoltage 21.5 V max; not latched Current Foldback Configurable with 3 resistors Motor Characteristics Minimum Inductance 5 µh (micro Henrys) Minimum Resistance.25 Ω Loop Gain Adjustment Configurable with one resistor Motor Type Compumotor recommends the OEM77 Series with NeoMetric, J, SM, SE and E Series motors. Environmental Minimum Temperature C (32 F) Max Temperature 45 C (113 F) Max Heatplate Temperature 45 C (113 F) Package Dissipation Heatplate: 3 W, depending on motor current; P = (I AVG /12 A) 3 W; Cover: 3 watts max Physical Power Connector 1-pin screw terminal; 14 awg max wire size Input/Output Connector 25-pin D connector Approx Dimensions 5" x 1.6" x 3.5" (127 x 41 x 9) Weight 14 oz 146 Parker Hannifin Corporation

129 Catalog 8-4/USA OEM77 & OEM77X Speed-Torque Curves OEM Motor Speed-Torque Performance Curves OEM77 with SM Motors, 16 and 23 frame, encoder feedback, 75 VDC For complete SM motor and cable information, please refer to Servo Motor section. (N-m) (.38) oz-in 5 SM16A with OEM77 (N-m) (.3) oz-in 4 SM16 with OEM77 (N-m) (.61) oz-in 8 SM161A with OEM77 (.3) 4 (.23) 3 (.46) 6 Torque (.23) (.15) 3 2 Torque (.15) 2 Torque (.3) 4 (.8) 1 (.8) 1 (.15) (33) (67) (1) (133) Speed RPM (rps) (33) (67) (1) (133) Speed RPM (rps) (33) (67) (1) (133) Speed RPM (rps) (N-m) (.61) oz-in 8 SM161 with OEM77 (N-m) oz-in (1.14) 15 SM162A with OEM77 (N-m) oz-in (1.14) 15 SM162 with OEM77 (.46) 6 (.95) 125 (.76) 1 (.95) 125 (.76) 1 Torque (.3) (.15) 4 2 Torque (.57) (.38) (.19) Torque (.57) (.38) (.19) (33) (67) (1) (133) Speed RPM (rps) (17) (33) (5) (67) (83) Speed RPM (rps) (33) (67) (1) (133) Speed RPM (rps) (N-m) oz-in (.76) 1 SM23A with OEM77 (N-m) oz-in (.61) 8 SM23 with OEM77 (N-m) oz-in (1.14) 15 SM231A with OEM77 Torque (.61) (.46) (.3) (.15) Torque (.46) 6 (.3) 4 (.15) 2 Torque (.95) 125 (.76) 1 (.57) 75 (.38) 5 (.19) (33) (67) (1) (133) Speed RPM (rps) (33) (67) (1) (133) Speed RPM (rps) (17) (33) (5) (67) (83) Speed RPM (rps) (N-m) oz-in (1.14) 15 SM231 with OEM77 (N-m) oz-in (2.28) 3 SM232A with OEM77 (N-m) oz-in (2.28) 3 SM232 with OEM77 (.95) 125 (1.9) 25 (1.9) 25 (.76) 1 (1.52) 2 (1.52) 2 Torque (.57) (.38) 75 5 Torque (1.14) 15 (.76) 1 Torque (1.14) 15 (.76) 1 (.19) 25 (.38) 5 (.38) (33) (67) (1) (133) Speed RPM (rps) (8) (17) (25) (33) (42) Speed RPM (rps) (17) (33) (5) (67) (83) Speed RPM (rps) Torque (N-m) oz-in (3.81) 5 (3.5) 4 (2.28) 3 (1.52) 2 SM233A with OEM77 Torque (N-m) oz-in (3.81) 5 (3.5) 4 (2.28) 3 (1.52) 2 SM233 with OEM77 * For motor specifications and dimensions, please refer to the servo motor section. (.76) 1 (.76) (8) (17) (25) (33) Speed RPM (rps) (8) (17) (25) (33) (42) (5) Speed RPM (rps) CONTINUOUS PEAK Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

130 Catalog 8-4/USA OEM77 & OEM77X Speed-Torque Curves OEM Motor Speed-Torque Performance Curves OEM77 with NeoMetric and J Series Motors, 34 and 7mm frame, encoder feedback, 75 VDC For complete NeoMetric and J Series motor and cable information, please refer to Servo Motor section. Torque Torque N71D/N341D/J71D/J341D (N-m)oz-in with OEM67 (1.9) 25 (1.52) 2 (1.14) 15 (.76) 1 (.38) 5 (3.5) 4 (2.28) 3 (1.52) 2 (.76) (8) (17) (25) (33) (42) (5) (58) Speed RPM (rps) N72E/N342E/J72E/J342E (N-m)oz-in with OEM67 (3.81) (8) (17) (25) (33) (42) Speed RPM (rps) Torque Torque N71F/N341F/J71F/J341F (N-m)oz-in with OEM67 (1.9) 25 (1.52) 2 (1.14) 15 (.76) 1 (.38) 5 (3.5) 4 (2.28) 3 (1.52) 2 (.76) (17) (33) (5) (67) (83) Speed RPM (rps) N72F/N342F/J72F/J342F (N-m)oz-in with OEM67 (3.81) (8) (17) (25) (33) (42) (5) Speed RPM (rps) * For motor specifications and dimensions, please refer to the servo motor section. CONTINUOUS PEAK 1 With 75VDC bus voltage; 25 C (77 F) ambient temperature. 148 Parker Hannifin Corporation

131 Catalog 8-4/USA OEM77 & OEM77X Speed-Torque Curves OEM Motor Speed-Torque Performance Curves OEM77 with E Series Motors, 16 and 23 frame, encoder feedback, 75 VDC For complete E motor and cable information, please refer to Servo Motor section OEM77/E161D OEM77/E161F OEM77/E162D OEM77/E162F.7 16 OEM77/E163D OEM77/E163F OEM77/E164D OEM77/E164F OEM77/E23D OEM77/E23F OEM77/E231F OEM77/E232F OEM77/E233F CONTINUOUS PEAK (17VDC) Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

132 TORQUE Catalog 8-4/USA OEM77 & OEM77X Dimensions OEM OEM77 Series Dimensional Drawings Dimensions in inches (mm).42 (1.67) This surface must be thermally coupled to a cold plate in most applications (9.3) (84.2) Compumotor 55 usiness Park Dr. Rohnert Park, CA (41.28).812 (2.62) 5. (127.) 4.65 (118.11).175 (4.45) Compumotor OEM s e r i e s DRIVE SERVO Pin No. Signal 1 VDC+ 2 VDC- 3 Hall GND 4 Hall +5V 5 Hall 1 6 Hall 2 7 Hall 3 8 Phase A 9 Phase 1 Phase C POWER FAULT VDC+ VDC- HALL GND HALL +5V HALL 1 HALL 2 HALL 3 PHASE A PHASE PHASE C 1. (25.4) 2x.177 (4.496) thru (clearance for #8 (M4) mounting screw) 7. (177.8) Mounting Clearance Motor/Power Screw-Terminal 1. (25.4) 2. (5.8) Mounting Clearance Exposed aluminum for electrical grounding.335 (8.51) 15 Parker Hannifin Corporation

133 Catalog 8-4/USA OEM77 & OEM77X Connections OEM OEM77X Drive Connections Compumotor OEM s e r i e s DRIVE POSITION POWER FAULT SERVO VDC+ VDC- HALL GND HALL +5V HALL 1 HALL 2 HALL 3 PHASE A PHASE PHASE C Customer Equipment N.C. N.C. N.C. N.C. N.C. N.C. N.C. N.C. Input #1 Input #2 Input #3 Input #4 Input #5 Output #1 RS232 Ground Output #2 Fault Output Enable In Digital Ground CW Limit CCW Limit Tx Rx Encoder Ground Encoder +5V Encoder Channel A+ Encoder Channel A- Encoder Channel + Encoder Channel - Encoder Channel Z+ Encoder Channel Z- Current Monitor + Current Monitor - RS-232C Encoder Interface (Ground Z+ if Z+ input is not used) Current Monitor OEM77T Drive Connections Inputs & Outputs OEM77T Internal Connections Command + Command - +15VDC Output -15VDC Output GND KΩ 1KΩ 1KΩ 1KΩ GND V Fault Output Enable Input GND KΩ 22KΩ 22KΩ Current Monitor - Current Monitor KΩ 25 Pin D-Connector Mounted on OEM67T/OEM675T Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

134 Catalog 8-4/USA OEM77 & OEM77X Ordering OEM Ordering Information Drives Part No. OEM77T OEM77X OEM77X-M2 Description Torque Servo Drive Servo Drive/Controller Servo Drive/Controller with battery-backed RAM (2Kytes) Accessories Part No. Description OEM-HS1* Heatsink Size 1 OEM-HS2* Heatsink Size Thermstrate mounting pad (ordered in multiples of 25) OEM3 3 Watt peak power output at 75 VDC. Operates at 12 or 24 VAC, 5/6 Hz OEM1 1 Watt peak power output at 7 VDC. Operates at 12 or 24 VAC, 5/6 Hz OEM1-Cover OEM1 Power Module Cover M2-KIT Memory Upgrade Kit (attery-backed RAM 2 Kytes) * Note: Heatsinks are available for applications with inadequate mounting surface. Whether or not a heatsink is required depends on duty cycle and load characteristics. For complete motor and cable information, please refer to the Motor Cable Table at the end of the Servo Motors section. 152 Parker Hannifin Corporation

135 Catalog 8-4/USA Dynaserv Series DYNASERV 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. Additional advantages include: Faster settling time than a traditional servo motor and speed reducer system Smooth rotation at slow speeds A flat speed/torque curve for high controllability Ability to operate in a position, speed or torque control mode uilt-in test mode simplifies optimum tuning G2 Small Packaged, Digital Servo Drive! RS232 communication Auto-tuning Increased resolutions (up to 4,96, ppr) Repeatability to ±1 arc second Utility software The Dynaserv Family DR Series Lowest Cost! rushless resolver feedback 2 models: 4-, 6-, 8- or 1-inch diameter Resolutions to 819,2 steps/rev Torques to 37 ft-lb (5 Nm) Repeatability of ±5 arc seconds Speeds up to 5 rps for DR5 (LVD and EMC*) DM Series est Accuracy and Repeatability! Incremental encoder feedback 9 models: 4-, 6- or 1-inch diameter Resolutions to 1,24, steps/rev Torques to 15 ft-lb (2 Nm) Repeatability of ±2 arc seconds Clean room operation DM14 has axial and radial run-out of.1mm M2 Drive/Controller in a Single Package! Autotuning Controls all Dynaserv motors except D5A Series Position feed forward (faster settling) PLC mode Fieldbus: Profibus, DeviceNet and CC Link Non-volatile RAM Configuration replication (flash memory) * EMC with proper filter and intallation procedures. Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 153 Parker Hannifin Corporation

136 Catalog 8-4/USA Introduction The Dynaserv System Allows the User to Operate in One of Three Modes of Control: Position control up to 4,96, steps/rev Speed control ±1V Velocity command input Torque 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 Torque/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. Torque x Rated Speed Power (W) Torque (Power)/Weight Comparison DYNASERV Weight (lbs) DC/AC Servo Actuator (with Speed Reducer) Power/Weight Comparison High Precision Dynaserv motors eliminate the backlash or hysteresis inevitable in using any speed reducer. Absolute positioning of 3 arc-sec is typical with a repeatability of ±1 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. DYNASERV High Torque 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 (DM115A) Conditions Load 3 x Rotor Inertia Rotation: CW Speed Mode Revolution (rps) Dynaserv Velocity/Torque 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: Torque (N m) 5 Torque Ripple (DM115A) Rotational Angle (deg.) LPC-11 Particle Counter PMS Corp. He-Ne Lazor Light.1 micro meter (Particle Diameter).1 Cubic feet/min. 5% Distance Distance VERTICAL 5 AXES ROOT (µm) Using Traditional Motors/Reducers Time (sec.) Settling Time Travel Time (µm) SCARA 4 AXES ROOT 1 Using DYNASERV 5 Time (sec.) Settling Time -1 Travel Time Settling Time comparison in Robot Application COUNT (Count/ft min) Diameter (µm) Dust from Dynaserv (DM145) 154 Parker Hannifin Corporation

137 Catalog 8-4/USA Introduction DYNASERV The Dynaserv has provided solutions to a variety of applications such as: Assembly 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 SCARA (Selective Compliance Assembly Robot Arm) 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. SCARA robot for assembly Peripherals for robot Roll Feeder Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 155 Parker Hannifin Corporation

138 Catalog 8-4/USA Introduction DYNASERV 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. All 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. As 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/AC 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 A 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 PDA 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. 156 Parker Hannifin Corporation

139 Catalog 8-4/USA 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. DYNASERV Peak Torque/Continuous Torque The speed torque curves in this section represent the peak available torque. Continuous torques are approximately 2/3 of the peak value. Use one-half of peak torque for the DM14. lb-ft DR14A DR-A Series 115 volts (N-m) (4) (35) (3) Torque DR12A DR13A (25) (2) 111 (15) 74 DR11A (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. Actual 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. Application Types and Ratios Max K Ratio Application Type (J load /J motor ) High throughput applications 5-1 (printing machines, chip mounting) General high speed applications 2-3 (SCARA robot, transfer arms) High speed but balanced load 5-1 applications (Rotary Index, Rotary Tables) High accuracy, slow speed 1-2 applications (Measuring Equipment) Motor Types When selecting the motor 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. The lowest accuracy Dynaserv is still very accurate by normal motor standards. Motor Types DM DR DR5 Series Series Series Power Lowest Medium Highest Accuracy 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 Application. Call Today. 157 Parker Hannifin Corporation

140 Catalog 8-4/USA Introduction DYNASERV Application Considerations for using the Dynaserv Direct-Drive rushless Servo Systems Sizing and Selection Considerations All Speed vs. Torque 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. Use one-half for DM14. 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 15 ft-lbs for DR5C series, 24 ft-lbs for the DM14C and 2 ft-lbs for the DM14. These values should be derated by 33% for constant loads and 8 9% for intermittent loads (fatigue) to incoroprate a safety margin. Always calculate the load-to-rotor inertia ratio before selecting a motor. The acceptable ratio is applicationand motor-dependent. Applications 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. Axial Compression and Tension Load Limits 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. Compression Tension DR5C 1124 lbs 674 lbs DR- Series 6744 lbs 2248 lbs DR-E, DR-A 8992 lbs 4496 lbs DM14 44 lbs 154 lbs DM14C 77 lbs 77 lbs DM- 66 lbs 22 lbs DM-A 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. 158 Parker Hannifin Corporation

141 Catalog 8-4/USA Introduction DYNASERV How to Order Linearserv and Dynaserv How to Order Dynaserv G2 D G2 Model Series Name M - Encoder R - Resolver Motor Speed 1 - Standard (up to 2. rps) 5 - High speed (up to 5. rps) Peak 4-4 Depending on motor type Motor Diameter A - 1" - 6" C - 4" E - 8" Input AC Voltage CE Compliance EMC - EMC & LVD Compliance. Including CE-MArked motor, drive, filter, and installation instructions. The -EMC option is not available with the DR5A Series. How to Order Dynaserv D Model Series Name M - Encoder R - Resolver Motor Speed 1 - Standard (up to 2. rps) 5 - High speed (up to 5. rps) Peak 4-5 Depending on motor type Motor Diameter A - 1" - 6" C - 4" E - 8" Input AC Voltage (DR5A Series only) 23 CE Compliance EMC - EMC & LVD Compliance. Including CE-MArked motor, drive, filter, and installation instructions. The -EMC option is not available with the DR5A Series. How to Order Dynaserv M2 D M2 Model Series Name M - Encoder R - Resolver Motor Speed 1 - Standard (up to 2. rps) 5 - High speed (up to 5. rps) Peak 4-4 Depending on motor type Motor Diameter A - 1" - 6" C - 4" E - 8" Input AC Voltage CE Compliance EMC - EMC & LVD Compliance. Including CE-MArked motor, drive, filter, and installation instructions. The -EMC option is not available with the DR5A Series. How to Order Linearserv Model 1 High Precision** 5 Standard** Motor Force 5 5 N (LM1) 1 1 N (LM1) 3 3 N (LM1) Precision Standard 1 Ultra Precision* Stroke Length Available from 5 15 mm (e.g., 4 4 mm) Cable Option 1 Cable Option #1 (3 m motor and Encoder cable and 1.5 m Amp-Head cable) Input AC Voltage VAC VAC Number of Sliders and Drives 1 slider/drive 2 2 slider/drives 3 3 slider/drives LM 4 4 N (LM5) 9 9 N (LM5) N (LM5) 4 4 slider/drives 5 5 slider/drives 6 6 slider/drives * Available in the LM1 Series ** High rigidity versions are available for increased load and moment capabilities Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 159 Parker Hannifin Corporation

142 Catalog 8-4/USA G2 Drive DYNASERV Dynaserv G2 Digital Servo Drives The Dynaserv G2 is a small-packaged, position-command-type (step-and-direction command input), new-generation digital servo amplifier. It is designed specifically to drive the Dynaserv direct-drive rotary and Linearserv direct-drive linear motors. The G2 can be easily configured via RS232 using the G2 Utility on a PC or by using the optional hand-held Teach Pendant. The G2 is available in 5 watts and 2 kw power levels. It will run all the Dynaserv motors except the DR5A series. Servo tuning is simplified with the auto-tuning feature. No information is required to tune the servo; the auto-tuning operation oscillates the rotor and measures the inertia and weight of the load, then automatically sets the optimum tuning parameters for servo control. Features Step and direction input only Resolver or encoder feedback Torques to 295 ft-lbs. (4 Nm) RS232 communication Auto-tuning Increased resolutions (up to 4,96, ppr) Repeatability to ±1 arc second Homing operation LED diagnostics display Utility software 16 Parker Hannifin Corporation

143 Catalog 8-4/USA G2 Drive DYNASERV G2 Specifications Model Performance Features Repeatability Value DR1xxx DR1xxxE DR1xxxA DR5xxx DR5xxxC DM1xxx DM1xxxA DM14x ± 3 arc sec ± 3 arc sec ± 3 arc sec ± 5 arc sec ± 5 arc sec ± 1 arc sec ± 1 arc sec ± 3 arc sec Accuracy Resolution ± 45 arc sec 1,15,88 steps/rev ± 45 arc sec 1,228,8 steps/rev ± 3 arc sec 1,638,4 steps/rev ± 9 arc sec 557,56 steps/rev ± 5 arc sec 425,984 steps/rev ± 15 arc sec 2,621,44 steps/rev ± 15 arc sec 4,96, steps/rev ± 6 arc sec 2,621,44 steps/rev Power Volts +1% to -15% 115VAC or 23VAC, 1-phase 23VAC, 1-phase 115VAC or 23VAC, 1-phase Frequency 5/6 Hz Range +1% to -15% Current Power Level 15 amps 2 amps max 15 amps max 2 amps 5 amps max max max 5W & 2kW 2kW 2kW 5W 5W & 2kW 2kW 5W Communication Command Interface Serial Step Input RS232C 5V TTL, EIA-422 standard Direction Input 5V TTL, EIA-422 standard Encoder Output 5V TTL, EIA-422 standard Inputs 5V, 4.mA/input, 3.k impedance; or 12-24VDC, mA/input, 1k impedance Outputs Open collector, 1mA/output Environmental Operating Temperature Storage Temperature to 5 degrees C -2 to 85 degrees C Humidity Power Consumption Weight 2 to 9% RH without condensation 3.4KVA 7.9 lbs.8kva 3.7 lbs Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 161 Parker Hannifin Corporation

144 Catalog 8-4/USA G2 Drive DYNASERV G2 I/O Connections (CN4) 36-Pin Honda Pin No. I/O Signals Signal Name Description 1 COMP1 Common power Input power 12 to 24 VDC 2 COMN1 Common ground Input power ground 3 OUT_DRDY Driver ready Turns ON when it is not in the error status 4 OUT_SRDY Servo ready Turns ON when it is in the servo ready state 5 OUT_USY usy The status where operation cannot be performed according to the pulse train position command 6 OUT_XOVL Overload signal Turns OFF when overload occurs 7 OUT_OVER Over signal Turns ON when position deviation overflow or excessive velocity occurs 8 OUT_COIN Position settling signal Turns ON when the position deviation is within the settling width 9 UA_OUT+ Encoder output UP+ or A+ UP+ or A+, depending on the setting 1 UA_OUT- Encoder output UP- or A- UP- or A-, depending on the setting 11 U_OUT+ Encoder output DOWN+ or A+ DOWN+ or A+, depending on the setting 12 U_OUT- Encoder output DOWN- or A- DOWN- or A-, depending on the setting 13 Z_OUT+ Encoder output Z+ Homing Z_Channel 14 Z_OUT- Encoder output Z- Homing Z_Channel 15 PUA_IN+ Position command input pulse+ PLS+, UP+ or A+, depending on the setting 16 PUA_IN- Position command input pulse- PLS-, UP- or A-, depending on the setting 17 SD_IN+ Sign (direction) command input pulse+ SIGN+, DOWN+ or +, depending on the setting 18 SD_IN- Sign (direction) command input pulse- SIGN-, DOWN- or -, depending on the setting 19 IN ERR_RESET Error reset Executes error status reset when setting from OFF to ON 2 IN_SERVO Servo ON Servo ON when activated 21 IN_MODE_START Operation start command Starts operation when setting from OFF to ON 22 IN_AORT Operation abort command Stops operation when setting from OFF to ON 23 IN_MODEL, Operation mode number 24 IN_MODEL, 1 Operation mode number 25 IN_POSW Settling width selection Switches the settling width 26 IN_POSW 1 Settling width selection Switches the settling width 27 IN_GAIN Velocity control bandwidth selection Selects the velocity control bandwidth 1 or 2 28 IN_FN Position control bandwidth selection Changes the position control bandwidth 1 or 2 29 IN_PLS_DIRECT Pulse direct or scaled selection Selects direct pulse command input or scaled input pulse command 3 IN_PACT Position control integral operation disabled Disables the integral operation when ON 31 NC No connection 32 NC No connection 33 CRNT LMT IN+ Current limit V: % to 1V: 1% 34 CRNT LMT IN- Current limit V: % to 1V: 1% 35 NC No connection 36 NC No connection 162 Parker Hannifin Corporation

145 Catalog 8-4/USA M2 Controller/Drive DYNASERV Dynaserv Drive/Controller The Dynaserv M2 drive/controller is a single-axis servo motor programmable drive/controller, designed 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 M2 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 use of position feed forward and the close proximity of the controller and drive. The Dynaserv M2 can be used with all the Dynaserv motors except the DR5A series. 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 M2 Drive can be used to replace mechanical cam indexers and have the flexibility to change index number, index distance, acceleration, speed, etc., electronically, without replacing the dial indexer. Features Auto 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 95/98 Utility Software (M2 Utility) Accessories 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 159 Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 163 Parker Hannifin Corporation

146 Catalog 8-4/USA M2 Drive/Controller DYNASERV General Specifications Function Specifications 164 Parker Hannifin Corporation

147 Catalog 8-4/USA M2 Drive/Controller Specifications, continued DYNASERV Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 165 Parker Hannifin Corporation

148 Catalog 8-4/USA G2/M2 Drive DYNASERV 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 115/23VAC rps 2./2. 2./2. 1.5/2. 1./2. 1./ /2. 1./1.5.5/1..5/1. Maximum power consumption 115/23VAC KVA 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 11A 12A 13A 14A Peak torque ft-lbs (Nm) (1) (2) (3) (4) Rated speed, 115/23VAC rps 1./1..5/1..25/.5.25/.5 Maximum power consumption, 115/23VAC KVA 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 * When designing a system, de-rate the maximum load to the values shown below: De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 166 Parker Hannifin Corporation

149 Catalog 8-4/USA G2/M2 Drive DYNASERV DR5 Series Motor Data Model Model Model Model Model Model Model 55C 51C 515C A 55A Peak torque ft-lbs (Nm) (3.8) (8) (14) (3) (7) (3) (5) Rated speed rps Rotor inertia oz-in 2 x (kgm 2 )x1-3 (.6) (.7) (.8) (8) (36) (34) (46) Resolution Steps/rev 212, , , , , , ,984 Motor weight lbs (kg) (5.) (6.) (7.) (7.) (17.5) (55) (75) Maximum static axial load** Compression lbs Tension lbs Maximum static ft-lb overhung load** Maximum power KVA consumption De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 ** When designing a system, de-rate the maximum load to the value as shown at the left: DM Series Motor Data Model Model Model Model Model Model Model A 11A 115A 12A Peak torque ft-lbs (Nm) (15) (3) (45) (5) (1) (15) (2) Rated speed 115VAC rps 23VAC 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 Max. power consumption KVA ** When designing a system, de-rate the maximum load to the values shown at the right: De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 167 Parker Hannifin Corporation

150 Catalog 8-4/USA G2/M2 Drive DYNASERV DM14 Motor Data Specifications DM14 DM14C Peak torque ft-lbs 3 3 (N-m) (4) (4) Rated speed 115VAC rps 23VAC 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) Maximum power consumption KVA.3.3 ** When designing a system, de-rate the maximum load to the values specified here: De-rate Application 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

151 Catalog 8-4/USA G2/M2 Drive DYNASERV Motor Speed-Torque Performance Curves The speed-torque curves represent peak torque available. lb-ft (N-m) 296 (4) DR14A DRG2/DRM2-A Series 115V lb-ft (N-m) 296 (4) DR14A DRG2/DRM2-A Series 23V 259 (35) 259 (35) 222 (3) DR13A 185 (25) 222 (3) 185 (25) DR13A Torque 148 (2) DR12A Torque 148 (2) DR12A 111 (15) 111 (15) DR11A 74 (1) 74 (1) DR11A 37 (5) 37 (5) Speed-RPS Speed-RPS lb-ft (N-m) 45. (6) DR16 DRG2/DRM2- Series 115V lb-ft (N-m) 45. (6) DR16 DRG2/DRM2- Series 23V 37.5 (5) DR (5) DR (4) 3. (4) Torque 22.5 (3) DR13 Torque 22.5 DR13 (3) 15. (2) DR (1) DR Speed-RPS (2) DR115 (1) DR Speed-RPS lb-ft (N-m) 222 (3) DRG2/DRM2-E Series 115V lb-ft (N-m) 222 (3) DRG2/DRM2-E Series 23V 185 (25) 185 (25) 148 (2) 148 (2) Torque DR116E 111 (15) DR113E Torque 111 (15) DR116E DR113E 74 (1) DR11E 74 (1) DR11E 37 (5) DR17E Speed-RPS 37 (5) DR17E Speed-RPS Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 169 Parker Hannifin Corporation

152 Catalog 8-4/USA G2/M2 Drive DYNASERV Motor Speed-Torque Performance Curves The speed-torque curves represent peak torque available. (N-m) 222 (3) lb-ft (N-m) 222 (3) lb-ft DMG2/DMM2-A Series 115 VAC DM-A Series 23 VAC 185 (25) 185 (25) 148 (2) DM12A 148 (2) DM12A Torque 111 (15) 74 (1) DM115A DM11A Torque 111 (15) 74 (1) DM115A DM11A 37 (5) DM15A 37 (5) DM15A lb-ft (N-m) 42 (6) Speed-RPS DMG2/DMM2- Series 115 VAC lb-ft Speed-RPS (N-m) (8) DM- Series 23 VAC 35 (5) 46 (66) Torque 28 (4) 21 (3) 14 (2) 7 (1) DM115 DM13 DM145 Torque (53) (4) (27) (13) DM145 DM13 DM Speed-RPS Speed-RPS 2.5 lb-ft 3.7 N-m 5 DMG2/DMM2-14 Series 3. 4 Torque Speed-RPS 17 Parker Hannifin Corporation

153 Catalog 8-4/USA G2/M2 Drive G2 Drive Dimensional Drawings Dimensions in inches (mm) Dynaserv G2/M2 2kW with Regen (11 1) 1.65 (42) 2.6(66) 1.97(5)1.97.2(5.28(7) ) DYNASERV.63(16) (23 1).8(2) (25 1 ) (239.5) (215 1) Dynaserv G2/M2 2kW with Regen (7 1).39(1) (5.5).28 (7).63 (16) (15 1).8 (2) (239.5) (25 1) (215 1) Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 171 Parker Hannifin Corporation

154 Catalog 8-4/USA DR Drive DYNASERV 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 37 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 ±8.5VDC 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. A 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. A 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 2 models available in 4-, 6-, 8- or 1-inch diameters Resolver feedback Torques to 37 ft-lbs (5 Nm) Resolutions to 819,2 steps/rev Supports 4 tons of compression load (LVD and EMC*) Microprocessor control of I-PD control algorithm Analog velocity loop/digital position loop uilt-in test mode for easy tuning Diagnostic LED display Step and direction input/position control ±1V for velocity control, ±8.5V for torque control Gain settings can be changed on the fly Configurable position accuracy to reduce system settling time Complete system, ready for operation Also compatible with M2 controller/drive Accessories 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 Axial 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 DR5 and DR5C Series only: line filters for CE installations Interface cables for use with Compumotor's 6K and 6 Series controllers * EMC with proper filter and intallation procedures. 172 Parker Hannifin Corporation

155 Catalog 8-4/USA DR Drive DYNASERV Specifications Parameter Value Performance Repeatability ±5 arc-sec, ±1 arc-sec for DR5 and DR5C Accuracy ±3 arc-sec DRA Series ±45 arc-sec, ±9 arc-sec for DR5, DR, DRE and DR5A Series Max stepping rate 1,6, steps/sec Power Volts (se note) ±5 arc-sec for DR5C Range +1% to -15% Current 2 amps max Inputs Command interface Step input Direction Analog input Low going low pulse, 15 nanoseconds minimum pulse width Logic high = CW rotation Logic low = CCW rotation ±1V command signal for velocity control, ±8.5V command signal for torque control Outputs Encoder output A/ encoder output 4 khz max Environmental Driver Motor Weight 13.2 lb (6 kg), 24 lb (11 kg) DR5A See Table elow 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 waterproof, oil proof or dust proof. NOTE: Volts 115VAC 1 phase, all except DR5A/; 23VAC 1 phase, all except DR5A; 2VAC 3 phase, DR5A 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, 115/23VAC rps 2./2. 2./2. 1.5/2. 1./2. 1./ /2. 1./1.5.5/1..5/1. Maximum power consumption KVA 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 11A 12A 13A 14A Peak torque ft-lbs (Nm) (1) (2) (3) (4) Rated speed, 115/23VAC rps 1./1..5/1..25/.5.25/.5 Maximum power consumption, 115/23VAC KVA 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 ** When designing a system, derate the maximum load to the values shown below: De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 173 Parker Hannifin Corporation

156 Catalog 8-4/USA DR Drive DYNASERV Motor Speed-Torque Performance Curves The speed-torque curves represent peak torque available, continuous torques are approximately 2/3 of the peak value. lb-ft (N-m) 296 (4) DR14A DR-A Series 115V lb-ft (N-m) 296 (4) DR14A DR-A Series 23V 259 (35) 259 (35) 222 (3) DR13A 185 (25) 222 (3) 185 (25) DR13A Torque 148 (2) DR12A Torque 148 (2) DR12A 111 (15) 111 (15) DR11A 74 (1) 74 (1) DR11A 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) Torque 22.5 (3) DR13 Torque 22.5 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) Torque DR116E 111 (15) DR113E Torque 111 (15) DR116E DR113E 74 (1) DR11E 74 (1) DR11E 37 (5) DR17E Speed-RPS 37 (5) DR17E Speed-RPS 174 Parker Hannifin Corporation

157 Catalog 8-4/USA DR Drive DYNASERV Specifications Parameter Value Performance DR5A DR5 DR5C Repeatability ±5 arc-sec ±1 arc-sec ±1 arc-sec Accuracy ±45 arc-sec ±9 arc-sec ±5 arc-sec Max stepping rate 1,6, steps/sec 1,4, steps/sec Power Volts 2VAC, 3 Phase, 23VAC, 1 Phase, 115VAC 5/6 Hz 5/6 Hz 5/6 Hz Range +1% to -15% +1% to -15% +1% to -15% Current 2 Amps 2 Amps 2 Amps 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 Analog input ±1VDC max Other inputs 5 to 24 volts pullup (gain selection, servo on, etc.) Outputs Encoder output A, Quadrature signal (4KHz max) (all models) Z Channel A : to 14 pulses/rev : to 68 pulses/rev Other outputs TTL (in position, alarm, etc.) Environmental Weight Driver Motor DR5A 24 lbs (11 kg) See Table below DR lbs (6 kg) See Table below DR5C 13.2 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 ilbs (6 kg) See below DR5 Series Motor Data Model Model Model Model Model Model Model 55C 51C 515C A 55A Peak torque ft-lbs (Nm) (3.8) (8) (14) (3) (7) (3) (5) Rated speed rps Rotor inertia oz-in 2 x (kgm 2 )x1-3 (.6) (.7) (.8) (8) (36) (34) (46) Resolution Steps/rev 212, , , , , , Motor weight lbs (kg) (5.) (6.) (7.) (7.) (17.5) (55) (75) Maximum static axial load** Compression lbs Tension lbs Maximum static ft-lb overhung load** Maximum power KVA consumption De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 ** When designing a system, de-rate the maximum load to the value as shown at the left: 175 Parker Hannifin Corporation

158 Catalog 8-4/USA DR Drive DYNASERV Motor Speed-Torque Performance Curves The speed-torque curves represent peak torque available, continuous torques are approximately 2/3 of the peak value. lb-ft DR5A Series-2 VAC (N-m) (8) (7) lb-ft DR57 DR5 Series-23 VAC (N-m) (8) (7) DR55A (6) (5) (6) (5) Torque DR53A (4) (3) Torque DR53 (4) (3) 148 (2) 14 (2) 74 (1) 7 (1) Speed (RPS) Speed (RPS) 5. DR5C Series Torque (N-m) DR115C DR11C DR15C Speed (RPS) ~115V 2~23V 176 Parker Hannifin Corporation

159 Catalog 8-4/USA DR Drive DYNASERV DR Series Dimensional Drawings DR-A Series Dimensions in inches (mm) 6-M8 depth (12) (eq. divided along the circumference) /-.12 (252 +/-.3) Rotor A (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) Dimensions in inches (mm) 12 (348) /-.1 (264 +/-.3) Resolver cable* Model A DR11A 7.28 ±.4 (185 ± 1) DR12A 9.84 ±.4 (25 ± 1) DR13A ±.4 (34 ± 1) DR14A 14.9 ±.4 (358 ± 1) 6-M8 depth (12) Rotor (eq. divided along the circumference) A /-.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 (76 +/-1.) /-.2 (12 -.2/-.5) 8.7 +/-.12 (25 +/-.3) 12 (348) Resolver Model A 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 Dimensions in inches (mm) 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) A 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 A 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 Application. Call Today. 177 Parker Hannifin Corporation

160 /-.2 (74 ) / (24) Catalog 8-4/USA DR Drive Dimensional Drawings DR5A Series Dimensions in inches (mm) DYNASERV 6-M8 depth (12) (eq. divided along the circumference) /-.12 (252 +/-.3) Rotor A (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) Model A /-.2 ( /-.6) (3) Resolver cable* DR53A 12.2 ±.4 (39 ± 1) DR55A 16.4 ±.4 (417 ± 1) DR5 Series Dimensions in inches (mm) Note: Motor and resolver cables for DR5-A Series are in (3 mm) in length. 6-M6 depth (9).16.8 (4 ±.2) A 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 A (13 +.2) 12 (348) Resolver cable DR ±.4 (184 ± 1) DR ±.4 (24 ± 1) DR5C Series Dimensions in inches (mm) 3.31+/-.8 (84 +/-.2) 6-M5.28 (7) Deep /-.1 (1 ).12 +/-.8 (3 +/-.2) (26) Hole A Rotor Stator Motor Cable ( ) / ( ) 4-M6.51 (13) Deep (24).94 (5 +/-.2) 1.2 +/-.8 Model A.2 +.4/- (5 +1 ) 122 (31) Encoder Cable DR55C 4.45 ±.4 (113 ±1) DR51C 5.51 ±.4 (14 ±1) DR515C 6.57 ±.4 (167 ±1) 178 Parker Hannifin Corporation

161 Catalog 8-4/USA DR Drive DR Series Pinout Lists DYNASERV 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 A+ output 14 A 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 AGND 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 Analog input (±1V) 5 Analog input GND 1 Motor A 2 Motor 3 Motor C 4 GND Power Screw Terminal Pin No. Signal or 23VAC line-control or 23VAC neutral-control or 23VAC line-main or 23VAC neutral-main or 23VAC 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 Dimensions in inches (mm).28 (7 ±.5) 4.33 (11 ±1) 3.54 (9 ±.5) (297 ±1) Compumotor DYNASERV POSW (25 ±1) 9.41 (239 ±.5) LINE (CONT)~ 115 VAC LINE (MN)~ 115 VAC GND MOTOR V A V V C GND CN1 fc LIM ON TEST OFF AC GAIN DC GAIN VEL POSN AGND TORQ 8.46 (215 ±1) T1 CN (18 ±1) Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 179 Parker Hannifin Corporation

162 Catalog 8-4/USA DR Drive DR5 Series Pin-Out Lists DYNASERV 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 A+ output 14 A 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 Analog input (±1V) 5 Analog input GND Power Screw Terminal DR5A (2VAC 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 A 7 Motor A 7 Motor 8 Motor 8 Motor C 9 Motor C 9 GND 1 GND Pin No. Resolver Honda Connector Power Screw Terminal DR5 (23VAC 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) Dimensions in inches (mm) Dimensions in inches (mm) 3.35 (85) 9.5 (23) 3.35 (85) (32).28 (7 ±.5) 4.33 (11 ±1) 3.54 (9 ±.5) (297 ±1) Compumotor DYNASERV 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) LINE (CONT)~ 115 VAC LINE (MN)~ 115 VAC GND MOTOR V A V V C GND T1 CN1 fc LIM ON TEST OFF AC GAIN DC GAIN VEL POSN AGND TORQ CN (215 ±1) 4.25 (18 ±1) DR5 A DR5 Please refer to the ordering information matrix on page Parker Hannifin Corporation

163 Catalog 8-4/USA DM Series DYNASERV 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. A 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. A built-in test mode and position/velocity monitors allow for convenient and efficient tuning. Features rushless direct drive motor with 1 foot cable 9 models available in 4-, 6- or 1-inch diameters Incremental encoder feedback Torques to 15 ft-lbs (2 Nm) Resolutions to 1,24, steps/rev Supports 4 tons of compression load DM14 has axial and radial run-out of.1 mm Microprocessor control of I-PD control algorithm Analog 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 ±8.5V 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 Compatible with Dynaserv M2 controller/drive Accessories Compumotor Controllers The Dynaserv is compatible with all Compumotor controllers. Dynamic raking Capacitor type or Speed-switching type for each motor size. Precision Machining Axial 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 Application. Call Today. 181 Parker Hannifin Corporation

164 Catalog 8-4/USA DM Series DYNASERV DM Series Motor Data Model Model Model Model Model Model Model A 11A 115A 12A Peak torque ft-lbs (Nm) (15) (3) (45) (5) (1) (15) (2) Rated speed 115VAC rps 23VAC 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 Max. Power Consumption KVA * Drive weight is 13.2 lbs (6 kgs) ** When designing a system, de-rate the maximum load to the values shown at right: De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 DM14 Motor Data Specifications DM14 DM14C Peak torque ft-lbs 3 3 (N-m) (4) (4) Rated speed 115VAC rps 23VAC 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) Maximum power consumption KVA.3.3 * Drive weight is 4 lbs (1.8 kgs) ** When designing a system, de-rate the maximum load to the values specified at right: De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 182 Parker Hannifin Corporation

165 Catalog 8-4/USA DM Series DYNASERV DM Series Specifications Parameter Value Performance Repeatability ±2 arc-sec; DM14: ±5 arc-sec Accuracy ±25 arc-sec; ±6 arc-sec DM14 (std); ±2 arc-sec (optional) Max stepping rate 1,6, steps/sec Power Volts 115VAC, 1-phase or 23VAC, 1-phase, 5/6Hz Range +1% to -15% Current 2 amps max Inputs Command interface Step input Direction Analog input Low going low pulse, 15 nanoseconds minimum pulse width Logic high = CW rotation Logic low = CCW rotation ±1V command signal Outputs Encoder output A/ encoder output 4 khz max Environmental Driver Motor Weight 13.2 lb (6 kg), DM14 4 lb (1.8 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. Motor Speed-Torque Performance Curves The speed-torque 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 DMG2/DMM2-A Series 115 VAC DM-A Series 23 VAC 185 (25) 185 (25) 148 (2) DM12A 148 (2) DM12A Torque 111 (15) 74 (1) DM115A DM11A Torque 111 (15) 74 (1) DM115A DM11A 37 (5) DM15A 37 (5) DM15A lb-ft (N-m) 42 (6) Speed-RPS DMG2/DMM2- Series 115 VAC lb-ft Speed-RPS (N-m) (8) DM- Series 23 VAC 35 (5) 46 (66) Torque 28 (4) 21 (3) 14 (2) 7 (1) DM115 DM13 DM145 Torque 37 (53) 28 (4) 19 (27) 9 (13) DM145 DM13 DM Speed-RPS Speed-RPS 2.5 Please refer to the ordering information matrix on page 159 Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 183 Parker Hannifin Corporation

166 Catalog 8-4/USA DM Series DM Series Motor Dimensions DM-A Series Dimensions in inches (mm) 6 M8 depth (1).2 (5) A.39 (1) Stator DYNASERV 6 M6 depth (15) 1.89 (48) 1.89 (48) DM- Series ±.8 (246 ±.2) /- (58 +.5/-) ±.4 (264 ±.1) / -.2 (23 -.2/ -.6) Rotor / -.2 (2 -.2/-.5) 12 (348) 1.18 (3) 6.692±.8 (17 ±.2) 1.4 (26.5) Model A DM15A 4.45 ±.4 (113 ± 1) DM11A 5.43 ±.4 (138 ± 1) DM115A 6.42 ±.4 (163 ± 1) DM12A 7.4 ±.4 (188 ± 1) Dimensions in inches (mm) 6 M6 depth (8).12 (3) A.43 (11) Stator 6 M6 depth (8) 1.1 (28) 1.1 (28) 4.94 ±.8 (14 ±.2) ±.8 (146 ±.2) /.2 ( / -.5) ±.4 (16 ±.1) /- (25 +.5/-) /-.2 ( /-.5).37 (9.3) 1.4 (26.5) 1.4 (26.5) Model A DM ±.4 (92 ± 1) DM ±.4 (118 ± 1) DM ±.4 (143 ± 1) Rotor 12 (348) DM Series Drive Dimensions Dimensions in inches (mm).28 (7 ±.5) 4.33 (11 ±1) 3.54 (9 ±.5) (297 ±1) Compumotor DYNASERV 8 Please refer to the ordering information matrix 9.84 (25 ±1) 9.41 (239 ±.5) LINE (CONT)~ 115 VAC LINE (MN)~ 115 VAC GND MOTOR V A V V C GND POSW CN1 fc LIM ON TEST OFF AC GAIN DC GAIN VEL POSN AGND TORQ 8.46 (215 ±1) T1 CN (18 ±1) 184 Parker Hannifin Corporation

167 Catalog 8-4/USA DM Series.39 (1) 6.3 (16).39 (1) 5.51 (14) 6.3 (16) 5.51 (14) DYNASERV DM14 & DM14C Motor Dimensions DM14 Dimensions in inches (mm) (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) Dimensions in inches (mm) 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 Dimensions in inches (mm) Encoder Cable Speed-Torque Curve The speed/torque curves represent peak torque available; continuous torques are approximately 1/2 of the peak value (7) 1.97 (5) 1.38 (35) lb-ft 3.7 N-m 5 DMG2/DMM2-14 Series (25) 9.41 (239) 8.46 (215) Torque Speed-RPS.28 (7).67 (17) 5.91 (15) Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 185 Parker Hannifin Corporation

168 Catalog 8-4/USA DM Series DM Series Pinout Lists Indexer 5-pin Honda DYNASERV Power 12 or 23VAC 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 A+ output 14 A 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 AGND 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 Analog input (±1V) 5 Analog input GND 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 A 2 Motor 3 Motor C 4 GND Pin No. Encoder 16-pin Honda 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 186 Parker Hannifin Corporation

169 Catalog 8-4/USA Linearserv LINEARSERV High-Precision, Direct-Drive Linear Servo Systems (EMC and LVD) pending The Linearserv is a direct drive linear actuator servo system. Each complete system consists of a brushless linear servo motor, microprocessor-based servo drive with integrated power supply, precision linear guide with rugged square rail bearings and an optical linear encoder for servo feedback. The primary benefit of the Linearserv system is the simplicity of the design. The Linearserv provides precise linear motion without belts and pulleys, gearboxes, leadscrews or other rotary-to-linear conversion devices that introduce inaccuracies and system complexities. The performance difference between the LM1 and LM5 Series are maximum force, positional accuracy, maximum speed, encoder resolution and repeatability. Linearserv Drive Features Two input power range versions 1 115VAC or 2 23VAC Compatible with all Compumotor controllers Step-and-direction input for position mode ±1VDC analog input for velocity mode ±8VDC analog input for force mode Seven segment LED for drive status and system diagnostics Internal mechanical resonance filter Can operate in Class 1 clean room applications with proper preparation Smooth linear motion at slow speeds Ability to operate in position, velocity or force control mode LM1 Series Three motor sizes available: LM15 provides 5 N of maximum linear force LM11 provides 1 N of maximum linear force LM13 provides 3 N of maximum linear force Linear stroke lengths from 5 mm to 1,5 mm Standard speeds up to.83 m/s Positional repeatability of ±.5 µm Positional accuracy of 1 µm Encoder resolution of.5 µm Ultra precision version improves repeatability and resolution by a factor of 5 High rigidity models are available for increased load and moment capabilities LM5 Series Three motor sizes available: LM54 provides 4 N of maximum linear force LM59 provides 9 N of maximum linear force LM527 provides 27 N of maximum linear force Linear stroke lengths from 5 mm to 1,5 mm Standard speeds up to 2 m/s Positional repeatability of ±1. µm Positional accuracy of 5 +(5/1,) * L s [µm] (Ls = stroke length in mm) Encoder resolution of 1. µm High rigidity models are available for increased load and moment capabilities Find Your Local Factory Authorized Distributor at www. or Call Parker Hannifin Corporation

170 Catalog 8-4/USA Linearserv LINEARSERV LM1 Series Motor Specifications LM1 Series Motor Data Performance LM15 LM11 LM13 Maximum force lb N Positional accuracy in x C 3.9 C 3.9 C µm 1 C 1 C 1 C Maximum speed in/s 32 (6) A 32 (6) A 32 (6) A m/s.83 (.16) A.83 (.16) A.83 (.16) A Encoder resolution in x 1-5 /pulse 1.95 (.39) A 1.95 (.39) A 1.95 (.39) A µm/pulse.5 (±.1) A.5 (±.1) A.5 (±.1) A Repeatability in x 1-5 ±1.95 (±.39) A ±1.95 (±.39) A ±1.95 (±.39) A µm ±.5 (±.1) A ±.5 (±.1) A ±.5 (±.1) A Parallelism in x µm Max load* lb N 2 2 1, Max transportable moment loads* Rolling moment ft-lb N-m Pitching moment ft-lb N-m Yaw moment ft-lb N-m Slider weight lb kg Rail weight lb/in kg/m Z-channel pulse/in 1/.86 1/.86 1/.86 pulse/mm 1/2.48 1/2.48 1/2.48 Stroke length in mm 5 1,5 5 1,5 5 1,5 Life km [2,/(2 W/4)] 3 x 5 [2,/(2 W/4)] 3 x 5 [8,33/(6 W/4)] 3 x 5 W: Load (N) W: Load (N) W: Load (N) Notes: A Shown the specification of ±.1 (µm) version, which can be requested through Custom Products. Shown the value at 22 C (coefficient of linear expansion 8 x 1-6 / C) C Shown here is the positional accuracy for L s 7 mm (27.5 in), positional accuracy for L s 8 mm (31.5 in) = 5 + (5/1,) * L s [µm] English units are provided for convenience. * When designing a system, de-rate the maximum loads to the values specified. Linear Series Standard Product Configuration End Plate MOTOR Slider DRIVER Encoder Cover LED Encoder Scale Linear Guide ase De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 Up Direction PDA Down Direction HEAD AMPLIFIER 188 Parker Hannifin Corporation

171 Catalog 8-4/USA Linearserv LM5 Series Motor Data LINEARSERV LM5 Series Motor Specifications Performance LM54 LM59 LM527 Maximum force lb N Positional accuracy in x 1-4 C (.195) * L s C (.195) * L s C (.195) * L s µm A 5 + (5/1,) * L s A 5 + (5/1,) * L s A 5 + (5/1,) * L s Maximum speed in/s m/s Encoder resolution in x 1-5 /pulse µm/pulse Repeatability in x 1-5 ±3.9 ±3.9 ±3.9 µm ±1 ±1 ±1 Parallelism in x µm Max load* lb N 2 2 1, Max transportable moment loads* Rolling moment ft-lb N-m Pitching moment ft-lb N-m Yaw moment ft-lb N-m Slider weight lb kg Rail weight lb/in kg/m Z-channel pulse/in 1/.161 1/.161 1/.161 pulse/mm 1/4.96 1/4.96 1/4.96 Stroke length in mm 5 1,5 5 1,5 5 1,5 Life km [2,/(2 W/4)] 3 x 5 [2,/(2 W/4)] 3 x 5 [8,33/(6 W/4)] 3 x 5 W: Load (N) W: Load (N) W: Load (N) Notes: A L s = stroke length in mm Shown the value at 22 C (Coefficient of linear expansion 8 x 1-6 / C) C L s = stroke length in inches English units are provided for convenience. * When designing a system, de-rate the maximum loads to the values specified. Linear Series Standard Product Configuration End Plate MOTOR Slider DRIVER Encoder Cover LED Encoder Scale Linear Guide ase De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 Up Direction PDA Down Direction HEAD AMPLIFIER Find Your Local Factory Authorized Distributor at www. or Call Parker Hannifin Corporation

172 Catalog 8-4/USA Linearserv LINEARSERV Driver Specifications Input Signal Command Interface Position mode Velocity mode Force mode Output Signal Speed signal Encoder signal Alarm signal Monitor Power source Maximum power consumption Weight LM15/LM54 LM11/LM59 LM13/LM527 Step Input: Low going, low pulse, 15 nanoseconds minimum pulse width, 1.6 MHz max (LM1) or 2. MHz max (LM5) Direction Input: Logic high = UP direction; Logic low = DOWN direction Analog Input: ±1VDC command signal Analog Input: ±8VDC command signal +6V (UP direction); -6V (DOWN direction) Track A/ (4, khz max.), Z-channel signal: 1 pulse/2.48 mm (LM1) or 1 pulse/4.96 mm (LM5) Over current, over voltage, over temperature of heat sink; Under voltage, encoder abnormal, CPU abnormal 2.5 Hz step response output (test mode) 1 115VAC or 2 23VAC %, 5/6 khz LM1 Series 3VA; LM5 Series 45VA 4 lbs 1.8 kg Environmental Specifications Motor Driver Note Operation Temperature 45 C 5 C Operation Humidity 2 85% RH 2 9% RH No condensing Storage Temperature C C Storage Humidity 2 85% RH 2 9% RH No condensing Environment No corrosive gases; dust-free atmosphere LM15/LM54 Motor Dimensions Dimensions in inches (mm).83 (21) From slider side suf (34) 4- M6 Thread,.39 (1) depth for load attached 2.2 (55) 3. (76) 5.4 (136) 1.81 (46) Encoder.81 (2.5) from base side suf..2 (5).59 (15).26 (6.5) 1.38 (35) 1.97 (5) Connector 4 & 12 terminal / AMP Co. 3. (76) Ls (Stroke length) 5.12 (13) Ø.18 (4.5) Holes for base fix, Ø.31 (8) c'sink,.31 (8) depth 1.97 (5) Interval Length x N L (Overall length of motor) L= Ls (17) 5 M3 Depth.2 (5).2 (5).59 (15) Stopper 1.38 (35) MODEL LM15-5 LM15-1 LM15-15 LM15-2 LM15-3 LM15-4 LM15-5 LM15-6 LM15-7 LM15-8 LM15-9 LM15-1 LM15-11 LM15-12 LM15-13 LM15-14 LM (23) 1.77 (45) 1.85 (47) L Ls in mm in mm N No. of Holes x x x x x x x x x x x x x x x x x Parker Hannifin Corporation

173 Catalog 8-4/USA Linearserv LM11/LM59 Motor Dimensions Dimensions in inches (mm) LINEARSERV Linearserv Dimensional Drawings 1.81 (46).83 (21) From slider side suf (55) 4- M6 Thread,.39 (1) depth for load attached 3. (76) 3.82 (97) 6.18 (157) Encoder.81 (2.5) from base side suf..2 (5).59 (15).26 (6.5) 1.38 (35) 1.97 (5) Connector 4 & 12 terminal / AMP Co. Ls (Stroke length) 5.12 (13) Ø.18 (4.5) Holes for base fix, Ø.31 (8) c'sink,.31 (8) depth 3. (76) 5 M3 Depth.2 (5) 1.97 (5) Interval Length x N L (Overall length of motor) L= Ls (17).2 (5).59 (15) Stopper 1.38 (35) MODEL LM11-5 LM11-1 LM11-15 LM11-2 LM11-3 LM11-4 LM11-5 LM11-6 LM11-7 LM11-8 LM11-9 LM11-1 LM11-11 LM11-12 LM11-13 LM11-14 LM (23) 1.77 (45) 1.85 (47) L Ls in mm in mm N No. of Holes x x x x x x x x x x x x x x x x x 33 LM13/LM527 Motor Dimensions Dimensions in inches (mm) 1.38 (35) From slider side suf..2 (5).59 (15).39 (1) 2.56 (65) (9).98 (25) from base side suf (1) Connector 4 & 12 terminal / AMP Co (125) Ls (Stroke length) 7.48 (19) Ø.28 (7) Holes for base fix Ø.43 (11) c'sink,.35 (9) depth 9 M3 Depth.2 (5) 2.56 (65) (1) Interval Length x N L (Overall length of motor) L= Ls (23) Note: 1 Dimensions for LM13-5 and LM13-15 are 1.57 (4) instead of 2.56 (65). Stopper 4.92 (125) 4- M8 Thread,.39 (1) depth 6.3 for load (16) attached 8.74 (222).2 (5).59 (15).91 (23) 1.9 (48.2) Encoder 2.48 (63) 2.56 (65) L Ls MODEL in mm in mm N No. of Holes LM x 2 LM x 2 LM x 4 LM x 4 LM x 5 LM x 6 LM x 7 LM x 8 LM x 9 LM x 1 LM x 11 LM x 12 LM x 13 LM x 14 LM x 15 LM x 16 LM x 17 Find Your Local Factory Authorized Distributor at www. or Call Parker Hannifin Corporation

174 Catalog 8-4/USA Linearserv LINEARSERV Linearserv Speed-Force Performance Curves lb (N) 27. (12) lb (N) 81. (36) 22.5 (1) LM11 Series 67.5 (3) LM13 Series 18. (8) 54. (24) Force 13.5 (6) LM15 Series Force 4.5 (18) 9. (4) 27. (12) 4.5 (2) 13.5 (6) Slider Velocity (m/s) lb (N) 67.5 (3) Slider Velocity (m/s) VAC 2-23 VAC Force 56.3 (25) 45. (2) 33.8 (15) 22.5 (1) LM527 Series Head Amplifier Dimensions in inches (mm).28 (7) LM59 Series 11.3 (5) LM54 Series Slider Velocity (m/s) Ø.18 (4.5) x VAC 2-23 VAC The speed-force curves represent peak force available; continuous forces are approximately 2/3 of the peak force value (26) (192) Drive Dimensions Dimensions in inches (mm).28 (7) 2.24 (57) 1.18 (3) 2.76 (7) 1.97 (5) Cable Option #1 1 3 m (1 ft) Motor Cable 9.84 (25) 9.41 (239) 8.46 (215) m (5 ft) Head-Amp Cable.28 (7).67 (17) 5.91 (15) 3 3 m (1 ft) Encoder Cable 192 Parker Hannifin Corporation

175 Catalog 8-4/USA Choosing a Step Motor How to choose a step motor There have been a few changes in the step motor catalog curves since catalog 8-3. We have added the full stepping curve, changed our thermal model, and re-rated the holding torque of each motor. Lets go through each one: Full stepping curves Although full stepping has its difficulties with stalling and resonance, it will produce more torque, especially in the lower speed applications. This is not to say it will outperform microstepping, as resonance points in the motor can be hard to overcome. For these reasons Compumotor does not recommend full stepping. Most, if not all, step motor companies use the full stepping curves in their literature, even though most applications require microstepping. In order to allow side by side comparisons we have added the full stepping curve to the catalog. This is the blue dotted line in the curve. How Compumotor sets motor current Compumotor always tests its motors as a drive-and-motor system. Each drive can heat the motor to a different degree, and we have found this is the only way to accurately depict the true performance of the system. Each drive and motor combination Compumotor offers has been tested using the following criteria. Every stepping motor will run hotter when spinning than at rest. Furthermore, each motor has a speed at which it creates the most heat. This speed is both motor and drive dependant. Compumotor has determined this speed for each motor and drive combination, and uses it to set the thermal model. Each motor is run at this speed or 2RPS whichever is lower using a 75% duty cycle (7.5 seconds on and 2.5 seconds off). The current is set at either the maximum current the motor is electrically rated for (saturation) or the current needed to bring the case temperature up to 1 C. These tests are performed at room temperature (25 C). Under certain circumstances the current will need to be reduced in order to maintain a case temperature of 1 C. elow is a sample Power vs. RPS heat curve. This curve is for the VS21 motor. Holding Torque Compumotor has rated its holding torque in past catalogs as shaft torque at 1RPS, microstepping. The holding torque listed in this catalog is now at RPS, and in full stepping mode. This is a universal rating across all step motor manufacturers, and can be used to more accurately compare motors between different manufacturers. 194 Parker Hannifin Corporation

176 Catalog 8-4/USA GT Stepper Drives GEMINI The Gemini GT Digital Stepper Drive The Gemini GT is the digital stepper drive member of the Gemini Family. The Gemini GT is easily configurable and programmable via RS232/485 using Compumotor s Motion Planner TM on a PC or Pocket Motion Planner TM on a Window s CE TM -based palm PC. The Gemini GT is an alternative to a digital servo drive. With breakthrough techniques such as Encoderless Stall Detect TM and AS damping TM (patented), the Gemini GT provides servo like performance with the lower motor price of a stepper system. With the same connectivity, configurations, and family feature set as the Gemini GV, the Gemini GT allows for an easy upgrade path to the Gemini GV digital servo drive. Active Damping TM, Electronic Viscosity TM and AS Damping TM The Gemini GT follows in the footsteps of Compumotor s ZETA drive family and offers Active Damping TM (patented) and Electronic Viscosity TM (patented). The Gemini GT goes one step further with AS Damping TM (patented). This damping feature is for speed ranges from to.1 revs/sec. This nofuss feature requires no user set up and dramatically reduces settling time. Encoderless Stall Detect TM Encoderless Stall Detect TM allows detection of a motor stall without adding an encoder to an application. Stall conditions result from inequality of commanded velocity to actual velocity at the motor shaft, regardless of physical reason. The user will be alerted to a stall condition via LED, digital output, or via query over the communication port. Stall sensitivity can be adjusted with a single parameter. Features Performance Two power ranges for up to 8 Amps of continuous current Step and direction, CW/CCW, +/- 1 VDC analog, and encoder tracking modes available Active Damping TM, Electronic Viscocity TM, and AS Damping TM Encoderless Stall Detect TM Simplified configuration Variable resolution up to 128, steps/rev Protection Short circuit protection phase-to-phase and phase-toground rownout protection if AC drops below 85 VAC Over temperature shutdown occurs at ambient 131 F (55 C) Physical A wide selection of stepper motors are available from Compumotor including the OS, TS, VS and ES Series 12V input power Diagnostic LEDs for drive status, firmware download, and optional keep alive mode Gemini Family Features 24V Keep Alive (not required) keeps logic alive if AC power is removed Error Log records 1 most recent errors with time stamp Approvals: UL Recognition, cul, CE (LVD), and CE (EMC) Configurable via RS232/485 using Compumotor s Motion Planner TM on a PC or Pocket Motion Planner TM on a Windows CE TM -based Palm PC When do I need to use servo motor technology? Applications with... Speeds over 5 revs/sec Mechanical resonance Dynamic load conditions Immediate feedback requirements Very high accelerations 195 Parker Hannifin Corporation

177 Catalog 8-4/USA GT6 Stepper Drives GEMINI The Gemini GT6 Digital Stepper Drive with asic Controller and Fieldbus Options The Gemini GT6 is a standalone, compact, digital stepper drive and basic motion controller in one complete package. The Gemini GT6 incorporates all of the GT digital stepper drive features such as Encoderless Stall Detect TM and AS Damping TM (patented) with the flexibility of a simple, yet powerful motion controller. The Gemini GT6 is easily configurable and programmable via RS232/485 using Compumotor s Motion Planner TM on a PC or Pocket Motion Planner TM on a Window s CE TM -based palm PC. The Gemini GT6 also offers connectivity to several field buses including Profibus and DeviceNet. Similar to the digital stepper drive, the Gemini GT6 provides servo performance for the package price of a stepper system. It also allows the flexibility of an upgrade path to the Gemini GV6, due to its equivalent connectivity, programmability, and family feature set. For applications requiring stepper motor controls and basic motion control functionality, the Gemini GT6 is today s industry technology leader. Features Performance Provides 5 or 8 Amps of continuous current Active Damping TM, Electronic Viscocity TM, and AS Damping TM Encoderless Stall Detect TM Simplified configuration Variable resolution up to 128, steps/rev Standalone controller and drive in one small package Full ASCII connection capability Program Storage: 32 programs or 19 lines of program code Control features such as registration, motion profiles, S-curve velocity profiling and conditional statements Performance, continued Daisy chain up to 99 units 8 programmable inputs and 6 programmable outputs Protection Short-circuit protection phase-to-phase and phase-toground rownout protection if AC drops below 85 VAC Over temperature shutdown occurs at 131 F (55 C) Physical A wide selection of stepper motors are available from Compumotor including the OS, RS, TS, VS and ES Series 12V input power Diagnostic LEDs for drive status, firmware download, and optional keep alive mode Connectivity RS232/485 serial connectivity (ASCII) Profibus DP (optional) DeviceNet (optional) Gemini Family Features 24V Keep Alive (not required) keeps logic alive if AC power is removed Error Log records 1 most recent errors with time stamp Approvals: UL Recognition, cul, CE (LVD), and CE (EMC) Configurable/Programmable via RS232/485 using Compumotor s Motion Planner TM on a PC or pocket Motion Planner TM on a Windows CE TM -based Palm PC 196 Parker Hannifin Corporation

178 Catalog 8-4/USA GT6K Stepper Drives GEMINI The Gemini GT6K Digital Servo Drive with Full- Feature Controller Compumotor's new premier microstepping drive/controller, the Gemini GT6K is the most powerful addition to the Gemini stepper family lineup. This full-feature, standalone drive/ controller offers a complete motion control solution in one economical, compact package. The GT6K comes complete with the same features, connectivity and front-end software tools as the Gemini GT and Gemini GT6. In addition to offering many of the drive features of the Gemini GT and control features of the Gemini GT6, the GT6K incorporates the flexibility and control functionality of Compumotor's 6K Controller to allow highly advanced motion control and sequencing capabilities for unrivaled flexibility in many distributed-control applications. The GT6K is easily configured/programmed via RS232/ 485 using Compumotor s Windows-based Motion Planner TM software package. The GT6K also offers connectivity to any ASCII-based serial device, including HMI panels and PLC ASCII modules. Products such as OPTO 22 TM SNAP I/O, DVT TM Vision Systems and A TM SLC 5/5 PLC platforms can also be used for data chaining using the GT6K's Ethernet Client feature. Features Performance Combines the powerful features of the 6K Controller with the Gemini GT digital microstepper drive for a complete standalone stepper solution in one small package Full ASCII communication capability and Ethernet communication Control features such as following, registration, multitasking, PLC scan, electronic cam profiling, S-curve profiling, scaling, high-level math functionality and more Program storage: 3K standard (battery backed) Daisy chaining of up to 99 units Simplified configuration and tuning 8 programmable inputs and 6 programmable outputs (expandable up to 256 I/O points) Protection Short-circuit protection phase-to-phase and phase-toground rownout protection if AC drops below 85 VAC Over temperature shutdown occurs at ambient 131 F (55 C) Physical A wide selection of stepper motors are available from Compumotor including the OS, TS, VS and ES Series 12V input power Diagnostic LEDs for drive status, firmware download and 24VDC control power active Connectivity Two serial communications ports: one RS232 port (3- wire), one RS232/RS485 port (2- or 4-wire) Ethernet communication port (TCP/IP, 1 Mbps twisted pair Embedded Ethernet Client for use with A TM PLCs, OPTO 22 TM SNAP I/O, DVT TM Vision Systems, etc. Master Encoder port for reading external encoder input signals Expandable I/O (up to 256 discrete I/O points and/or 192 Ethernet I/O points) Gemini Family Features 24V Keep Alive (24VDC supply required) keeps logic alive if AC power is removed Error Log records 1 most recent errors with time stamp Approvals: UL Recognition, cul, CE (LVD), and CE (EMC) Configurable/Programmable via RS232/485 using Compumotor s Motion Planner TM See Servo Drive section for the full line of Gemini servo drives and drive/controllers. 197 Parker Hannifin Corporation

179 GEMINI FAMILY FEATURES Catalog 8-4/USA GT6K Stepper Drives Software and Standard Control Features Complied motion Floating point, integer and binary variables with high-level math functionality Comprehensive program monitoring 3K memory storage, battery backed Full-feature 6K Language command set Complete position-based following and electronic cam profiling PLC Scan Mode Multitasking (up to 1 individual programs simultaneously) Full scaling functionality Compatible with platforms such as Visualasic TM, Visual C++ TM and NI LabVIEW TM GEMINI I/O Capabilities Onboard I/O: 8 digital inputs (3 programmable limits, 5 programmable), 6 digital outputs, 1 analog input, 2 D/A monitor outputs, 1 relay output Software selectable onboard input/output functionality Expandable I/O of up to 256 additional discrete digital I/O points, 64 analog I/O points or a combination of both digital and analog points Expandable Ethernet I/O of up to 192 additional digital or analog I/O points using Ethernet Client with OPTO 22 SNAP modules Registration input capability Software selectable I/O high/low active level 5-24VDC selectable input reference voltage Inputs: selectable as sinking or sourcing; outputs: open collector (sinking) Gemini Family Summary CE, UL Recognition RS232/485 CE, UL Recognition Encoderless Stall Detect RS232/485 Ether Encoderless Stall Detect Profib Ether usnet DeProfib vicenet us De 1V vicenet Command Input Step/Direction, ± 1V Command CW/CCW Input Command Input Encoder Step/Direction, Signal Input CW/CCW Command Input Onboard Encoder I/OSignal Input GV GV GV6 Servo GV6K GV6 GV6K GT GT6 GT6K Stepper GT GT6 GT6K Expandab Onboard I/O Registr Expandable I/O System Registr Status ation & Diagnostics Scaling System Status & Diagnostics Scaling iab ollo Variab wing les Multitasking Following Multitasking Compiled Motion Compiled Motion Full Functionality Full Functionality Limited Functionality Limited Functionality 198 Parker Hannifin Corporation

180 Catalog 8-4/USA GT/GT6 Common Specifications GEMINI GT/GT6 Common Specifications Specifications GT(GT6)-L5 GT(GT6)-L8 Input Power Voltage VAC VAC Phase 1Ø 1Ø Frequency 5/6 Hz 5/6 Hz 24V Keep Alive (Optional) 24 VDC +/- 2% 24 VDC +/- 2% Output Power us Voltage 17 VDC 17 VDC Switching Frequency 2kHz 2kHz Current (Apk) 5 Amps 8 Amps Performance Accuracy Repeatability Hysteresis Resolution Waveform Command Inputs - GT Position Mode Velocity Mode Inputs GT Enable, Reset, User Fault Neg/Pos Limits +/-5 arc min (.833 ) unloaded bi-directional with Compumotor motors +/- 1 arc min (.167 ) loaded in addition to unloaded accuracy +/- 5 arc sec (.14 ), typical unloaded Less than 2 arc min (.334 ) unloaded User defined integer value between 2 and 128, steps User defined, pure sine, -2% to 1%, continuously variable 3rd harmonic Step and Direction/CW & CCW/Encoder Tracking 12 bit, +/- 1 input voltage 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold Inputs GT6 8 Program., Enable, Reset 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold 1 Analog 12 bit, +/- 1 VDC input voltage (1 ms update) Outputs GT Fault, At Limit, Stall Analog Monitors Step & Direction Relay Open collector, 3mA sink capability +/- 1 V scalable, 8 bit (not to be used as control functions) Programmable up to 128, counts/rev Normally open, dry contact Outputs GT6 6 Programmable Open collector, 3mA sink capability Analog Monitors +/- 1 V scalable, 8 bit (not to be used as control functions) Step & Direction Programmable up to 128, counts/rev Relay Normally open, dry contact Communications Type RS232/RS485 (4-wire), ASCII or 8-bit binary protocol aud Rate Fixed at 96 Daisy Chain GT6 Up to 99 Fieldbus - GT6 Profibus (optional), DeviceNet (optional) Environmental Temperature Still air: 113 F(45 C), moving air: 122 F (5 C) Humidity -95%, non-condensing Shock/Vibration Shock:15G 11 msec/ vibration: 2G, 1-2 Hz Protection Short Circuit Phase-to-phase, phase-to-ground rownout AC drops below 85 VAC Over Temperature Shutdown fault at 131 F (55 C) Standards UL, cul, CE (LVD), CE ( EMC) Physical Compumotor motors OS, TS, VS and ES Series motors Non-Compumotor motors 4,6,or 8-lead, 2-phase hybrid permanent magnet motor, 1.8 Inductance.5mH minimum; 5 to 5 mh recommended, 1mH max Connectors Serial 9-pin D-shell (male) Motor and power arrier screw terminal Command and I/O 5-pin High density Amp Champ -.5 Series II (with screw attachment) +24VDC/Relay See Servo Drive section 4-pin removable for the terminal full block line of Gemini servo drives and drive/controllers. 199 Parker Hannifin Corporation

181 Catalog 8-4/USA GT6K Common Specifications GEMINI GT6K Common Specifications Specifications GT6K-L5 GT6K-L8 Input Power Voltage VAC VAC Phase 1Ø 1Ø Frequency 5/6 Hz 5/6 Hz 24V Keep Alive (Required) 24 VDC +/- 2% 24 VDC +/- 2% Output Power us Voltage 17 VDC 17 VDC Switching Frequency 2kHz 2kHz Current (Apk) 5 Amps 8 Amps Performance Accuracy Repeatability Hysteresis Resolution Waveform +/- 5 arc min (.833 ) unloaded bi-directional with Compumotor motors +/- 1 arc min (.167 ) loaded in addition to unloaded accuracy +/- 5 arc sec (.14 ), typical unloaded Less than 2 arc min (.334 ) unloaded User defined integer value between 2 and 128, steps User defined, pure sine, -2% to 1%, continuously variable 3rd harmonic Inputs Onboard 8 Program., Enable, Reset 5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold 1 Analog 12 bit, +/- 1VDC input voltage (2 ms update) Inputs Expansion (optional) Serial:Up to 256 digital inputs (2 ms update) Up to 64 analog inputs (+/- 1VDC input voltage) Ethernet: Up to 192 digital or analog Ethernet inputs via Ethernet Client with OPTO 22 SNAP I/O module Outputs Onboard 6 Programmable Open collector, 3mA sink capability Analog Monitors +/- 1 V scalable, 8 bit (not to be used as control functions) Step & Direction Programmable up to 128, counts/rev Relay Normally open, dry contact Outputs Expansion (optional) Serial:Up to 256 digital outputs (2 ms update) Up to bit analog outputs (+/- 1VDC input voltage) Ethernet: Up to 192 digital or analog Ethernet outputs via Ethernet Client or OPTO 22 SNAP I/O module Communications Serial RS232/RS485 (4-wire), ASCII aud Rate Selectable up to 1152 Daisy Chain GT6 Up to 99 Ethernet Type: 1aseT (1 Mbps twisted pair) Protocols Supported TCP/IP and UDP, Modbus/TCP, A Ethernet and ASCII over Ethernet Environmental Temperature Humidity Shock/Vibration Protection Short Circuit rownout Over Temperature Standards Still air: 113 F(45 C), moving air: 122 F (5 C) -95%, non-condensing Shock:15G 11 msec/ vibration: 2G, 1-2 Hz Phase-to-phase, phase-to-ground AC drops below 85 VAC Shutdown fault at 131 F (55 C) UL, cul, CE (LVD), CE ( EMC) Physical Compumotor motors OS, TS, VS and ES Series motors Non-Compumotor motors 4,6,or 8-lead, 2-phase hybrid permanent magnet motor, 1.8 Inductance.5mH minimum; 5 to 5 mh recommended, 1mH max Connectors Serial (Com1/Com2) 9-pin D-shell (male) Ethernet RJ45 connector for 1 ase-t Motor and Power arrier screw terminal Command, Onboard I/O 5-pin High density Amp Champ -.5 Series II (with screw attachment) Feedback 26-pin High density Amp Champ -.5 Series II (with screw attachment) Master Encoder 9-pin D shell (female) Expandable I/O 15-pin D shell (female) +24VDC/Relay 4-pin removable terminal block 2 Parker Hannifin Corporation

182 Catalog 8-4/USA Gemini Connections GEMINI Gemini GT and GT6 Connections and LEDs RS232/485 LEDs Green/Red Yellow/Green RS-485 Connections Rx+ Tx+ Gnd (RD ) (TD ) RS-232 Connections Rx Tx Gnd LED Color: Left Right Indicated State* Off Yellow Initialization Red (flash) Off Awaiting flash download Green (flash) Yellow (flash) Programming flash memory Red Grn Keep alive mode Green Grn (flash) Incoming steps (variable rate) Green Yellow/Green (flash) Autorun mode Red Off Drive not enabled Drive faulted Green Off Drive ready Male Pins Rx- Tx- (RD A) (TD A) See Servo 24VDC/Relay (not required) + 24VDC - provides logic keep alive to the drive Relay 5A at 24 VDC or 12 VAC Relay opens when drive is disabled/faulted RS-232/ V DC 24V RTN RELAY COM Section Gemini GT +24V DC 24V RTN RELAY COM RELAY N.O. Motor Output Connections Terminals: #8 (M4) Mating Terminals: spade fork,.325 max width For Gemini GT6 I/O information, please refer to Gemini GT6 Hardware Installation Guide RELAY N.O. COMPUMOTOR STEPPER MOTOR 12V GT-L5/8 A+ A + N/C N L1 DRIVE I/O MOTOR FEEDACK reserved 5 reserved 49 reserved 48 Output Ground 47 Output 4 46 Output 3 45 Output Ground 44 Output 2 43 Output Ground 42 reserved 41 Input Ground 4 reserved 39 reserved 38 reserved 37 Input Ground 36 reserved 35 reserved 34 reserved 33 Input Ground 32 Input 3 31 Input Ground 3 Input 2 29 Input 1 28 CNTRL-P 27 VINref Gemini GT6 Analog Ground 1V Vel Cmd 1V Vel Cmd+ Analog Output Analog Output A Digital Ground reserved reserved Direction Out Direction+ Out Step Out Step+ Out Reserved Reserved Dir-/CCW-/X Dir+/CW+/X+ Step-/CCW-/AX Step+/CW+/AX+ Digital Ground Digital Ground Reserved Reserved Reset Digital Ground Enable AC Input Connections Terminals: #8 (M4) Mating Terminals: spade fork,.325 max width For Gemini GT6 I/O information, please refer to Gemini GT6 Hardware Installation Guide Motor Feedback Connector Not available in the Gemini GT or GT6 Output Ground 5 Output 6 49 Output 5 48 Output Ground 47 Output 4 46 Output 3 45 Output Ground 44 Output 2 43 Output Ground 42 Output 1 41 Input Ground 4 Input 8 39 Input 7 38 Input 6 37 Input Ground 36 Input 5 35 Input 4 34 Pullup-Inputs 4,5,6,7 33 Input Ground 32 Input 3 31 Input Ground 3 Input 2 29 Input 1 28 Pullup-Inputs 1,2,3 27 VINref Analog Ground 1V Input 1V Input+ Analog Output Analog Output A Digital Ground reserved reserved Direction Out Direction+ Out Step Out Step+ Out Reserved Reserved Dir-/CCW-/X Dir+/CW+/X+ Step-/CCW-/AX Step+/CW+/AX+ Digital Ground Digital Ground Reserved Reserved Reset Digital Ground Enable See Servo Drive section for the full line of Gemini servo drives and drive/controllers. 21 Parker Hannifin Corporation

183 Catalog 8-4/USA Gemini Dimensions GEMINI Gemini GT6 with Profibus Option Profibus LED Indicators LED Steady Flash Function Status F Not used -- F2 Off Module is not online FS bit #4= Green Module is online FS bit #4= 1 F3 Off Module is not offline FS bit #4= 1 Red Module is offline FS bit #4= F4 Off No diagnostics present -- Red 1 flash/second - FSIZE setting does not match network configuration -- Red 4 flashes/second - hardware failure -- Profibus Connector Pin Out Pin Name Function Housing Shield Protective earth 1 Not connected -- 2 Not connected Line Positive Rx/TxD 4 RTS Request to send* 5 GND US Isolated GND* 6 +5V US Isolated +5V* 7 Not connected -- 8 A-Line Negative Rx/TxD 9 Not connected -- Profibus aud Rate The GT6 will automatically detect the baud rate of the Profibus network. For a complete list of supported baud rates, see the CMTRØ9ØE.GSD file, which accompanies the Gemini product. GV6 GT6 Gemini Servo Profibus connector Termination switch Hardware address settings LEDs Gemini GT6 with DeviceNet Option DeviceNet LED Indicators LED Steady Flash Function Status F Not used -- F2 Off Not powered/not online -- Green Network link is OK FS bit #4= 1 Red Network critical link failure FS bit #5= 1 Green 1 flash/second - network link not connected FS bit #6= 1 Red 1 flash/second - network connection timeout FS bit #7= 1 F3 Off No power -- Green Module device operational FS bit #8= 1 Red Unrecoverable fault FS bit #9= 1 Green 1 flash/second - module in standby FS bit #1= 1 Red 1 flash/second - module minor fault FS bit #11= 1 F Not used -- DeviceNet Connector Pin Out Pin Name Function 1 V- DC Return 2 CAN_L CANUS LOW 3 SHIELD Protective earth 4 CAN_H CANUS HIGH 5 V+ +24 VDC Power* DeviceNet connector Hardware address settings LEDs * 3mA in standby and 1mA in rush DeviceNet aud Rate To configure baud rate via hardware, dip switches are provided to set a baud rate of 125, 25 or 5kb. Setting the dip switches to xff (all ON) enables software configuration of baud rate. aud rate (it/sec) D1 D2 125k OFF OFF 25k OFF ON 5k ON OFF Reserved ON ON See Also: The Profibus or DeviceNet User Guide for complete specifications 22 Parker Hannifin Corporation

184 Catalog 8-4/USA Gemini Connections GEMINI RS-232/485 Connector COM1 To configure drive parameters, connect a PC to this port. Use Motion Planner for drive configuration. Enabling Ethernet will disable the COM1 port. RS-485 Connections Rx+ Tx+ Gnd (RD ) (TD ) RS-232 Connections Rx Tx Gnd GT6K Digital Controller/Drive RS-232 Connector COM2 Connect an RP24, or use this port for RS-232. Download OS through this port only. Ethernet and COM2 can both be active at the same time. RS-232 Connections Rx Tx Gnd Rx- Tx- (RD A) (TD A) Male Pins +24VDC/Relay Connector Required +24VDC input VDC, 5 ma maximum. When drive is enabled, it +24V DC holds relay closed. 24V RTN Relay rating: 5A at 24VDC or RELAY COM 12VAC. RELAY N.O. If drive is faulted or disabled, relay will open. (Typical use: control of motor brake.) Motor Output Connections MOTOR WIRES Motor Cable A+ A+ A A + + Earth DRIVE TERMINALS RS-232/ V DC 24V RTN RELAY COM RELAY N.O. WARNING: Hazardous voltage may exist for up to 3 seconds after power is removed. GV-U3/6/12 COMPUMOTOR SERVO U V W MOTOR VUS+ VUS L2/N L1 DRIVE I/O MOTOR FEEDACK GT6K Gemini Servo RS-232 EXPANSION I/O ETHERNET MASTER ENCODER VDC Expansion I/O Connector Male Pins Connect as many as eight EVM32-II I/O modules in series, for up to 256 additional I/O points. Output Ground Output 6 Output 5 Output Ground Output 4 Output 3 Output Ground Output 2 Output Ground Output 1 Input/Limit Ground Input 3 (Trig ) Input 2 (Trig A) Input 1 Input/Limit Ground (Master Trig) Input 5 Input 4 CNTRL-P: Inputs 1 5 Input/Limit Ground (Home) Limit 3 Input/Limit Ground (Neg) Limit 2 (Pos) Limit 1 CNTRL-P: Lim 1 3 VINref Pin DRIVE I/O Connector Analog Ground Analog Input Analog Input+ Analog Output Analog Output A Digital Ground Reserved Reserved Dir Out Dir+ Out Step Out Step+ Out Reserved Reserved Reserved Reserved Reserved Reserved Digital Ground Digital Ground Reserved Reserved Reset Digital Ground Enable GT6K AC Input Connections Fuses N/C 26 Pin MOTOR FEEDACK Connector N VAC L1 GT6K-L5/L8 at 12VAC Protective Circuits Short Circuit Protection Inrush Current Protection Drive Overtemperature Protection Motor Overtemperature Protection Undervoltage Protection Overvoltage Protection Current Foldback Regeneration Protection Environmental Specifications Operating Temperature Still Air: 45 C (113 F) Moving Air: 5 C (122 F) Storage Temperature: -4 C 85 C (-4 F 185 F) Humidity: 95%, non-condensing Green/Red Yellow/Green LEDs LED Color: Left Right Indicated State Red Grn +24VDC only Red Yel AC only Grn Grn (flash) Motion in progress Grn Yel/Grn (flash) Autorun mode Red Off Drive not enabled; or Drive faulted Off Yel Initializing Grn Off Drive ready Reserved 26 Reserved 25 Reserved 24 Reserved 23 Reserved 22 Reserved 21 Reserved 2 Reserved 19 Reserved 18 Reserved 17 Reserved 16 Reserved 15 Reserved Reserved 12 Reserved 11 Reserved 1 Encoder Z 9 Encoder Z+ 8 Encoder 7 Encoder + 6 Encoder A 5 Encoder A+ 4 Encoder Ground 3 Encoder Ground 2 Encoder +5V 1 Encoder +5V Ethernet Connector RJ-45 connector for 1ase-T (1Mbps twisted pair) TCP/IP protocol. Default address is Green LED on = Connection OK; Yellow LED on = Transmitting Master Encoder Connector Connect an encoder for Following. Not for servo feedback or stepper stall detect. See Servo Drive section for the full line of Gemini servo drives and drive/controllers. 23 Parker Hannifin Corporation

185 Catalog 8-4/USA Gemini Dimensions GEMINI Gemini Dimensional Drawings GT/GT6 Dimensions in inches (mm) W 2.75 (7) 6. (153.) FH 1.38 (35) 3x clearance for #8 or M4 mounting screws 5.4 (138.) 7.75 (196.9) 8. (23.2) Product W FH Width FIN Height IN (mm) IN (mm) L (79.4).38 (9.5) L (95.3) 1. (25.4) 7. (177.8).88 (22.2) 1. (25.4 ) GT6K/GT6-P/GT6-DN Dimensions in inches (mm) FH 1.38 (35) OW 3.5 (88.9) 3x clearance for #8 or M4 mounting screws 6. (153.) 5.4 (138.) Product OW FH Overall Fin Width Height IN (mm) IN (mm) L5 4.5 (114.3).38 (9.5) L8 1. (25.4).38 (9.5) 8. (23.2) 24 Parker Hannifin Corporation

186 Catalog 8-4/USA Gemini Ordering GEMINI Gemini Ordering Nomenclature GT Control Level: (blank) - drive only 6 - basic drive/controller 6K - full-feature drive/controller - - (Example: GT6-L5-P) Option: P (Profibus - GT6 only) DN (DeviceNet - GT6 only) (blank) no fieldbus Stepper Power Levels L5 L8 Input Voltage (VAC) us Voltage (VDC) Continuous Current (Apk) 5 8 Compatible Stepper Motors VS Series (in NEMA 17, 23 and 34 frame sizes) OS Series (in NEMA 23 frame sizes) ES Series (in NEMA 23 and 34 frame sizes) TS Series (in NEMA 34 and 42 frame sizes) Motor Cabling Options Flying lead option 1' cable option 1' CE(EMC&LVD) cable option (on selected motors) NPS pipe thread option (on selected motors) See Also: The Gemini Family of Digital Servo Drive Products in the Servo Section See Servo Drive section for the full line of Gemini servo drives and drive/controllers. 25 Parker Hannifin Corporation

187 Catalog 8-4/USA GT Ordering GEMINI Cables and Accessories Gemini to 6K Controller (GT only) Part Number Product Description Gemini to 6K Step & Direction command cable, 1', CE(LVD&EMC) (position mode) Gemini to 6K Analog command cable, 1', CE(LVD&EMC) (velocity mode) Gemini to 6K Step & Dir or Analog command cable, 1', CE(LVD&EMC) (all modes) Gemini to 6K Step & Direction command cable, 4', (non-ce) (position mode) Gemini to 6K Step & Dir or Analog command cable, 4', (non-ce) (all modes) 5-Pin High Density (Entire Family) Part Number Product Description GEM-VM5 Gemini 5-pin screw terminal breakout board with 3' cable ' cable, 5-pin high density to flying leads, CE(LVD&EMC) ' cable, Gemini 5-pin high density to flying leads (non-ce) ' cable, Gemini 5-pin high density to flying leads (non-ce) GC-5 5-pin Gemini test connector with terminal strips GC-SDA Gemini connector with 11-pin terminal strips (drive commands only) 26-Pin HighDensity (GT6K only) Part Number GC-26 GF-KIT Product Description 26-pin Gemini test connector with terminal strips 26-pin Gemini connector kit Additional Accessories (Entire Family) Part Number Product Description ' cable, RS232/485 null modem, CE(LVD&EMC) 26 Parker Hannifin Corporation

188 Catalog 8-4/USA GT Performance GEMINI Stepper Speed-Torque Performance Curves Gemini with VS motors 17, 23 and 34 frame VS13/Gemini Speed (RPS) VS21/Gemini Speed (RPS) VS22/Gemini Speed (RPS) VS23/Gemini VS31/Gemini VS32/Gemini Speed (RPS) Speed (RPS) Speed (RPS) Gemini with OS motors 23 frame SERIES PARALLEL FULL 5 OS2HA/OEM75 (Series).35 5 OS2HA/OEM75 (Parallel).35 1 OS21A/OEM75 (Series) Speed (RPS) Speed (RPS) Speed (RPS) OS22A/OEM75 (Series) Speed (RPS) VDC 48 VDC 24 VDC 5 OS2H/Gemini.35 1 OS21/Gemini.7 25 OS22/Gemini Speed (RPS) Speed (RPS) Speed (RPS) SERIES PARALLEL FULL See Servo Drive section for the full line of Gemini servo drives and drive/controllers. 27 Parker Hannifin Corporation

189 Catalog 8-4/USA GT Performance GEMINI Stepper Speed-Torque Performance Curves Gemini with TS motors, 34 frame TS31/Gemini TS32/Gemini TS33/Gemini Speed (RPS) Speed (RPS) Speed (RPS) Gemini with TS motors, size 42 frame TS41/Gemini TS42/Gemini TS43/Gemini Speed (RPS) Gemini with ES motors (previously ZETA and S Series motors), 23 frame Speed (RPS) Speed (RPS) 1 ES21/Gemini.7 2 ES22/Gemini ES23/Gemini Speed (RPS) Speed (RPS) Speed (RPS) Speed (RPS) Gemini with ES motors (previously ZETA and S Series motors), 34 frame ES31/Gemini ES32/Gemini ES33/Gemini Speed (RPS) Speed (RPS) SERIES PARALLEL FULL 28 Parker Hannifin Corporation

190 Catalog 8-4/USA GT Stepper Drives GEMINI OS & VS Series Stepper Motor Specifications Size 17, 23 & 34 Frame Sizes Size 23 Frame Size 23 Frame Size 34 Frame Parameters OS2H OS21 OS22 VS21 VS22 VS23 VS31 VS32 Static torque oz-in (Nm) (.4) (.9) (1.7) (.7) (1.2) (1.9) (3.9) (8.6) Rotor inertia oz-in (kg-cm 2 ) (.7) (.12) (.25) (.12) (.3) (.48) (1.4) (2.7) Drive Current Series 1.7 (1.2) 1.8 (1.3) 2.4 (1.7) 1.8 (1.3) 1.7 (1.2) 1.4 (1.) 3. (2.1) 3. (2.1) (Apk)(Arms) Parallel 3.4 (2.4) 3.6 (2.6) 4.8 (3.4) 3.6 (2.6) 3.4 (2.4) 2.8 (2.) 6. (4.2) 6. (4.2) Phase Inductance Series (mh) Parallel (1.25) (3.) (3.85) Drive us Voltage (VDC) Detent Torque oz-in (N-m) (.2) (.3) (.5) (.2) (.2) (.4) (.1) (.2) earings Information Thrust Load lb (kg) (5.9) (5.9) (5.9) (8) (8) (8) (16) (16) Radial Load lb (kg) (9.1) (9.1) (9.1) (6.8) (6.8) (6.8) (14) (14) End Play in (mm) (.25) (.25) (.25) (.75) (.75) (.75) (.8) (.8) Radial Play in (Per.5 lb load) (mm) (.2) (.2) (.2) (.25) (.25) (.25) (.2) (.2) Motor Weight lb (kg) (.5) (.7) (1.1) (.47) (.7) (1.) (1.75) (2.8) Certifications UL recognized Pending Pending Pending No No No No No CE (LVD) Yes Yes Yes No No No No No CE (EMC & LVD)* No No No No No No No No * To comply with EMC and low-noise (CISPR22/EN5522 Class A or FCC Class A emissions) standards, the following items are required: Gemini GT or GT6 Drives CE(LVD) motor for LVD, Compumotor recommends a terminal board (NPS) motor construction for easier EMC installation C1(CH1) motor accessory (LVD/EMC cable kit) Mains filter as indicated in the User Guide Discover how easily Gemini fits into your next motion control application by calling Or visit us on the Web at www. to find a local factory authorized Technology Center (ATC) near you. See Servo Drive section for the full line of Gemini servo drives and drive/controllers. 29 Parker Hannifin Corporation

191 Catalog 8-4/USA GT6 Stepper Drives GEMINI T Series Stepper Motor Specifications (Size 34 Frame & 42 Frame) Size 34 Frame Size 42 Frame TS31 TS32 TS33 TS41 TS42 TS43 Static torque** oz-in (N-m) 455 (3.19) 647 (4.53) 1525 (1.68) 1332 (9.32) 2515 (17.61) 3479 (24.35) Rotor inertia oz-in 2 (kg-cm 2 ) 7.8 (1.43) (2.68) (4.1) 3.22 (5.53) (1.92) (16.2) Drive Current Series 3.3 (2.3) 3.1 (2.2) 5.6 (4.) 6.4 (4.5) 6.7 (4.7) 6.9 (4.9) (Apk)(Arms)** Parallel 6.7 (4.7) 6.2 (4.4) 12. (8.5) 12. (8.5) 12. (8.5) 12. (8.5) Drive us Voltage (VDC) Phase Inductance Series (mh)*** Parallel Detent Torque oz-in (Nm) 18 (.13) 36 (.25) 54 (.38) 42 (.3) 84 (.59) 16 (.75) earings Information Thrust Load lb (kg) 35 (139) 35 (139) 35 (139) 44 (184) 44 (184) 44 (184) Radial Load lb (kg) 65 (3) 65 (3) 11 (5) 125 (57) 11 (5) 11 (5) End Play (Reversing load equals 1 lb) in (mm).1 (.25).1 (.25).1 (.25).1 (.25).1 (.25).1 (.25) Radial Play (Per.5 lb load) in (mm).8 (.2).8 (.2).8 (.2).8 (.2).8 (.2).8 (.2) Motor Weight lb (kg) 5. (2.3) 8.4 (3.8) 11.9 (5.4) 11. (5.) 18.4 (8.4) 25.7 (11.7) Certifications UL recognized Yes Yes Yes Yes Yes Yes CE (LVD) Yes Yes Yes Yes Yes Yes CE (EMC & LVD)* * * * * * * * To comply with EMC and low-noise (CISPR22/EN5522 Class A or FCC Class A emissions) standards, the following items are required: Gemini GT or GT6 Drive CE(LVD) motor for LVD. Compumotor recommends a terminal board E Series Stepper Motor Specifications (Size 23 Frame & 34 Frame) (NPS) motor construction for easier EMC installation C1(CH1) motor accessory (LVD/EMC cable kit) Mains Filter as indicated in the User Guide ** Values shown in speed-torque curves *** Small signal values Size 23 Frame Size 34 Frame ES21 ES22 ES23 ES31 ES32 ES33 (ZETA57-51) (ZETA57-83) (ZETA57-12) (ZETA83-62) (ZETA83-93) (ZETA83-135) Static torque oz-in (N-m) 65 (.46) 125 (.71) 145 (.89) 145 (1.14) 3 (2.14) 38 (2.8) Rotor inertia oz-in 2 (kg-cm 2 ).546 (9.998) 1.1 (2.1) 1.69 (3.9) 3.47 (63.4) 6.76 (124) 1.47 (191) Phase Inductance Series mh (small signal*) Parallel mh (small signal*) earings Information Thrust Load lb (kg) 25 (11.3) 25 (11.3) 25 (11.3) 5 (22.6) 5 (22.6) 5 (22.6) Radial Load lb (kg) 15 (6.8) 15 (6.8) 15 (6.8) 25 (11.3) 25 (11.3) 25 (11.3) (Reverse load equal to 1 lb) End Play in (mm).1 (.25).1 (.25).1 (.25).1 (.25).1 (.25).1 (.25) Radial Play (Per.5 lb load) in (cm).8 (.2).8 (.2).8 (.2).8 (.2).8 (.2).8 (.2) Net Weight Motor + Cable + Connector lb (kg) 1.6 (.7) 2.4 (1.1) 3.2 (1.5) 3.8 (1.7) 5.1 (2.3) 8.3 (3.8) Motor Cable** Wire Size AWG (mm 2 ) 24 (.25) 24 (.25) 24 (.25) 22 (.34) 22 (.34) 22 (.34) * Small Signal Inductance is found by using an inductance bridge or meter. ** All Motors Cable length = 1 feet (3m). 21 Parker Hannifin Corporation

192 Catalog 8-4/USA GT Dimensions GEMINI Stepper Motor Dimensions Size 23 Frame, O Series Dimensions in inches (mm).2 (5.8) dia (4) on (66.68) C 2.25 (57.2) 1.86 (47.2) 45.25(6.35).2495(6.337) Shaft Dia 13.5 (343) Min..25 (6.4) Flexible boot may be bent as shown. Nominal height 1. (25.4). 1. (25.4) 1.6 (26.9) 1.52 (38.15) (38.5).81(2.6).2 (5.8).55(1.4) A 2.44 (62.) Frame Size 23 Model OS2HA (OEM57-4) OS21A (OEM57-51) OS22A (OEM57-83) A 1.6 (4.6) 2.6 (52.3) 3.1 (78.7) Dimensions in inches (millimeters) A +/-.4 [1] For servo motor information, please turn to that section of the catalog. See Servo Drive section for the full line of Gemini servo drives and drive/controllers. 211 Parker Hannifin Corporation

193 Catalog 8-4/USA GT Dimensions GEMINI Stepper Motor Dimensional Drawings Size 34 Frame, T Series Dimensions in inches (mm) 3.38 (85.85) 4x.218 (5.54) thru equally spaced on a (98.43).C ( ) ( ) 1 fl ( ).13) (2 x 45 ).2 (.51) C ( ) A A-.2 (.51).6 (1.52).33 (8.382) L (49.53) MAX. 1/2 NPS TAP WITH.56 I.D. INSULATING USHING Double Shaft Configuration 1 Indicated dimension applies from end of extension to face of rear end bell (cover and gasket removed).3 (.77) A 1.25 (31.75) L MAX..3 (.77) A 3.88 (98.6) Model Lmax L2 A C TS31 nnnps 4.44 (112.78) 3.7 (93.98).5 (12.7).555 (14.97).125 (3.175) TS32 nnnps 5.96 (151.38) 5.22 (132.59).5 (12.7).555 (14.97).125 (3.175) TS33 nnnps 7.48 (189.99) 6.74 (171.2).625 (15.88).75 (17.97).1875 (4.763) 1.63 (41.4) 2.5 (63.5) EC Encoder Configuration Size 42 Frame, T Series Dimensions in inches (mm) (2 x 45 ) (19.855) 4x.328 (8.331) thru equally spaced on a 4.95 (125.73).C ( ) -.58) (34.925) ( ) 1 fl ( ) -.13).2 (.51) ( ) -.13).2 (.51) +. -A (21.8) (+.) (-.432) ( ).3 (.77) A 2.19 (55.63).6 (1.52).48 (12.192) L2 L MAX..3 (.77) A 2.23 (56.642) MAX. 1/2 NPS TAP WITH.56 I.D. INSULATING USHING 4.8 (121.9) Double Shaft Configuration 1 Indicated dimension applies from end of extension to face of rear end bell (cover and gasket removed) Model Lmax L2 TS41 nnnps 5.2 (132.8) 4.46(113.28) TS42 nnnps 7.22 (183.39) 6.48(164.59) TS43 nnnps 9.23 (234.44) 8.49 (215.65) 1.63 (41.4) 2.5 (63.5) EC Encoder Configuration For servo motor information, please turn to that section of the catalog. 212 Parker Hannifin Corporation

194 Catalog 8-4/USA GT Dimensions GEMINI Stepper Motor Dimensional Drawings Size 23 Frame, E Series (also known as ZETA Series) Dimensions in inches (mm).215 (5.461) dia (4).195 (4.953) on (66.67) C (57.66) (47.14) max Model ES21 (ZETA 57-51) ES22 (ZETA 57-83) ES23 (ZETA 57-12) 12 (35) 8 wire shielded 1.52 (38.15) (38.5) A 2. (5.23) 3.1 (75.23) 4. (11.6).82 (2.83).72 (18.29) A.63(1.6).83 (21.8).73 (18.54).25 (6.35) #6-32 UNC-2 Thd.2495 (6.34).19 (4.83) x.25 (6.5) DP Shaft Dia (2) (3) Equally Spaced on (47.37) C (28.4) dia 6 Size 34 Frame, E Series (also known as ZETA Series) Dimensions in inches (mm) 3.4 (86.36) Max Casting Size 12 (35) 8 wire shielded (31.24) (29.21) A.63 (1.6) (3.7) (29.72) 3 #6-32 UNC-2 Thd x.25 (6.5) DP (4) Equally Spaced on (74.98) C 3.25 (82.55) max 2.73 (69.34) 2.75 (69.85) (73.7) dia (72.97).228 (5.79) dia (4).218 (5.54) on (98.42) C.19 (4.83).375 (9.52).3745 (9.51) Shaft Dia (2).75 (19.5) dia x.5 (1.27) Deep ore Min Model ES31 (ZETA 83-62) ES32 (ZETA 83-93) ES33 (ZETA ) A 2.5 (62.) 3.7 (93.98) 5.2 (129.) For servo motor information, please turn to that section of the catalog. Gemini Offers Greater Flexibility and More Reliability Than Ever efore. Call Today. 213 Parker Hannifin Corporation

195 Catalog 8-4/USA E-AC E SERIES Low Cost, Small Package, 12VAC Microstepping Drive Compumotor's new E-AC is a low-cost, high-performance, high-reliability microstepping drive in a small package. The design of the E-AC is based on the design of our proven Zeta and OEM75 microstepping drives. It provides up to 3.5 Amps of current to the motor and accepts 12VAC direct-online power only. All step motors are subject to mid-range instability or oscillations. The E-AC incorporates an anti-resonance circuitry that aggressively and effectively suppresses these oscillations, thus taking advantage of the full capabilities of the step motor. Features Performance Designed for use with motor inductance of.5 mh - 8 mh 3-state current control allows the drive and motor to run cooler and more efficiently than 2-state drives Selectable resolution up to 5,8 steps/rev Auto standby reduces motor current (and heating) at rest Provides.2 Amps to 3.5 Amps (peak) VAC power supply input Four predefined current waveforms to optimize smoothness Protection Optically isolated step and direction inputs Short circuit protection phase-to-phase and phase-toground Auto-run feature to verify proper system operation Over temperature circuitry protects the drive from thermal damage Physical Status/fault LED indicators to confirm proper operation ASIC and surface-mount technologies minimize product footprint, overall package size and increase product reliability Optically isolated fault output for embedded applications Simplified, 2-screw mounting Overall dimensions: 2.25 x 4.3 x 1.9 in. (133 x 19 x 48 mm) Certified as UL-recognized component Approvals: CE (LVD), and CE (EMC) 214 Parker Hannifin Corporation

196 Catalog 8-4/USA E-AC E SERIES E-AC Specifications Parameter Value Power Input AC single phase 5/6 Hz Performance Accuracy ±5 arc min (.833 ) typical. Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different absolute accuracy. ±1 arc min (.167 ) typical/per each frictional load equal to 1% rated torque. Loaded-in addition to unloaded accuracy. Repeatability ±5 arc sec (.14 ) typical. Unloaded-one revolution returning to start point from same direction. Hysteresis Less than 2 arc min (.334 ) unloaded-bidirectional. Resolution 16 selectable choices: 2, 4, 1, 2, 5, 1, 128, 18, 2, 216, 25, 254, 256, 36, 5, 58 Waveform Selectable. Allows waveform shaping for optimum smoothness or relative accuracy. Pure sine; -4%, -6%, -8%, 3rd harmonic. Amplifier Type 2 khz fixed frequency, variable duty cycle pulse width modulated (PWM ) Current Controlled, bipolar chopper Number of Phases 2 Output Current Amps peaks of Sine Standby Current Reduction 5% of selected motor current Nominal Chopping Frequency 2 khz Max Stepping Rate 2 MHz max pulse rate; 5 rps max speed Step Input High-going pulse, 2 nsec min width; max pulse rate is 2 MHz; User-supplied driver for the step and direction inputs should be capable of providing a minimum of 6.5 ma to maximum of 15 ma Direction Input Logic High = positive (CW) rotation V Logic Low = negative (CCW) rotation.4v User-supplied driver for the step and direction inputs should be capable of providing a minimum of 6.5 ma to a maximum of 15 ma. The direction input must be stable for at least 2 µsec before the drive receives the first pulse Fault Output Open-Collector/Emitter, Vce = 7 VDC, Vce sat =.3 VDC, Ic = 4 ma (max) Maximum dissipation = 4 mw Conducting = normal operation Non conduction = drive fault Protective Circuts Short Circuit* Phase-to-phase, phase-to-ground If AC supply drops below 85VAC Overtemperature* The drive will fault if heat plate exceeds 55 C Environmental Drive Temp Max allowable ambient temperature is 122 F (5 C). Fan cooling may be required if airflow is restricted. Humidity to 95%, Non-condensing Physical Drive Dimensions 5.35 x 4.34 x 1.89in (135 x 11 x 48 mm) Weight 1.2 lbs Motor Type Two-phase hybrid permanent magnet, 1.8 Number of Leads 4, 6, or 8 Inductance Range.5 minimum; 5 to 5 mh recommended range; 1 mh max * Drive shuts down in conditions listed. Power must be cycled or drive reset to resume operations. See Servo Drive section for the full line of Gemini servo drives and drive/controllers. 215 Parker Hannifin Corporation

197 Catalog 8-4/USA E-DC E SERIES Lower-Cost DC Power Input Microstepping Drive Compumotor s new E-DC microstepping drive is designed for a 48VDC input power requirement and provides current up to 4.8 Amps peak of current to the motor. Features Performance Designed for use with motor inductance range of.2 mh 8 mh Three-state current control allows the drive and motor to run cooler and more efficiently than two-state drives Selectable resolution up to 5,8 steps/rev Auto standby reduces motor current (and heating) at rest Provides.2 Amps to 4.8 Amps (peak) Single VDC power supply input Compatible with a variety of motors Six predefined current waveforms to optimize smoothness Protection Optically isolated step and direction inputs Short circuit protected phase-to-phase, and phase-toground Power dump circuitry to protect drive from regeneration caused by large inertial loads Self-test feature to verify proper system operation Overtemperature circuitry protects the drive from thermal damage Physical Status/fault LED indicators to confirm proper operation ASIC and surface mount technologies minimize product footprint, overall package size, and increase product reliability Removable snap-on molded cover for convenient configuration and protection against contaminants Optically isolated fault output for embedded applications Heat plate design allows thermal dissipation through a suitable heat dissipating mounting surface Simplified, two-screw mounting Right-angle screw terminal allows side-to-side mounting or Eurorack compatibility Overall dimensions 5. x 3.6 x 1.6 in. (127 x 91 x 41 mm) Convenient configuration DIP switches Certified as UL-recognized component CE (LVD & EMC) 216 Parker Hannifin Corporation

198 Catalog 8-4/USA Specifications E SERIES E-DC Drive Specifications Parameter Value Power Input DC Arms (motor dependent) Performance Accuracy ±5 arc min (.833 ) typical. Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different absolute accuracy. ±1 arc min (.167 ) typical/per each frictional load equal to 1% rated torque. Loaded-in addition to unloaded accuracy. Repeatability ±5 arc sec (.14 ) typical. Unloaded-one revolution returning to start point from same direction. Hysteresis Less than 2 arc min (.334 ) unloaded-bidirectional. Resolution 16 selectable choices: 2, 4, 1, 2, 5, 1, 128, 18, 2, 216, 25, 254, 256, 36, 5, 58 Waveform Selectable. Allows waveform shaping for optimum smoothness or relative accuracy. Pure sine; -4%, -6%, -8%, -1% 3rd harmonic. Amplifier Type 2 khz fixed frequency, variable duty cycle pulse width modulated (PWM ) Current Controlled, bipolar chopper Number of Phases 2 Output Current amps current per phase peak (selectable) Drive Supply Voltage VDC (dependent on external power supply) Standby Current Reduction 25%, 5%, or 75% of selected motor current Nominal Chopping Frequency 2 khz Max Stepping Rate 2 MHz max pulse rate; 5 rps max speed Step Input High-going pulse, 2 nsec min width; max pulse rate is 2 MHz; User-supplied driver for the step and direction inputs should be capable of providing a minimum of 6.5 ma to maximum of 15 ma Direction Input Logic High = positive (CW) rotation V Logic Low = negative (CCW) rotation.4v User-supplied driver for the step and direction inputs should be capable of providing a minimum of 6.5 ma to a maximum of 15 ma. The direction input must be stable for at least 2 µsec before the drive receives the first pulse Fault Output Open-Collector/Emitter, Vce = 7 VDC, Vce sat =.3 VDC, Ic = 1 ma (max) Maximum dissipation = 55 mw Conducting = normal operation Non conduction = drive fault Protective Circuts Short Circuit* Phase-to-phase, phase-to-ground Undervoltage If DC supply drops below 24 VDC Overtemperature* The drive will fault if heat plate exceeds 55 C Environmental Drive Temp Max allowable ambient temperature is 122 F (5 C). Fan cooling may be required if airflow is restricted. Max allowable heatplate temperature is 55 C. Humidity to 95%, Non-condensing Physical Drive Dimensions 5. x 3.6 x 1.6 in (127 x 91 x 41 mm) Weight 12 oz Motor Type Two-phase hybrid permanent magnet, 1.8 Number of Leads 4, 6, or 8 Inductance Range.2 mh 8 mh * Drive shuts down in conditions listed. Power must be cycled or drive reset to resume operations. See Servo Drive section for the full line of Gemini servo drives and drive/controllers. 217 Parker Hannifin Corporation

199 Catalog 8-4/USA Dimensions E SERIES E Series Connections Inputs & Outputs Step Input Direction Input Remote Input Ω 243Ω Internal Connections 681Ω 2 3 HCPL ILQ2 ILQ2 +5V V 464Ω +5V 464Ω +5V 464Ω E Series Screw-Terminal Pin No Signal 1 (Top) LINE 2 NEUTRAL 3 GND 4 MOTOR GND 5 A+ 6 A (ottom) - Fault Output Gear Shift Input N35 ILQ V 25 Pin D-Connector 681Ω 4 3 ILQ2 1kΩ HPCL-2631 S17 E-AC Dimensions E-DC Drive Dimensions 218 Parker Hannifin Corporation

200 Catalog 8-4/USA Specifications E SERIES OS Series Motor Specifications Size 23 Frame E-DC E-AC Parameters OS2HA OS21A OS22A OS2H OS21 OS22 Static torque oz-in (Nm) (.35) (.81) (1.31) (.43) (.84) (1.68) Rotor inertia oz-in (kg-cm 2 ) (.7) (.12) (.25) (.7) (.12) (.25) Drive Current Series 3. (2.12) 4.8 (3.39) 4.8 (3.39) 1.76 (1.24) 1.88 (1.33) 2.38 (1.68) Apk (Arms) Parallel NA NA NA 3.25 (2.3) 3.5 (2.47) 3.5 (2.47) Phase Inductance Series (mh) Parallel NA NA NA Detent Torque oz-in (N-m) (.2) (.3) (.5) (.2) (.3) (.5) earings Information Thrust Load lb (kg) (5.9) (5.9) (5.9) (5.9) (5.9) (5.9) Radial Load lb (kg) (9.1) (9.1) (9.1) (9.1) (9.1) (9.1) End Play in (Reversing load (mm) (.25) (.25) (.25) (.25) (.25) (.25) equal to 1 lb) Radial Play in (Per.5 lb load) (mm) (.2) (.2) (.2) (.2) (.2) (.2) Motor Weight lb (kg) (.5) (.7) (1.1) (.5) (.7) (1.1) Certifications UL recognized Pending Pending Pending Pending Pending Pending CE (LVD) Yes Yes Yes Yes Yes Yes CE (EMC & LVD) No No No No No No See Servo Drive section for the full line of Gemini servo drives and drive/controllers. 219 Parker Hannifin Corporation

201 Catalog 8-4/USA Specifications E SERIES VS Series Motor Specifications Size 17, 23 and 34 Frame Size 17 Frame Size 23 Frame Size 34 Frame Parameters VS12 VS13 VS21 VS22 VS23 VS31 VS32 Static torque - E-AC oz-in (Nm) (.39) (.51) (.82) (1.37) (2.36) (3.9) (8.97) Static torque - E-DC oz-in (Nm) (.41) (.57) (.81) (1.1) (2.33) (3.12) (4.69) Rotor inertia oz-in (kg-cm 2 ) (.54) (.68) (.12) (.3) (.48) (1.4) (2.7) Drive Current Series 1. (.71) 1.1(.71) 2.26 (1.6) 2.1 (1.42) 2.1 (1.42) 3. (2.12) 3.13 (2.21) Apk (Arms) - E-AC Parallel 2. (1.42) 2.2 (1.43) 3.5 (2.47) 3.5 (2.47) 3.5 (2.47) 3.5 (2.47) 3.5 (2.47) Drive Current Series NA NA NA NA NA NA NA Apk (Arms) - E-DC Parallel 3. (2.12) 3. (2.12) 4.8 (3.39) 4. (2.83) 4.8 (3.39) 4.8 (3.39) 4.8 (3.39) Phase Inductance Series (mh) Parallel (3.2) (2.8) (1.25) (3.) (3.85) (3.95) (6.25) Detent Torque oz-in (N-m) (.2) (.3) (.5) (.6) (.13) (.19) (.35) earings Information Thrust Load lb (kg) (5) (5) (8) (8) (8) (16) (16) Radial Load lb (kg) (3.5) (3.5) (6.8) (6.8) (6.8) (14) (14) End Play in (with 2.2 lbs axial (mm) (.75) (.75) (.75) (.75) (.75) (.8) (.8) load) Radial Play (with in lb radial load) (mm) (.25) (.25) (.25) (.25) (.25) (.2) (.2) Motor Weight lb (kg) (.25) (.35) (.47) (.7) (1.) (1.75) (2.8) Certifications UL recognized No No No No No No No 22 Parker Hannifin Corporation

202 Catalog 8-4/USA Speed-Torque Curves E SERIES Motor Speed-Torque Performance Curves E-AC with OS and VS Series motors, 17, 23 and 34 frame 12 OS21/E-AC OS22/E-AC OS2H/E-AC Speed (RPS) Speed (RPS) Speed (RPS) SERIES PARALLEL FULL VS12/E-AC VS13/E-AC VS21/E-AC VS22/E-AC VS23/E-AC VS31/E-AC VS32/E-AC SERIES PARALLEL FULL See Servo Drive section for the full line of Gemini servo drives and drive/controllers. 221 Parker Hannifin Corporation

203 Catalog 8-4/USA Speed-Torque Curves E SERIES Motor Speed-Torque Performance Curves E-DC Drive with OS and VS Series motors, 17, 23 and 34 frame 5 OS2HA/E-DC.35 1 OS21A/E-DC.7 2 OS22A/E-DC Speed (RPS) Speed (RPS) Speed (RPS) 24V 48V VS12/E-DC VS13/E-DC VS21/E-DC VS22/E-DC VS23/E-DC VS31/E-DC VS32/E-DC V 48V 222 Parker Hannifin Corporation

204 Catalog 8-4/USA Dimensions E SERIES Dimensional Drawings VS Series Motors, Size 17 Frame Size 23 Frame Size 34 Frame A +/-.4 [1] See Servo Drive section for the full line of Gemini servo drives and drive/controllers. 223 Parker Hannifin Corporation

205 Catalog 8-4/USA ZETA Drives ZETA Compumotor s ZETA Microstepping Drive Family These microstepping drives are stand-alone, packaged microstepping drives that incorporate breakthrough techniques know as Active Damping TM (patented) and Electronic Viscosity TM (patent pending). The ZETA family of drives come in 4 different power versions: ZETA4, ZETA4-24, ZETA8 and ZETA12. Designed for reliability, the ZETA drive family offers premier quality and performance while being easy to use and apply. The ZETA drive family meets the need for global solutions: CE (LVD), CE(LVD and EMC) or low-noise applications UL Recognized 12VAC and 24VAC versions The ZETA4, ZETA8, and ZETA12 operate at 12VAC and provide 4A, 8A, and 12A respectively. The ZETA4-24, ZETA8, and ZETA12 comply with the Low Voltage [LVD (EN611)] and Electromagnetic Compatibility [EMC (CISPR22/EN5522 Class )] directives making it an excellent choice for machines built in or shipped to the European community. y designing the drive to meet the EMC Class s rigid standards, the ZETA4-24, ZETA8, and ZETA12 also meets North America s FCC Class emissions test making it the solution for low-noise applications. The ZETA4-24, ZETA8, and ZETA12 have also received UL approval. The ZETA4-24 can be used for low- and high-power applications. For low-power applications, the ZETA 4-24 operates at 12VAC to provide the same performance as the ZETA4. For high-power applications, the ZETA4-24 runs off 24VAC to provide the same performance of an 8 AMP drive operating at 12 VAC. Features Performance Standard step-and-direction input or CW/CCW input Torque from 43 oz-in (.3 N-m) to 348 oz-in (24.4 N-m) Performance (continued) Active Damping TM benefits: Damping ratios of up to.5 Higher acceleration than conventional step systems Decrease motor vibration Increase shaft power Higher performance Electronic Viscosity TM benefits: Reduce settling time Increase slow speed smoothness (reduce velocity ripple) Reduce audible noise Protection Circuit Motor short circuits (phase-to-phase and phase-to-ground) Overtemperature Undervoltage Power dump (dissipates excess energy caused by load regeneration) Physical A wide selection of motors is available for both 12 VAC and 24 VAC operation Drive status indicators: power, step input, over temperature and motor fault 12VAC (17VDC bus voltage) for ZETA4, ZETA4-24, ZETA8, and ZETA12 24VAC (34VDC bus voltage) for ZETA4-24 Removable connectors for easy installation Selectable damping for optimized performance Optional EMC drive kit and EMC Cable kit consisting of AC mains filter and cabling to allow complete EMC or low noise system compliance for ZETA4-24, ZETA8, and ZETA Parker Hannifin Corporation

206 Catalog 8-4/USA ZETA Drives ZETA Specifications ZETA4, ZETA8, ZETA12, and ZETA4-24 Parameter Value Power ZETA4 ZETA8 ZETA12 ZETA4-24 AC Power Input VAC Single Phase, 5/6Hz VAC Single Phase, 5/6Hz Motor Current (Apk) -4 Amps -8 Amps -12 Amps -4 Amps us Voltage VDC nominal 17VDC 34VDC nominal Performance Accuracy ±5 arc min (.833 ) typical. Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different absolute accuracy. ±1 arc min (.167 ) Loaded-in addition to unloaded accuracy, per each frictional load equal to 1% rated torque. Repeatability ±5 arc sec (.14 ) typical. Unloaded-one revolution returning to start point from same direction. Hysteresis Less than 2 arc min (.334 ) unloaded-bidirectional. Resolution 16 selectable choices: 2, 4, 1, 2, 5, 1, 128, 18, 2, 216, 25, 254, 256, 36, 5, 58 Waveform Selectable. Allows waveform shaping for optimum smoothness or relative accuracy. Pure sine; -4%, -6%, -1% 3rd harmonic. Motors Type 2-phase hybrid permanent magnet, 1.8 degree. reakdown Voltage (HIPOT) 12VAC input; 24VAC input Number of Leads 4, 6 or 8 Accuracy Grade 3% Inductance.5 mh minimum; 5 to 5 mh recommended range; 1 mh max Amplifiers Type 2 khz fixed frequency, variable duty cycle PWM (pulse width modulated). Current controlled, bipolar type.mosfetconstruction. Number of Phases 2 Protection* Short Circuit Phase-to-phase, phase-to-ground. rownout If AC supply drops below 85VAC. Over-temperature Over-temperature shutdown fault at 113 F (5 C) Auto Standby If selected, motor current ramps to 5% of preset value if no step pulses are received for 1 second. Current levels are resumed upon receipt of next step pulse. Automatic Test Function This feature (used primarily for testing and verification of correct wiring) rotates the motor at approximately 1 rps in the negative (CCW) direction. Step Input High-going pulse, 2 nsec min. width; max. pulse rate is 2 MHz. Direction Input Logic High = positive (CW) rotation. Logic Low = negative (CCW) rotation. Direction input may change polarity, coincident with first step pulse. CW/CCW Input Dip switch selectable. High-going pulse, 2 nsec min width; max pulse rate is 2 MHz. Shutdown Input Logic High = amplifier disable. Logic Low = normal operation. Reset Input Logic High = drive held in reset. Logic Low = normal operation. Fault Output Conducting = normal operation. Not Conducting = drive fault Environmental Operating drive 32 F to 113 F ( C to 45 C) Fan cooling may be required if airflow restricted. Storage drive -4 F to 185 F (-3 C to 85 C) Motor 212 F (1 C) maximum motor case temperature. Actual temperature rise is duty-cycle dependent. Humidity -95%, non-condensing Certifications UL Recognized ZETA4, ZETA4-24, ZETA8, ZETA12 CE (LVD) ZETA4, ZETA4-24, ZETA8, ZETA12 CE(LVD & EMC) ZETA4-42, ZETA8, ZETA12 provided the following items are used and installed properly: (EMC for CISPR22/ CE(LVD) motor. Compumotor recommends a terminal board (NPS) motor construction for easier EN5522 Class )** installation C1 (C1H) motor cable accessory (LVD/EMC cable kit) ZETA EMC KIT Low Noise ZETA4-24, ZETA8, ZETA12 provided the following items are used and installed properly: (FCC Class )** CE(LVD) motor. Compumotor recommends a terminal board (NPS) motor construction for easier installation C1 (C1H) motor cable accessory (LVD/EMC cable kit) ZETA EMC KIT * Drive shuts down in conditions listed ** System compliance ZETA Series: True Innovation In Microstepping Technology. Call Today. 225 Parker Hannifin Corporation

207 Catalog 8-4/USA ZETA Drive/Controllers ZETA Packaged Drive/Controller Systems Compumotor s ZETA6 Series products are stand-alone, single-axis drive/controller systems. The ZETA6 Series products come in 4 different power versions: ZETA614, ZETA614-24, ZETA618 and ZETA6112. These ZETA6 products pack all the power and reliability of the 6 family of controllers and ZETA drives into one convenient package. All of the I/O points, RS-232C/RS485 control, operator interface options, and following capabilities for single-axis applications are included. The following package can perform phase shifts, electronic gearbox, and flying cutoff functionality with ease. The ZETA6 Series package was made for easy and reliable installation. The connections are on removable screw terminals and a standard 5-pin header allowing simple installation and cable routing without having to cut off and reattach a connector. The ZETA6 Series is designed to solve single-axis applications cleanly, completely, and for a low cost. For multiple-axis applications, up to 99 ZETA6 Series can be daisy chained (32 ZETA6 Series can be multi-dropped using RS-485) to work together. In order to speed your application development, the ZETA6 Series comes standard with Motion Architect TM, a Microsoft Windows TM -based development package. Motion Architect TM contains many tools which allow you to easily create and implement motion programs. The ZETA6 Series is also compatible with the DDE6 Server software package. The ZETA6 Series uses the 6 Series command language. This popular language is powerful enough to implement complex motion control applications and simple enough to not overwhelm the novice programmer. The ZETA6 Series is your single-axis solution. Features Performance One axis package drive/controller Active Damping TM benefits: Damping ratios of up to.5 Higher acceleration than conventional step systems Decrease motor vibration Increase shaft power Higher performance Electronic Viscosity TM benefits: Reduce settling time Increase slower speed smoothness (reduce velocity ripple) Reduce audible noise Protection Circuit Motor short circuits (phase-to-phase and phase-toground) Overtemperature of internal drives and power supply Overvoltage (protects against overvoltage from regeneration) Power dump (dissipates excess voltage caused by load regeneration) I/O Encoder channel configurable as hardware up/down counter Incremental encoder input Home and end-of-travel limit inputs 226 Parker Hannifin Corporation

208 Catalog 8-4/USA ZETA Drive/Controllers Features (continued) Two fast (trigger) inputs for position capture, registration, etc. 16 programmable inputs (Opto-22 compatible) 8 programmable outputs (Opto-22 compatible) One auxiliary programmable output Language 15, bytes of non-volatile memory for storing programs and paths Interrupts program execution on error conditions Encoder and motor position capture (using the trigger inputs) Registration (using the trigger inputs) Selectable damping (programmable) to optimize performance for changing loads Variable storage, conditional branching and math capability Program debug tools single-step and trace modes, breakpoints, error messages and simulation of I/O Software Provided Motion Architect TM, Microsoft Windows TM -based application development software Dynamic Link Library (DLL) provided for use with Microsoft Windows TM and Microsoft Windows TM NT software development kits ZETA Optional Software Dynamic Data Exchange (DDE) server available allowing data exchange between different Windows TM software applications Interface Capabilities Direct interface to RP24 Remote Operator Panel Operates stand-alone or interfaces to PCs, PLCs, and thumbwheels One RS-232C communication port One RS232C/485 configurable port Physical Stand-alone drive/controller package Status/fault LEDs to confirm proper operation (four diagnostic LEDs) Removable connectors for easy installation 12VAC (17VDC bus voltage) for ZETA614, ZETA614-24, ZETA618, ZETA VAC (34VDC bus voltage) for ZETA Specifications ZETA614, ZETA618, ZETA6112, and ZETA Parameter Value Power ZETA614 ZETA618 ZETA6112 ZETA AC Power Input VAC Single Phase, 5/6Hz VAC Single Phase, 5/6Hz Motor Curent (Apk) -4Amps -8 Amps -12 Amps -4 Amps us Voltage VDC nominal 17VDC 34VDC nominal Performance Position range ±2,147,483,648 steps Velocity range 1 to 2,, steps/sec Acceleration range 1 to 24,999,975 steps/sec 2 Motion Algorithm Update Rate 2 ms RS-232C Interface Connections 3-wire (Rx, Tx, and GND) connection to the COM1 and/or COM2 connectors. Max number of daisy chained Up to 99 units Address settings Selectable Communication parameters 9,6 baud (auto-baud option); 8 data bits, 1 stop bit, no parity bit, full duplex. RS-485 Interface Connections 2-wire or 4-wire (Rx+, Rx-, Tx+, Tx-) connection to the COM2 connector (COM2 needs to be configured to RS-485 Interface). Max number of multi-dropped Up to 99 units Address settings Selectable (see optional DIP switch setting and ADDR command). Communication parameters 9,6 baud, 8 data bits, 1 stop bit, no parity bit, half duplex. Protection Short Circuit Phase-to-phase, phase-to-ground rownout AC supply drops below 85VAC Over-temperature Over-temperature shutdown fault at 113 F (55 C) Additional Specifications Continued on Following Page ZETA Series: True Innovation In Microstepping Technology. Call Today. 227 Parker Hannifin Corporation

209 Catalog 8-4/USA ZETA Drive/Controllers ZETA Specifications ZETA614, ZETA618, ZETA6112, and ZETA (Continued) Parameter Value Inputs (see also I/O pinouts & circuit) HOM, POS, NEG, TRG-A Powered by voltage applied to V_I/O terminal (switching levels: 1/3 of V_I/O voltage = low, TRG-, P-CUT 2/3 of V_I/O voltage = high). V_I/O can handle 5 24V with max current of 1 ma. Internal 6.8 KΩ pull-ups to AUX-P terminal connect AUX-P to power source (+5V terminal or an external 5 24V supply) to source current or connect AUX-P to power source (+5V terminal or an external 5 24V supply) to source current or connect AUX-P to GND to sink current; AUX-P can handle 24V with max current of 5 ma. Voltage range for these inputs is 24V. Encoder Differential comparator accepts two-phase quadrature incremental encoders with differential (recommended) or single-ended outputs. Max voltage = 5VDC. Switching levels (TTL-compatible); Low.4V, High 2.4V. Maximum frequency = 1.6 MHz. Minimum time between transitions = 625 ns. 16 General Purpose HCMOS compatible* with internal 6.8 KΩ pull-up to IN-P terminal connect IN-P to power (+5V Programmable pin #49 or an external 5-24V supply) to source current or connect IN-P to GND to sink current; IN-P can handle -24V with max current of 1 ma. Voltage range = 24V. Outputs All outputs are optically isolated from the microprocessor (not from the other outputs). 9 Programmable Open collector output with 4.7 kω pull-ups. Can be pulled up by connecting OUT-P to power (includes OUT-A) source (+5V terminal or an external 5-24V supply); OUT-P can handle -24V with max current of 5 ma. Outputs will sink up to 3 ma or source up to 5 ma at 5-24VDC. 8 general purpose outputs on the Programmable I/O connector, OUT-A on the I/O connector. +5V Output Internally supplied +5VDC. +5V terminals are available on the COM2, ENCODER and I/O connectors. Load limit (total load for all I/O connections) is.5a. Environmental Operating drive 32 F to 113 F ( C to 45 C) Fan cooling may be required if airflow restricted. Storage drive -4 F to 185 F (-3 C to 85 C) Motor 212 F (1 C) maximum motor case temperature. Actual temperature rise is duty-cycle dependent. Humidity -95%, non-condensing Diagnostic LEDs Power/drive on, step pulses, drive over-temperature, and motor short circuit Certification UL Recognized ZETA614, ZETA614-24, ZETA618, ZETA6112 CE (LVD) ZETA614, ZETA614-24, ZETA618, ZETA6112 * HCMOS-compatible switching voltage levels: low 1.V, high 3.25V; TTL-compatible switching voltage levels: low.4v; high 2.4V 228 Parker Hannifin Corporation

210 Catalog 8-4/USA Performance Curves ZETA Speed-Torque Curves ZETA with VS Motors VS12/ZETA4 VS13/ZETA4 VS21/ZETA Speed (RPS) Speed (RPS) Speed (RPS) VS22/ZETA Speed (RPS) VS32/ZETA4 (series) ZETA8 (parallel) Speed (RPS) VS23/ZETA Speed (RPS) SERIES PARALLEL FULL VS31/ZETA Speed (RPS) For ZETA Series Motor Specifications and dimensions, please refer to the E Series Motor Specifications located in the Gemini Section ZETA with OS Motors OS2H/ZETA4 OS21/ZETA4 OS22/ZETA Speed (RPS) Speed (RPS) Speed (RPS) SERIES PARALLEL FULL ZETA Series: True Innovation In Microstepping Technology. Call Today. 229 Parker Hannifin Corporation

211 Catalog 8-4/USA Performance Curves ZETA Speed-Torque Curves (cont'd) ZETA with ES Motors 1 ES21/ZETA.7 2 ES22/ZETA ES23/ZETA Speed (RPS) Speed (RPS) Speed (RPS) ES31/ZETA ES32/ZETA ES33/ZETA Speed (RPS) Speed (RPS) Speed (RPS) ZETA with RS Motors RS31C/ZETA SERIES PARALLEL FULL RS32C/ZETA RS33C/ZETA Speed-RPS Speed-RPS Speed-RPS PARALLEL SERIES 14 RS42C/ZETA RE42C/ZETA RS43C/ZETA Speed-RPS Speed-RPS Speed-RPS PARALLEL SERIES Parallel connected motors are limited to 5% duty cycle when operated above 5 rps. For greater than 5% duty cycle above 5 rps, connection must be made to the motor in series. Fan cooling the motor will increase duty cycles above 5 rps. Viscous damper is not required to achieve speed-torque curves. Note: ±1% torque variance due to motor tolerance 23 Parker Hannifin Corporation

212 Catalog 8-4/USA Performance Curves ZETA Speed-Torque Curves (cont'd) ZETA with TS Motors TS31/ZETA TS32/ZETA TS33/ZETA Speed (RPS) Speed (RPS) Speed (RPS) Speed (RPS) Speed (RPS) TS41/ZETA TS42/ZETA TS43/ZETA Speed (RPS) SERIES PARALLEL FULL ZETA Series: True Innovation In Microstepping Technology. Call Today. 231 Parker Hannifin Corporation

213 Catalog 8-4/USA Motor Specifications ZETA ES Series Stepper Motor Specifications Size 23 & 34 Frame Sizes Size 23 Frame Size 34 Frame Parameters ES21 ES22 ES23 ES31 ES32 ES33 Static torque oz-in (N-m) (.46) (.71) (.89) (1.14) (2.14) (2.8) Rotor inertia oz-in (kg-m 2 x 1 6 ) (9.998) (2.1 ) (3.9) (63.4) (124) (191) Drive Current Series 1.76 (1.24) 2.1 (1.42) 2.63 (1.86) 2.76 (1.95) 3.63 (2.57) 4. (2.83) Apk (Arms) Parallel 3.5 (2.47) 4. (2.83) 5.16 (3.65) 5.42 (3.83) 7.23 (5.11) 8. (5.66) Phase Inductance Series Parallel earings Thrust load lb (kg) (11.3) (11.3) (11.3) (22.6) (22.6) (22.6) Radial load lb (kg) (6.8) (6.8) (6.8) (11.3) (11.3) (11.3) End play in Reversing load (cm) (.13) (.13) (.13) (.13) (.13) (.13) Equal to 1 lb Radial play in Per.5 lb load (cm) (.2) (.2) (.2) (.2) (.2) (.2) Weight (net) Motor+Cable lb Connector (kg) (.7) (1.1) (1.5) (1.7) (2.3) (3.8) Motor Cable Wire size AWG (mm 2 ) (.25) (.25) (.25) (.34) (.34) (.34) All motors: Cable length = 1 feet (3 m); attached connector is prewired for series current. 232 Parker Hannifin Corporation

214 Catalog 8-4/USA Motor Specifications ZETA OS & VS Series Stepper Motor Specifications Size 17, 23 & 34 Frame Sizes Size 23 Frame Size 17 Frame Size 23 Frame Size 34 Frame Parameters OS2H OS21 OS22 VS12 VS13 VS21 VS22 VS23 VS31 VS32 Static torque oz-in (Nm) (.4) (.9) (1.7) (.4) (.5) (.8) (1.4) (2.4) (3.9) (9.) Rotor inertia oz-in (kg-cm 2 ) (.7) (.12) (.25) (.54) (.68) (.12) (.3) (.48) (1.4) (2.7) Drive Current Series 1.8 (1.3) 1.9 (1.3) 2.4 (1.7) 1. (.7) 1. (.7) 2.3 (1.6) 2. (1.4) 2. (1.4) 3. (2.1) 3.1 (2.2) Apk (Arms) Parallel 3.6 (2.6) 3.8 (2.6) 4.8 (3.4) 2. (1.4) 2. (1.4) 4.6 (3.2) 4. (2.8) 4. (2.8) 6. (4.2) 6.2 (4.4) Phase Inductance Series (mh) Parallel (.85) (.7) (1.25) (3.) (3.85) NA NA Drive us Voltage (VDC) Detent Torque oz-in (N-m) (.2) (.3) (.5) (.2) (.2) (.2) (.2) (.4) (.1) (.2) earings Information Thrust Load lb (kg) (5.9) (5.9) (5.9) (5) (5) (8) (8) (8) (16) (16) Radial Load lb (kg) (9.1) (9.1) (9.1) (3.5) (3.5) (6.8) (6.8) (6.8) (14) (14) End Play in (mm) (.25) (.25) (.25) (.75) (.75) (.75) (.75) (.75) (.8) (.8) Radial Play in (Per.5 lb load) (mm) (.2) (.2) (.2) (.25) (.25) (.25) (.25) (.25) (.2) (.2) Motor Weight lb (kg) (.5) (.7) (1.1) (.25) (.35) (.47) (.7) (1.) (1.75) (2.8) Certifications UL recognized Pending Pending Pending No No No No No No No CE (LVD) Yes Yes Yes No No No No No No No CE (EMC & LVD)* No No No No No No No No No No ZETA Series: True Innovation In Microstepping Technology. Call Today. 233 Parker Hannifin Corporation

215 Catalog 8-4/USA Motor Specifications ZETA Motor Specifications - 17 VDC Motor Size 23 Frame Parameters OS2H OS21 OS22 Static torque** oz-in (Nm) (.3) (.58) (1.9) Rotor inertia oz-in (kg-cm 2 ) (.7) (.12) (.25) Drive Current Series 1.5 (1.) 1.8 (1.3) 2.2 (1.5) (Apk)(Arms)** Parallel 3. (2.1) 4. (2.8) 4. (2.8) Phase Inductance Series (mh)*** Parallel Drive us Voltage (VDC) Detent Torque oz-in (N-m) (.2) (.3) (.5) earings Information Thrust Load lb (kg) (5.9) (5.9) (5.9) Radial Load lb (kg) (9.1) (9.1) (9.1) End Play in (Reversing load (mm) (.25) (.25) (.25) equal to 1 lb) Radial Play in (Per.5 lb load) (mm) (.2) (.2) (.2) Motor Weight lb (kg) (.5) (.7) (1.1) Certifications UL recognized Pending Pending Pending CE (LVD) Yes Yes Yes CE (EMC & LVD)* No No No For ZETA Series Motor Specifications and dimensions, please refer to the E Series Motor Specifications located in the Gemini Section. Motor Specifications - 17 VDC Motor Size 34 Frame Size 42 Frame Parameters TS31 TS32 TS33 TS41 TS42 TS43 Static torque** oz-in (N-m) (3.19) (4.53) (1.68) (9.32) (17.61) (24.35) Rotor inertia oz-in (kg-cm 2 ) (1.43) (2.68) (4.1) (5.53) (1.92) (16.2) Drive Current Series 3.3 (2.3) 3.1 (2.2) 5.6 (4.) 6.4 (4.5) 6.7 (4.7) 6.9 (4.9) (Apk)(Arms)** Parallel 6.7 (4.7) 6.2 (4.4) 12. (8.5) 12. (8.5) 12. (8.5) 12. (8.5) Drive us Voltage (VDC) Phase Inductance Series (mh)*** Parallel Detent Torque oz-in (Nm) (.13) (.25) (.38) (.3) (.59) (.75) 234 Parker Hannifin Corporation

216 Catalog 8-4/USA Motor Specifications ZETA Motor Specifications - 17 VDC Motor (cont'd) Size 34 Frame Size 42 Frame Parameters TS31 TS32 TS33 TS41 TS42 TS43 earings Information Thrust Load lb (kg) (139) (139) (139) (184) (184) (184) Radial Load lb (kg) (3) (3) (5) (57) (5) (5) End Play (Reversing load equal to 1 lb) in (mm) (.25) (.25) (.25) (.25) (.25) (.25) Radial Play (Per.5 lb load) in (mm) (.2) (.2) (.2) (.2) (.2) (.2) Motor Weight lb (kg) (2.3) (3.8) (5.4) (5.) (8.4) (11.7) Certifications UL recognized Yes Yes Yes Yes Yes Yes CE (LVD) Yes Yes Yes Yes Yes Yes CE (EMC & LVD)* * * * * * * 34 VDC Motors Motor Specifications - 34VDC Motor For ZETA Series Motor Specifications and dimensions, please refer to the E Series Motor Specifications located in the Gemini Section. Size 34 Frame Size 42 Frame Parameters RS31C RS32C RS33C RS42C RE42C RS43C Static torque** oz-in ,959 1,671 (N-m) (1.21) (2.6) (3.76) (8.94) (13.8) (11.8) Rotor inertia oz-in (kg-cm 2 ) (.59) (1.2) (1.77) (11.3) (11.3) (16.95) Drive Current (Apk)(Arms)** Series 2.2 (1.6) 2.8 (2.) 3.5 (2.5) 3.2 (2.3) 3.4 (2.4) 4. (2.8) Parallel 4. (2.8) 4. (2.8) 4. (2.8) 4. (2.8) 4. (2.8) 4. (2.8) Phase Inductance (mh)*** Series Parallel Drive us Voltage (VDC) Detent Torque oz-in (N-m) (.35) (.57) (.5) earings Information Thrust Load lb (kg) (81.6) (81.6) (81.6) (182) (182) (182) Radial Load lb (kg) (15.9) (15.9) (15.9) (63.6) (63.6) (63.6) End Play in (Reversing load equal to 1 lb) (mm) (.25) (.25) (.25) (.25) (.25) (.25) Radial Play (Per.5 lb load) in (mm) (.2) (.2) (.2) (.2) (.2) (.2) Motor Weight lb (kg) (1.5) (2.4) (3.5) (8.3) (8.3) (11.7) Certifications UL recognized Yes Yes Yes Yes Yes Yes CE (LVD) Yes Yes Yes Yes Yes Yes CE (EMC & LVD)* * * * * * * * EMC is a system compliance. To comply with EMC and low-noise (C15PR22/EN5522 Class or FCC Class emissions) standards, the following items are required: ZETA4-24, ZETA8, or ZETA12 Drive ZETA EMC KIT C1 motor accessory (LVD/EMC cable kit) CE(LVD) motor for LVD. Compumotor recommends a terminal board (NPS) motor construction for easier EMC installation ** Values shown in speed-torque curves *** Small signal values ZETA Series: True Innovation In Microstepping Technology. Call Today. 235 Parker Hannifin Corporation

217 Catalog 8-4/USA Dimensions ZETA ZETA Series CE Motor Dimensional Drawings Size 23 Frame, O Series Dimensions in inches (mm).2 (5.8) dia (4) on (66.68) C 2.25 (57.2) 1.86 (47.2) 45.25(6.35).2495(6.337) Shaft Dia 13.5 (343) Min..25 (6.4) Flexible boot may be bent as shown. Nominal height 1. (25.4). 1. (25.4) 1.6 (26.9) 1.52 (38.15) (38.5) Size 34 Frame, R Series.81(2.6).2 (5.8).55(1.4) A 2.44 (62.) Model A OS2HA (OEM57-4) 1.6 (4.6) OS21A (OEM57-51) 2.6 (52.3) OS22A (OEM57-83) 3.1 (87.7) Dimensions in inches (mm) 2 x (85.85) 4 x Ø.218 (5.46) thru equally spaced on a Ø3.875 (98.43).C. Ø ( ).3 (.77) -A- Ø ( ).13).2 (.51) -A (31.75).3 (.77) -A- R 1.72 (43.69) L max..6 (1.52).18 (4.57) L2 2.2 (51.31) max. Removable insulating bushing Construction = conduit. Connection (1/2 NPS TAP) with.56 (14.22) I.D. removable insulating bushing ( ) 1 Double Shaft Configuration 1 Ø ( ).13).2 (.51) Indicated dimension applies from end of extension to face of rear end bell (cover and gasket removed) EC Encoder Configuration 3.88 (98.6) (41.4) (63.5).75 (19.5) full depth.344 (8.738) 1.25 (31.75) Flat Configuration = F Standard Front Shaft Configurations ( ) ( ) 1.25 (31.75) #33 Woodruff Key Configuration = W ( ).26) Model Lmax L2 RS31 NPS 3.62 (91.95) 2.87 (72.9) RS32 NPS 4.77 (121.16) 4.2 (12.11) RS33 NPS 6.5 (153.67) 5.3 (134.62) Size 42 Frame, R Series Dimensions in inches (mm) 2 x (18.71) 4 x Ø.328 (8.33) thru equally spaced on a Ø4.95 (125.73).C ( ).51) R 2.16 (54.86) ( ) 1 Ø ( ).13).2 (.51) 4.8 (121.9) Ø A ( +.) ( -.13).2 (.51) -A-.6 (1.52) 2.22 (56.39) max. 1 Indicated dimension applies from end of extension to face of rear end bell (cover and gasket removed) (41.4) (63.5).46 (11.68) C + -. ( +.).17 (-.432) ( ) L2 L1 max. Ø ( ).3 (.77) -A-.3 (.77) -A- Removable insulating bushing Construction = conduit. Connection (1/2 NPS TAP) with.56 (14.22) I.D. removable insulating bushing Double Shaft Configuration EC Encoder Configuration 1.41 (35.81) 1.25 (31.75) Detail View.187 (4.75).187 (4.75).75 (17.91) Model Lmax L2 A C RS42 NPS 8.4 (24.22) 7.29 (185.17).625 (15.87) 2.19 (55.63).75 (17.91) RE42 NPS 8.4 (24.22) 7.29 (185.17).625 (15.87) 2.19 (55.63).75 (17.91) RS43C NPS 1.56 (268.23) 9.81 (249.18).75 (19.5) 2.19 (55.63).83 (21.9) 236 Parker Hannifin Corporation

218 Catalog 8-4/USA Dimensions Size 34 Frame, T Series Dimensions in inches (mm) ZETA ZETA Series CE Motor Dimensional Drawings 3.38 (85.85) 4x.218 (5.54) thru equally spaced on a (98.43).C..875 ±.1 ( ±.254) ( ) 1 Ø ( ).13) (2 x 45 ).2 (.51) C ±.2 (73.25 ±.51) A A-.2 (.51).6 (1.52).33 (8.382) L (49.53) MAX. 1/2 NPS TAP WITH.56 I.D. INSULATING USHING Double Shaft Configuration 1 Indicated dimension applies from end of extension to face of rear end bell (cover and gasket removed).3 (.77) A 1.25 (31.75) L MAX..3 (.77) A 3.88 (98.6) 1.63 (41.4) 2.5 (63.5) EC Encoder Configuration Size 42 Frame, T Series Dimensions in inches (mm) Model Lmax L2 A C TS31- K NPS 4.44 (112.78) 3.7 (93.98).5 (12.7).555 (14.97).125 (3.175) TS32- K NPS 5.96 (151.38) 5.22 (132.59).5 (12.7).555(14.97).125 (3.175) TS33 K NPS 7.48 (189.99) 6.74 (171.2).625 (15.88).75 (17.97).1875 (4.763) (19.855) 4x.328 (8.331) thru equally spaced on a 4.95 (125.73).C ±.1 (34.925) ± ( ) 1 Ø ( ) -.13) (2 x 45 ) ( ) -.58).2 (.51) (21.8) (+.) (-.432) ±.2 ( ±.51) -A-.3 (.77) A ( ) -.13).2 (.51) 2.19 (55.63).6 (1.52).48 (12.192) L2 L MAX..3 (.77) A 2.23 (56.642) MAX. 1/2 NPS TAP WITH.56 I.D. INSULATING USHING 4.8 (121.9) Double Shaft Configuration 1 Indicated dimension applies from end of extension to face of rear end bell (cover and gasket removed) 1.63 (41.4) 2.5 (63.5) EC Encoder Configuration Model Lmax L2 TS41- K NPS 5.2 (132.8) 4.46 (113.28) TS42- K NPS 7.22 (183.39) 6.48 (164.59) TS43 K NPS 9.23( ) 8.49 (215.65) ZETA Series: True Innovation In Microstepping Technology. Call Today. 237 Parker Hannifin Corporation

219 Catalog 8-4/USA Dimensions ZETA Dimensional Drawings ZETA ZETA4 Dimensions Dimensions in inches (mm) ZETA4-24, ZETA8, ZETA12 Dimensions Dimensions in inches (mm) (155.9) 5.97 (151.6) 1. (25.4) 2. (5.8).133 (3.3) 7.7 (18) 6.94 (176) 1.38 (35) 'A' 3x Ø.18 (4.6) (clearance for #8 (M4) mounting screw).15 (4) ack of flange unpainted for grounding 8.8 (224) 9.5 (241) 8.6 (218.4) 8.85 (224.8) 9.75 (248).5 (12.7) 1. 3x fl.156 (25.4) (3.96) (clearance for #6 screws).88 (22) 1. (25.4) Product Unpainted for grounding 'A' ZETA8 & ZETA (7) ZETA (96) ZETA614 Dimensions Dimensions in inches (mm) ZETA614-24, ZETA618, ZETA6112 Dimensions in inches (mm) 5.97 (151.6) 3x Ø.156 (3.96) (clearance for #6 screws) 2.93 (74.4) (37.2).133 (3.3) 6.94 (176) 3x Ø.156 (3.96) (clearance for #6 mounting screw) 'A' 1.8 (45.7).15 (3.8) ack of flange unpainted for grounding 8. (23.2) 8.6 (218.4) 8.85 (224.8) 8.8 (224) 9.5 (241) 9.75 (248) 1.34 (34.) 1. (25.4).965 (24.5) 1. (25.4) Product 'A' ZETA (93.7) ZETA (93.7) ZETA (119.2) 238 Parker Hannifin Corporation

220 Catalog 8-4/USA Connections ZETA ZETA6 Series Connection Pin-Out List (ZETA614, ZETA614-24, ZETA618 & ZETA6112) COM1 4-Pin Screw Terminal I/O 1-Pin Screw Terminal Limits 4-Pin Screw Terminal Pin No Signal 1 Rx 2 Tx 3 Ground 4 Shield COM2 5-Pin Screw Terminal Pin No Signal 1 +5VDC (out)/rx+ 2 Ground/RX- 3 Rx/Tx+ 4 Tx/Tx- 5 Shield/Ground Encoder 9-Pin Screw Terminal Pin No Signal 1 Shield 2 Ground 3 Z- 4 Z A- 8 A+ 9 +5VDC (out) Pin No Signal 1 Trigger A 2 Trigger 3 Output A- 4 Ground 5 Pulse cut-off 6 +5VDC (out) 7 Output pull-up 8 Input pull-up 9 Auxiliary pull-up 1 Voltage Reference (V_I/O) Motor 9-Pin Screw Terminal Pin No Signal 1 Interlock 2 A- Center tap 3 A+ 4 A- 5 Earth Center tap 9 Interlock Pin No Signal 1 Ground 2 Home 3 Neg 4 Pos Programmable I/O Pin Outs 5-Pin Screw Terminal Pin No I/O Connector 1 Input #16 27 Input #7 3 Input #15 29 Input #6 5 Input #14 31 Input #5 7 Input #13 33 Output #4 9 Input #12 35 Output #3 11 Input #11 37 Output #2 13 Input #1 39 Output #1 15 Input #9 41 Input #4 17 Output #8 43 Input #3 19 Output #7 45 Input #2 21 Output #6 47 Input #1 23 Output # VDC 25 Input #8 Even-numbered pins connected to common logic ground. ZETA Drives Connection (ZETA4, ZETA4-24, ZETA8 & ZETA12) Internal Connections Reset+ Reset Fault C Fault E Shutdown Shutdown+ Direction CCW- Direction+ CCW+ Step CW- Step+ CW Ω 681Ω 243Ω 243Ω ILD213 ILD223 ILD213 HCPL2631 HCPL2631 ZETA Series: True Innovation In Microstepping Technology. Call Today. 239 Parker Hannifin Corporation

221 Catalog 8-4/USA Ordering Information ZETA Ordering Information Drives Part No. Description ZETA4 Packaged 4Apk, 17VDC bus microstepping drive Packaged 4Apk, 17VDC bus microstepping 24VAC: Packaged 4Apk, 34VDC bus microstepping drive ZETA8 Packaged 8Apk, 17VDC bus microstepping drive and and (EMC & LVD) (EMC & LVD) ZETA12 Packaged 12Apk, 17VDC bus microstepping drive and (EMC & LVD) Drive/Controller ZETA614 Packaged 4Apk, 17VDC bus microstepping indexer/drive Packaged 4Apk, 17VDC bus microstepping 24VAC: Packaged 4Apk, 34VDC bus microstepping indexer/drive ZETA618 Packaged 8Apk, 17VDC bus microstepping indexer/drive ZETA6112 Packaged 12Apk, 17VDC bus microstepping indexer/drive Drive/Controller Accessories (LVD) VM24S VM5 RP24 RP24-NEMA 4 24V input/output module 5-pin header-to-screw terminal breakout board Operator interface NEMA 4 rated operator interface Drive/Controller Software DDE6 DDE server for 6 Series System C1 (C1H)* LVD/EMC step-motor cable kit (includes 1-ft cable, gland (36º shield connector), R-clamp, screw, and assembly instructions ZETA EMC KIT LVD/EMC Drive Kit (includes the AC power filter and EMC drive/ indexer cable) * C1H is a high-power verson of the C1 cable kit. IT should be used with motors operating above 1 amps of current (TS33, TS41, TS42, or TS43 in parallel) To comply with EMC and low-noise (CISPR 22/EN5522 Class or FCC Class emissions) standards, the following items are required: ZETA4-24, ZETA8, or ZETA12 drive CE(LVD) motor for LVD. Compumotor recommends a terminal board (NPS) motor construction for easier EMC installation C1 (C1H) motor accessory (LVD/EMC cable kit) ZETA EMC KIT 24 Parker Hannifin Corporation

222 Catalog 8-4/USA Ordering Information Motor Ordering Information ZETA O Series (CE(LVD), UL Pending) The O Series Size 23 Frame motors with A Winding (75VDC) are designed for use with the OEM75 Series, OEM23/33/53 Series, and the SD Series. The O Series Size 23 Frame motors with Winding (17VDC) are designed for use with ZETA Series, ZETSA-24 Series (@12VAC), S Series, PD Series. Series O (Octagonal) Type S=Standard Frame Size 2=Size 23 No. of Rotor Stacks H=Half stacks 1=1 stack 2=2 stacks Winding Type A=75VDC winding (Gray painting motors) =17VDC winding (lack painted motors) O Series Part Number Example: OS2 - - OS2HA-SNFLY OS22-DNL1-RC Shaft S=Single D=Double (Double shaft req d for all motors with encoders) Shaft Modification N=Standard smooth F=Flat (.2" depth) (.5" length) Motor Construction/ Hookup FLY=Regular construction with flying (8) leads, 12" L1= Regular construction with 1 LVD cable Encoder Option lank=no feedback (no dash required) HJ=512 ppr single-ended kit encoder w/12" flying leads (only available on A winding motors) RE=1 ppr differential kit encoder w/ line driver & 13" braided shield cable (w/ FLY only) RC=1 ppr differential kit encoder w/ line driver & 1 cable R Series (CE (EMC)*, CE(LVD), UL Recognized) The R Series Size 34 and Size 42 Frame motors are available in a C Winding (34VDC). Motors with the C Winding are recommended for use with the ZETA24 Series (@24VAC). Series R (Round) Type S=Standard E=Enhanced (RE 42 only) Frame Size 3=Size 34 4=Size 42 No. of Rotor Stacks 1=1 stack (34 Frame Only) 2=2 stacks 3=3 stacks R Series Part Number Example: R - - RS32-SNS1 RE42C-SKNPS RS42-DKS1-EC Winding Type C=34VDC winding (Yellow painted motors) Shaft S=Single D=Double (Double shaft req d for all motors w/ encoders) Shaft Modification N=None (34 Frame only) K=Straight Key (Standard on 42 Frame) F=Flat (34 Frame only,.2" depth,.5" length) Motor Construction/ Hookup NPS=End bell/terminal board via 1/2" NPS Pipe thread P1=CE (LVD)/UL, 1 cable option for NPS construction, motor in Parallel. S1=CE (LVD)/UL, 1 cable option for NPS construction, motor in Series. Encoder Option lank=no feedback (No Dash Required) EC=1 ppr differential encoder with line driver and 1 cable (-E Series) T Series (CE (EMC)*, CE (LVD), UL Recognized) The T Series Size 34 and Size 42 Frame motors are available in a Winding (17VDC). These motors are designed for use with the ZETA Series, ZETA-24 (@12VAC), PD Series, S Series. Series T (Torque) Type S=Standard Frame Size 3=Size 34 4=Size 42 No. of Rotor Stacks 1=1 stack 2=2 stacks 3=3 stacks Winding Type =17VDC winding (lack painted motors) Shaft S=Single D=Double (Double shaft req d for all motors w/ encoders) Shaft Modification K=Straight Key (Standard on all T Series Motors) Motor Construction/ Hookup NPS=End bell/terminal board via 1/2" NPS Pipe thread, no cable S1=CE (LVD)/UL, 1 cable option for NPS construction, motor in Series Encoder Option lank=no feedback (No Dash Required) EC=1 ppr differential encoder with line driver and 1-ft cable (-E Series) T Series Part Number Example: TS - _ K - TS31-SKNPS TS43-DKS1 * For CE(EMC) compliance, refer to the ZETA Installation Guide P1=CE (LVD)/UL, 1 cable option for NPS construction, motor in Parallel. ZETA Series: True Innovation In Microstepping Technology. Call Today. 241 Parker Hannifin Corporation

223 Catalog 8-4/USA Ordering Information ZETA Motor Ordering Information, continued E Series (also known as ZETA Series) The E Series Size 23 and Size 34 Frame motors are available in a Winding (17VDC). These motors are designed for use with Gemini GT-L5, Gemini GT-L8, the ZETA Series, ZETA4-24 (@12VAC), PD Series, S Series. Series E (Extra Smooth) Type S=Standard Frame Size 2=Size 23 (2.5") 3=Size 34 (3.38") No. of Rotor Stacks 1= 1 stack 2= 2 stacks 3= 3 stacks E Series Part Number Example ES - _ K - ES31-SKNPS ES43-DKS1 Winding Type =17VDC winding (lack painted motors) Shaft S=Single D=Double Double shaft req d for all motors w/encoders Shaft Modification N=None (Standard) F=Flat (.2" depth) (.5" length) K=Straight Key (34 Frame Only) Motor Construction/ Hookup R1=Regular hookup w/ 1 Flying Leads Encoder Option lank=no feedback (no dash required) EC=1 ppr differential line encoder w/ 1 cable V Series (UL Recognized) The V Series Size 17, Size 23 and Size 34 Frame motors are available in a Winding (17VDC). These motors are designed for use with the E-AC drive, the Gemini GT-L5, the Gemini GT-L8, the ZETA Series, the ZETA4-24 (@12VAC), the PD Series and the S Series. Series V Type S=Standard Frame Size 1=Size 17 2=Size23 3=Size34 No. of Rotor Stacks 1=1 stack 2=2 stacks 3=3 stacks Winding Type =17VDC winding (black painted motors) Shaft S=Single D=Double Shaft Modification N=Standard (smooth) F=Flat (.2" depth) (.5" length) Motor Construction/ Hookup FLY - 12" flying leads RIO - 1 cable to flying leads V Series Part Number Example VS - _ K _ - VS13-DFRIO 242 Parker Hannifin Corporation

224 Catalog 8-4/USA OEM75 OEM Compact, Low-Cost Drives With technology enhancements and field experience, Compumotor offers the OEM75 Series, a compact microstepping drive that provides big performance in a small package. Electronic Damping All step motors are subject to mid-range instability, also referred to as parametric oscillations. Several problems are associated with these oscillations. They can cause the motor to stall, and thus cause the user to include a margin (typically at least 5%) of extra torque to overcome the oscillation. The OEM75 Series incorporates a subset of the patented electronic damping circuitry developed by Compumotor. This feature suppresses these oscillations, allowing the torque formerly reserved for safety margin to be used to do useful work, thus taking advantage of the full capabilities of the step motor. Minimizes stall condition Increases usable torque Higher accelerations Current Loop Adjustment Since the OEM75 Series is capable of operating from 24 to 75 VDC, while operating motors with a wide range of winding inductances, Compumotor incorporated current loop gain techniques to optimize motor performance. The loop gain adjustment is designed to maximize your system s (drive, motor,and voltage) performance. Control over the current loop gain allows customers to take advantage of the motor s capable torque and reduces audible noise and excessive heating of the motor. This gives users more choices when selecting a motor and the opportunity to pick the best motor for their application. ss Optimizes motor performance Reduces audible noise Reduces motor heating Packaging The OEM75 Series combines ASIC and surface mount technologies to minimize the product s footprint, minimize overall package size, and increase product reliability. Reliability At Compumotor, producing reliable, quality products is our number one priority. Our OEM75 Series is designed with highquality standards and manufactured with state-of-the-art equipment and production methods. efore any product reaches our customers, it must pass a rigorous set of hardware and software tests. Today, Compumotor uses Highly Accelerated Life Testing (HALT) to uncover the product s vulnerabilities, in order to produce a robust and reliable product. JIT (Just-In- Time) manufacturing and DFM (Design-For-Manufacturability) methods lend themselves well in creating the necessary flexibility to readily accommodate your special needs. See the OEM Servo Drive Products in the Servo Drive and Drive/Controller section. Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

225 Catalog 8-4/USA OEM75 OEM Compact, Low-Cost Drives Compumotor s OEM75 microstepping drive is designed with performance, power, packaging, and reliability in mind everything that is necessary to meet your high-volume microstepping application needs. Features Performance Designed for use with motor inductance range of.2 mh 8 mh Three-state current control allows the drive and motor to run cooler and more efficiently than two-state drives Selectable resolution up to 5,8 steps/rev Auto standby reduces motor current (and heating) at rest Provides.2 Amps to 7.5 Amps (peak) Single VDC power supply input Compatible with a variety of motors Six predefined current waveforms to optimize smoothness Protection Optically isolated step and direction inputs Short circuit protected phase-to-phase, and phase-toground Power dump circuitry to protect drive from regeneration caused by large inertial loads Self-test feature to verify proper system operation Overtemperature circuitry protects the drive from thermal damage Physical Status/fault LED indicators to confirm proper operation ASIC and surface-mount technologies minimize product footprint, overall package size, and increase product reliability Removable snap-on molded cover for convenient configuration and protection against contaminants Optically isolated fault output for embedded applications Heat plate design allows thermal dissipation through a suitable heat dissipating mounting surface Simplified, two-screw mounting Right-angle screw terminal allows side-to-side mounting or Eurorack compatibility uilt-in controller version for complete application solutions OEM75X Overall dimensions 5. x 3.6 x 1.6 in. (127 x 91 x 41 mm) Convenient configuration DIP switches Certified as UL-recognized component CE (LVD & EMC)* * For compliance, user must follow procedure set in the OEM75 User Guide. 244 Parker Hannifin Corporation

226 Catalog 8-4/USA OEM75 OEM OEM75 Specifications Parameter Value Power Input DC Arms (motor dependent) Performance Accuracy ±5 arc min (.833 ) typical. Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different absolute accuracy. ±1 arc min (.167 ) typical/per each frictional load equal to 1% rated torque. Loaded-in addition to unloaded accuracy. Repeatability ±5 arc sec (.14 ) typical. Unloaded-one revolution returning to start point from same direction. Hysteresis Less than 2 arc min (.334 ) unloaded-bidirectional. Resolution 16 selectable choices: 2, 4, 1, 2, 5, 1, 128, 18, 2, 216, 25, 254, 256, 36, 5, 58 Waveform Selectable. Allows waveform shaping for optimum smoothness or relative accuracy. Pure sine; -4%, -6%, -8%, -1% 3rd harmonic. Amplifier Type 2 khz fixed frequency, variable duty cycle pulse width modulated (PWM ) Current Controlled, bipolar chopper Number of Phases 2 Output Current amps current per phase peak (selectable) Drive Supply Voltage VDC (dependent on external power supply) Standby Current Reduction 25%, 5%, or 75% of selected motor current Nominal Chopping Frequency 2 khz Max Stepping Rate 2 MHz max pulse rate; 5 rps max speed Step Input High-going pulse, 2 nsec min width; max pulse rate is 2 MHz; User-supplied driver for the step and direction inputs should be capable of providing a minimum of 6.5 ma to maximum of 15 ma Direction Input Logic High = positive (CW) rotation V Logic Low = negative (CCW) rotation.4v User-supplied driver for the step and direction inputs should be capable of providing a minimum of 6.5 ma to a maximum of 15 ma. The direction input must be stable for at least 2 µsec before the drive receives the first pulse Fault Output Open-Collector/Emitter, Vce = 7 VDC, Vce sat =.3 VDC, Ic = 1 ma (max) Maximum dissipation = 55 mw Conducting = normal operation Non conduction = drive fault Protective Circuts Short Circuit* Phase-to-phase, phase-to-ground Undervoltage If DC supply drops below 24 VDC Overtemperature* The drive will fault if heat plate exceeds 55 C Environmental Drive Temp Max allowable ambient temperature is 122 F (5 C). Fan cooling may be required if airflow is restricted. Max allowable heatplate temperature is 55 C. Humidity to 95%, Non-condensing Physical Drive Dimensions 5. x 3.6 x 1.6 in (127 x 91 x 41 mm) Weight 12 oz Motor Type Two-phase hybrid permanent magnet, 1.8 Number of Leads 4, 6, or 8 Inductance Range.2 mh 8 mh * Drive shuts down in conditions listed. Power must be cycled or drive reset to resume operations. Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

227 Catalog 8-4/USA OEM75X OEM Compact, Low-Cost Microstepping Drives with Integrated Controller Compumotor s OEM75X microstepping drive/controller combines the power, performance, packaging, and reliability of the OEM75 with the simple programmability of a built-in, RS- 232C based controller. The X version is a cost-effective, single-axis control system to meet your high-volume application needs. Features Performance All of the high performance found in the OEM75 plus: uilt-in stand-alone controller I/O Standard RS-232C serial communications interface Incremental encoder support for position tracking, stall detection, and position maintenance Three sequence select inputs for program initiation by an external device End of Travel and Home inputs Language Simple Compumotor X Language Optional 2K bytes of battery-backed RAM to store up to 7 command sequences (-M2 option) Address selectable for daisy chaining up to 8 units Protection Short circuit protected phase-to-phase, and phase-toground Status/fault LED indicators to confirm proper operation Protection (continued) Power dump circuitry to protect drive from regeneration caused by large inertial loads Self-test feature to verify proper system operation Overtemperature circuitry protects the drive from thermal damage Certified as UL-recognized component CE marked with LVD compliance Physical ASIC and surface-mount technology minimize product footprint, overall package size, and increase product reliability Removable snap-on molded cover for convenient configuration and protection against contaminants Optically isolated fault output for imbedded applications Heat plate design allows thermal dissipation through a suitable heat dissipating mounting surface Simplified, two-screw mounting Right-angle screw terminal allows side-to-side mounting, or Eurorack compatibility Overall dimensions 5. x 3.6 x 1.6 in. (127 x 91 x 41 mm) Convenient configuration DIP switches 246 Parker Hannifin Corporation

228 Catalog 8-4/USA OEM75X OEM OEM75X Specifications Parameter Value Power Input DC Arms (motor dependent) Performance Accuracy ±5 arc min (.833 ) typical. Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different absolute accuracy. ±1 arc min (.167 ) typical. Loaded-in addition to unloaded accuracy, per each frictional load equal to 1% rated torque. Repeatability ±5 arc sec (.14 ) typical. Unloaded-one revolution returning to start point from same direction. Hysteresis Less than 2 arc min (.334 ) unloaded-bidirectional. Resolution 16 selectable choices: 2, 4, 1, 2, 5, 1, 128, 18, 2, 216, 25, 254, 256, 36, 5, 58 Waveform Selectable. Allows waveform shaping for optimum smoothness or relative accuracy. Pure sine; -4%, -6%, -8%, -1% 3rd harmonic. RS-232C Interface Connection 3-wire implementation (Tx, Rx, Gnd) Parameters 9,6 baud rate, 8 data bits, 1 stop bit, no parity Configurations Up to 8 OEM75X units can be controlled from a single host RS-232C port in a daisy chain configuration Inputs Sequence Select Inputs Three inputs to be used to select and run motion programs and for interactive machine control; Logic High = 2. 5.V; Logic Low =.8V Trigger Inputs Logic High = 2. 5.V; Logic Low =.8V Limits and Home Logic High = 2. 5.V; Logic Low =.8V Encoder A, and Z Channel Single-ended, active high; Logic Low =.8V; Logic High = 2. 5.V Max Frequency 16 khz (pre-quadrature) Min Pulse Width (Z) 5 nsecs Outputs 2 Programmable Outputs Logic Low = maximum of.44 V (sinks to 24 ma) Fault Output Logic high = 5V, Logic low =.8V (output can sink up to 5mA from the load) Amplifier Type 2 khz fixed frequency, variable duty cycle pulse width modulated (PWM) Current controlled, bipolar chopper Number of Phases 2 Output Current amps current per phase peak (selectable) Drive Supply Voltage VDC (dependent on external power supply) Standby Current Reduction 25%, 5%, or 75% of selected motor current Nominal Chopping Frequency 2 khz Maximum Stepping Rate 2 MHz maximum pulse rate; 5 rps maximum speed Protective Circuits Short Circuit* Phase-to-phase, phase-to-ground rownout If DC supply drops below 24 VDC Overtemperature* Drive will fault if heat plate exceeds 55 C Environmental Drive Max allowable ambient temperature is 122 F (5 C). Fan cooling may be required if airflow is restricted Max allowable heatplate temperature is 55 C. Humidity to 95%, Non-condensing Physical Drive Dimensions 5. x 3.6 x 1.6 in (127 x 91 x 41 mm) Weight 14 oz Motor Type Two-phase hybrid permanent magnet, 1.8 Number of Leads 4, 6, or 8 Inductance Range.2 mh 8 mh * Drive shuts down in conditions listed. Power must be cycled to resume operations. Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

229 Catalog 8-4/USA OEM75 & OEM75X OEM Motor Speed-Torque Performance Curves OEM75/OEM75X with VS Motos, 17 and 23 frame sizes, 75 VDC VS12/OEM75 VS13/OEM75 VS21/OEM Speed (RPS) Speed (RPS) Speed (RPS) VS22/OEM Speed (RPS) VS23/OEM Speed (RPS) VS31/OEM Speed (RPS) VS32/OEM Speed (RPS) VDC 48 VDC 24 VDC PARALLEL * Parallel connection consideration: For greater than 5% duty cycle above 5 rps, fan cooling the motor may be required. Note: ±1% torque variance due to motor tolerance. 248 Parker Hannifin Corporation

230 Catalog 8-4/USA OEM75 & OEM75X OEM Motor Speed-Torque Performance Curves OEM75/OEM75X with OS Motors, 23 frame size, 75 VDC 5 OS2HA/OEM75 (Series).35 5 OS2HA/OEM75 (Parallel).35 1 OS21A/OEM75 (Series) Speed (RPS) Speed (RPS) Speed (RPS) OS22A/OEM75 (Series) Speed (RPS) VDC 48 VDC 24 VDC OEM75X with TS Motors 5 TS31/OEM TS32/OEM Speed (RPS) Speed (RPS) SERIES (75VDC) Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

231 Catalog 8-4/USA OEM75 & OEM75X OEM OEM75/OEM75X Motor Dimensional Drawings Dimensions in inches (mm) O Series and OEM57 Motors, Size 23 Frame.2 (5.8) dia (4) on (66.68) C 2.25 (57.2) 1.86 (47.2) 45.25(6.35).2495(6.337) Shaft Dia 13.5 (343) Min..25 (6.4) Flexible boot may be bent as shown. Nominal height 1. (25.4). 1. (25.4) 1.6 (26.9) 1.52 (38.15) (38.5).81(2.6) Frame Size 23.2 (5.8).55(1.4) A 2.44 (62.) Dimensions in inches (millimeters) Model Lmax A OS2HA (OEM57-4) 1.6 (4.7) OS21A (OEM57-51) 2.6 (52.4) OS22A (OEM57-83) 3.1 (78.8) VS Motors, Size 17 Frame Size 23 Frame 25 Parker Hannifin Corporation

232 Catalog 8-4/USA OEM75 & OEM75X OEM VS Motors, continued Size 34 Frame A +/-.4 [1] T Series, Size 34 Frame 3.38 (85.85) 4x.218 (5.54) thru equally spaced on a (98.43).C ( ) ( ) 1 + fl ( ).13) (2 x 45 ).2 (.51) C ( ) A A-.2 (.51).6 (1.52).33 (8.382) L (49.53) MAX. 1/2 NPS TAP WITH.56 I.D. INSULATING USHING Double Shaft Configuration 1 Indicated dimension applies from end of extension to face of rear end bell (cover and gasket removed).3 (.77) A 1.25 (31.75) L MAX..3 (.77) A 3.88 (98.6) Model Lmax L2 A C TS31 nnnps 4.44 (112.78) 3.7 (93.98).5 (12.7).555 (14.97).125 (3.175) TS32 nnnps 5.96 (151.38) 5.22 (132.59).5 (12.7).555 (14.97).125 (3.175) TS33 nnnps 7.48 (189.99) 6.74 (171.2).625 (15.88).75 (17.97).1875 (4.763) 1.63 (41.4) 2.5 (63.5) EC Encoder Configuration Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

233 Catalog 8-4/USA OEM75 & OEM75X OEM Size 23 Frame Size 34 Frame OS2HA OS21A OS22A TS31 TS32 Static torque oz-in (Nm) (.26) (.47) (.94) (3.19) (4.53) Rotor Inertia oz-in (kg-cm 2 ) (.7) (.119) (.253) (1.43) (2.68) Drive Current Series 2.65 (1.9) 3.3 (2.3) 3.8 (2.7) 3.3 (2.3) 3.1 (2.2) (Apk)(Arms) Parallel 5.3 (3.7) 6.6 (4.7) 7.5 (5.3) 6.7 (4.7) 6.2 (4.4) Phase Inductance Series (mh) Parallel Dentent Torque oz-in (Nm) (.18) (.28) (.49) (.3) (.25) earings Information OS and TS Series Motor Specifications Sizes 23 and 34 Frame Thrust Load lb (kg) (5.9) (5.9) (5.9) (139) (139) Radial Load lb (kg) (9.1) (9.1) (9.1) (3) (3) End Play in (Reversing Load Equal to 1 lb) (mm) (.25) (.25) (.25) (.25) (.25) Radial Play in (Per.5 lb load) (mm) (.2) (.2) (.2) (.2) (.2) Motor Weight lb (kg) (.45) (.68) (1.14) (2.3) (3.8) Certifications UL recognized Pending Pending Pending Yes Yes CE (LVD) Yes Yes Yes Yes Yes CE (EMC) No No No w/c1 kit w/c1 kit 252 Parker Hannifin Corporation

234 Catalog 8-4/USA OEM75 & OEM75X OEM VS Series Motor Specifications Size 17, 23 and 34 Frame Size 17 Frame Size 23 Frame Size 34 Frame Parameters VS12 VS13 VS21 VS22 VS23 VS31 VS32 Static torque oz-in (Nm) (.39) (.51) (.82) (1.37) (2.36) (3.9) (8.97) Rotor inertia oz-in (kg-cm 2 ) (.54) (.68) (.12) (.3) (.48) (1.4) (2.7) Drive Current Series 1 (.71) 1.1(.71) 2.26 (1.6) 2.1 (1.42) 2.1 (1.42) 3. (2.12) 3.13 (2.21) (Apk)(Arms) Parallel 2. (1.42) 2.2 (1.43) 4.52 (3.2) 4.2 (2.84) 4.2 (2.84) 6. (4.24) 3.26 (4.42) Phase Inductance Series (mh) Parallel (3.2) (2.8) (1.25) (3.) (3.85) (3.95) (6.25) Detent Torque oz-in (N-m) (.2) (.3) (.5) (.6) (.13) (.19) (.35) earings Information Thrust Load lb (kg) (5) (5) (8) (8) (8) (16) (16) Radial Load lb (kg) (3.5) (3.5) (6.8) (6.8) (6.8) (14) (14) End Play in (with 2.2 lbs axial (mm) (.75) (.75) (.75) (.75) (.75) (.8) (.8) load) Radial Play (with in lb radial load) (mm) (.25) (.25) (.25) (.25) (.25) (.2) (.2) Motor Weight lb (kg) (.25) (.35) (.47) (.7) (1.) (1.75) (2.8) Certifications UL recognized No No No No No No No Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

235 DDRIVE DRIVE Catalog 8-4/USA OEM75 & OEM75X OEM OEM75/OEM75X Dimensional Drawings Dimensions in inches (mm).42 (1.67) This surface must be thermally coupled to a cold plate in most applications (9.3) (84.2) (41.28).812 (2.62) 2x.177 (4.5) Thru (Clearance for #8 (M4) Mounting Screw) Compumotor 55 usiness Park Dr. Rohnert Park, CA (127.) 4.65 (118.11).175 (4.45) OEM series RIVE DRIVE! PWR/FLT REMOTE REF CURRENT DUMP VDC+ VDC- A+ A (25.4) 7. (177.8) Mounting Clearance 1. (25.4) 2. (5.8) Mtg Clearance Exposed aluminum for electrical grounding.335 (8.51) 254 Parker Hannifin Corporation

236 DDRIVE DRIVE Catalog 8-4/USA OEM75 & OEM75X OEM OEM75 Drive Connections Internal Connections Inputs & Outputs Step Input Direction Input Remote Input Ω 243Ω 681Ω 2 3 HCPL ILQ2 ILQ2 +5V V 464Ω +5V 464Ω +5V 464Ω Motor Screw-Terminal Pin No Signal 1 REMOTE 2 REF 3 CURRENT 4 DUMP 5 VDC+ 6 VDC- 7 A+ 8 A Fault Output Gear Shift Input N35 ILQ V 25 Pin D-Connector 681Ω 4 3 ILQ kΩ HPCL-2631 S17 OEM75X Drive/Indexer Connections OEM series RIVE DRIVE! PWR/FLT REMOTE REF CURRENT DUMP VDC+ VDC- A+ A- + - Slave Drive Customer Equipment N.C. N.C. N.O. N.C. N.C. N.C. Step Output Direction Output CW Limit CCW Limit Home Reserved GND Ref. Output #2 Fault Output Output #1 Sequence #1 Sequence #2 Sequence # Tx Rx Shutdown Encoder Channel A Encoder Channel Encoder Channel Z Trigger Input #1 Trigger Input #2 Trigger Input #3 Address Sel. #1 Address Sel. #2 Address Sel. #3 RS-232C N.C. N.C. N.C. N.C. N.C. N.C. Slave Drive Motor Screw-Terminal Pin No Signal 1 REMOTE 2 REF 3 CURRENT 4 DUMP 5 VDC+ 6 VDC- 7 A+ 8 A Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

237 Catalog 8-4/USA OEM75 & OEM75X OEM Ordering Information Drive and Option (LVD) Part No. OEM75 Part No. M2-KIT Description Apk, Microstepping Drive Description Memory Upgrade Kit (2Kytes attery-acked RAM) Drive/Controller Part No. Description OEM75X Apk, and (LVD) Microstepping and (LVD) Drive/Controller OEM75X-M2 OEM75X w/ 2Kytes attery- Acked RAM Upgrade Motor Ordering Information O Series (CE(LVD), UL Pending) Series O (Octagonal) Type S=Standard Frame Size 2=Size 23 No. of Rotor Stacks H=Half stacks 1=1 stack 2=2 stacks Winding Type A=75VDC winding (Gray painting motors) =17VDC winding (lack painted motors) Shaft S=Single D=Double (Double shaft req d for all motors with encoders) Shaft Modification N=Standard smooth F=Flat (.2" depth) (.5" length) Motor Construction/ Hookup FLY=Regular construction with flying (8) leads, 12" L1= Regular construction with 1 LVD cable Encoder Option lank=no feedback (no dash required) HJ=512 ppr single-ended kit encoder w/12" flying leads (only available on A winding motors) RE=1 ppr differential kit encoder w/ line driver & 13" braided shield cable (w/ FLY only) RC=1 ppr differential kit encoder w/ line driver & 1 cable V Series (UL) Series V Type S=Standard Frame Size 1=Size 17 2=Size23 3=Size34 No. of Rotor Stacks 1=1 stack 2=2 stacks 3=3 stacks Winding Type =17VDC winding (black painted motors) Shaft S=Single D=Double Shaft Modification N=Standard (smooth) F=Flat (.2" depth) (.5" length) Motor Construction/ Hookup FLY - 12" flying leads RIO - 1 cable to flying leads T Series (CE(LVD), UL) Series T (Torque) Type S=Standard Frame Size 3=Size 34 4=Size 42 No. of Rotor Stacks 1=1 stack 2=2 stacks 3=3 stacks Winding Type =17VDC winding (lack painted motors) Shaft S=Single D=Double (Double shaft req d for all motors w/ encoders) Shaft Modification K=Straight Key (Standard on all T Series Motors) Motor Construction/ Hookup NPS=End bell/terminal board via 1/2" NPS Pipe thread, no cable S1=CE (LVD)/UL, 1 cable option for NPS construction, motor in Series Encoder Option lank=no feedback (No Dash Required) EC=1 ppr differential encoder with line driver and 1-ft cable (-E Series) P1=CE (LVD)/UL, 1 cable option for NPS construction, motor in Parallel. 256 Parker Hannifin Corporation

238 Catalog 8-4/USA OEMZL OEM Advanced Microstepping Technology for High-Volume Applications The OEMZL is a packaged microstepping drive with the needs of the OEM in mind. The connections are on removable screw terminals and a standard 25-pin header allowing simple installation and cable routing without having to cut off and reattach a connector. The OEMZL4 microstepping drive incorporates two advanced damping technologies, Anti-Resonance and Electronic Viscosity TM. These unique circuits increase the performance of stepper motors by damping the resonance and ringing usually seen after quick moves. The OEMZL4 drive is perfect for multi-axis applications and allows control by any standard step and direction or clockwise/counterclockwise controller. The OEMZL614 combines the OEMZL4 drive with the power and reliability of the 6 family of controllers into one convenient package. The OEMZL614 uses the popular 6 Series command language. This easy-to-learn language is powerful enough to implement complex motion control applications yet simple enough not to overwhelm a novice programmer. To speed application development, Motion Architect is compatible with the OEMZL614 and contains many tools which make application development and implementation easy. The OEMZL614 is also compatible with DDE6 Server and Motion uilder software packages. The OEMZL builds upon the reputation and reliability of one of the best selling, most robust, and highest performing microstepping drives in Compumotor history. With years of successful application experience behind it, the OEMZL s tried and true design is ideally suited to meet the needs of OEMs and high-volume users. Compumotor offers a full breadth of stepper motors carefully selected to mate with our OEMZL drives. Every motor we offer meets a series of performance and quality standards. A full description of the motors we offer is provided on our Web site ( From this site, reference the OEMZL Product rochure for motor specifications and performance curves. OEMZL4/6 Drive Features Performance OEMZL4: 4 12VAC (17 VDC bus voltage) OEMZL6: 6 12VAC (17 VDC bus voltage) Standard step-and-direction input or CW/CCW input Operates with standard 1.8" hybrid step motors Electronic Viscosity benefits: Reduce settling time Increase slow speed smoothness (reduce velocity ripple) Reduce audible noise Anti-resonance eliminates mid-range instability and provides damping ratios of up to.2 CE marked for LVD compliance UL recognized Protection Circuit Motor short circuits (phase-to-phase and phase-toground) Overtemperature of internal devices and power supply Undervoltage (protects against low AC line or brownout) Power dump (dissipates excess energy caused by load regeneration) Physical 12VAC (17VDC bus voltage) operation Wide selection of available motors Removable connectors for easy installation Four diagnostic LEDs to confirm proper operation Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

239 Catalog 8-4/USA OEMZL OEM OEMZL614 Microstepping Drive/Controller OEMZL614 Drive/Controller The OEMZL614 drive/controller combines the OEMZL drive with the flexibility of Compumotor's 6 Series of controllers. This advanced design makes the OEMZL614 drive/controller the highest value single-axis system in the industry. All The Features of the OEMZL4 Plus: I/O Encoder channel configurable as hardware up/down counter Incremental encoder input for stall detect, position maintenance Home and end-of-travel limit inputs Two fast (trigger) inputs for position capture, registration, etc. 16 programmable inputs and 8 programmable outputs (Opto-22 compatible) One auxiliary programmable output Language 15, bytes of non-volitile memory for storing programs and paths Interrupts program execution on error conditions Encoder and motor position capture (using trigger inputs) Registration (using trigger inputs) Selectable damping (programmable) to optimize performance for changing loads Variable storage, conditional branching and math capability Program debug tools single-step and trace modes, breakpoints, error messages and simulation of I/O Software Motion Architect TM, Microsoft Windows TM -based application development software Dynamic Link Library (DLL) provided for use with Microsoft Windows TM and Microsoft Windows TM NT software development kits Compatible with Compumotor DDE server Interface Capabilities Direct interface to RP24 Remote Operator Panel Operates standalone or interfaces to PCs, PLCs, and thumbwheels One RS-232C communications port One RS-232C/485 communications port Motion Architect TM Makes It Easy Terminal Emulator Download and upload 6 programs to and from the controller. Go on-line and determine controller status. Test Panel Create your own test panel to exercise your programs and check I/O, motion, system status and timers. Context Sensitive Help Access help on 6 programming commands or how to use a menu option. Online User Guides 6 Series Software Reference Guide 6 Series Programmers Guide Motion Architect 258 Parker Hannifin Corporation

240 Catalog 8-4/USA OEMZL OEM Ordering Information Part No. Description Drive OEMZL4 Packaged 4Apk, 17VDC bus microstepping drive OEMZL6 Packaged 6Apk, 17VDC bus microstepping drive Drive/Controller OEMZL614 Packaged 4 Apk, 17VDC bus microstepping drive/controller Accessories VM24S 24V input/output module (for use with OEMZL614) VM5 5-pin header-to-screw terminal breakout board (for use with OEMZL614) Software DDE6 DDE server for 6 Series Motors See Web site for full description of available motors OEMZL4/6 Dimensions Dimensions in inches (mm) OEMZL614 Dimensions Dimensions in inches (mm) (155.9) 5.97 (151.6) 1. (25.4) 2. (5.8).133 (3.3) 5.97 (151.6) 3x Ø.156 (3.96) (clearance for #6 screws) 2.93 (74.4) (37.2).133 (3.3) 8.6 (218.4) 8.85 (224.8) 8. (23.2) 8.6 (218.4) 8.85 (224.8).5 (12.7) 1. 3x fl.156 (25.4) (3.96) (clearance for #6 screws).965 (24.5) 1. (25.4) Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

241 Catalog 8-4/USA OEMZL OEM Stepper Speed-Torque Performance Curves VS motors 17, 23 and 34 frame VS13/Gemini VS21/Gemini VS22/Gemini Speed (RPS) Speed (RPS) Speed (RPS) 25 VS23/Gemini VS31/Gemini VS32/Gemini Speed (RPS) Speed (RPS) Speed (RPS) SERIES PARALLEL FULL OS motors 23 frame 5 OS2HA/OEM75 (Series).35 5 OS2HA/OEM75 (Parallel).35 1 OS21A/OEM75 (Series) Speed (RPS) Speed (RPS) Speed (RPS) OS22A/OEM75 (Series) Speed (RPS) VDC 48 VDC 24 VDC 26 Parker Hannifin Corporation

242 Catalog 8-4/USA OEMZL OEM OS & VS Series Stepper Motor Specifications Size 17, 23 & 34 Frame Sizes Size 23 Frame Size 23 Frame Size 34 Frame Parameters OS2H OS21 OS22 VS21 VS22 VS23 VS31 VS32 Static torque oz-in (Nm) (.4) (.9) (1.7) (.7) (1.2) (1.9) (3.9) (8.6) Rotor inertia oz-in (kg-cm 2 ) (.7) (.12) (.25) (.12) (.3) (.48) (1.4) (2.7) Drive Current Series 1.7 (1.2) 1.8 (1.3) 2.4 (1.7) 1.8 (1.3) 1.7 (1.2) 1.4 (1.) 3. (2.1) 3. (2.1) (Apk)(Arms) Parallel 3.4 (2.4) 3.6 (2.6) 4.8 (3.4) 3.6 (2.6) 3.4 (2.4) 2.8 (2.) 6. (4.2) 6. (4.2) Phase Inductance Series (mh) Parallel (1.25) (3.) (3.85) Drive us Voltage (VDC) Detent Torque oz-in (N-m) (.2) (.3) (.5) (.2) (.2) (.4) (.1) (.2) earings Information Thrust Load lb (kg) (5.9) (5.9) (5.9) (8) (8) (8) (16) (16) Radial Load lb (kg) (9.1) (9.1) (9.1) (6.8) (6.8) (6.8) (14) (14) End Play in (mm) (.25) (.25) (.25) (.75) (.75) (.75) (.8) (.8) Radial Play in (Per.5 lb load) (mm) (.2) (.2) (.2) (.25) (.25) (.25) (.2) (.2) Motor Weight lb (kg) (.5) (.7) (1.1) (.47) (.7) (1.) (1.75) (2.8) Certifications UL recognized Pending Pending Pending No No No No No CE (LVD) Yes Yes Yes No No No No No CE (EMC & LVD)* No No No No No No No No Quality Products Designed and Priced for OEMs and High-Volume Users. Call Parker Hannifin Corporation

243 Catalog 8-4/USA 6K Controllers 6K CONTROLLERS Universal Motion Controller The 6K Compumotor s revolutionary 6K Controller is an embedded motion controller or stand-alone motion controller built into one convenient package. The 6K is a multi-axis motion controller capable of solving basic to complex motion control applications including: pick-and-place, packaging, following, cam profiling and hundreds of others. The 6K utilizes Ethernet communications to allow high speed connections to many different products such as PLCs, HMIs, I/O modules and vision systems. The 6K comes with Compumotor s latest software interface, Motion Planner TM, to allow for seamless integration and quick setup of the 6K. Motion Planner TM utilizes programming wizards, which eliminate the need to learn a proprietry language and take the chore out of repetitive programming tasks, and a SmartEditor TM to virtually eliminate debug time. ServoTuner TM, a graphical tuning tool, and PanelMaker TM, a V Script interface, are also included with Motion Planner TM. Universal Connectivity The 6K is truly universal, providing industry standard +/- 1V or step-and-direction output, it is capable of controlling any combination of steppers and servos from 1 to 8 axes. With its Ethernet capability, the 6K offers a flexible communication scheme compatible with hundreds of Ethernet devices on the market. From HMIs and PLCs to industrial I/O and vision systems, the 6K can connect to them all. Ethernet is a vendor neutral industry accepted communication protocol and it is very inexpensive to implement. The addition of fieldbus options (6K Profibus-DP and 6K DeviceNet) offer connectivity to PLCs and PCs using industry standard protocols and hardware. Networking Every 6K Controller has a programmable IP address so single or multiple 6K s can be easily networked in an Ethernet LAN. Ethernet devices such as hubs or switches allow multiple controllers to be linked onto a single LAN. With the addition of more sophisticated equipment, complex factory networks incorporating motion control are possible, allowing easier troubleshooting and wider access to the controller. Flexibility and Expandability Expansion I/O allows the 6K to expand with your application. The EVM32 expansion I/O module allows easy configuration of digital I/O, analog I/O, and relay points in addition to the already extensive amount of standard 6K I/O. Programmability The 6K is built on the solid platform of Compumotor s 6 Programming Language. With powerful features such as cam following, multitasking, PLC Scan Mode, PLS (Programmble Limit Switch) functionality, contouring, and teach mode, the 6K can handle the most demanding of applications. Yet program development time is greatly reduced with wizards, which uses a simple graphical environment to build the program structure, making the 6K easier then ever. Motion Architect, Servo Tuner and CompuCAM are registered trademarks of Parker Hannifin Corporation, Microsoft Windows is a registered trademark of Microsoft Corporation Motion Toolbox is a registered trademark of Snider Integration Group LabvVIEW is a registered trademark of National Instruments Corporation All others are trademarks of their respective companies Discover How The 6K Motion Controller Can Solve Your Next Application. Call Today. 263 Parker Hannifin Corporation

244 Catalog 8-4/USA 6K Controllers Fieldbus and the 6K The 6K controller offers fieldbus options! For applications requiring a dedicated network to carry I/O and controller status information to and from PLCs or PCs, Compumotor has developed Profibus-DP and DeviceNet options for the 6K. 6K Fieldbus Specifications 6K CONTROLLERS EVM32 The EVM32 is a compact and rugged DIN Rail mountable module that houses up to 32 channels of I/O. Up to eight EVM32 modules may be used with each 6K. SIM (Single In- Line Module) cards are added to the EVM32 to expand the I/O. PLC Fieldbus Master 6K With Fieldbus Option Additional Fieldbus Devices Profibus-DP or DeviceNet implementation Passive station (Slave device) Parity and cable disconnect error checking Cyclical Data Transfer * Profibus-DP - Dual port transfer of first 16 binary variables * DeviceNet - Dual port transfer of first 16 binary variables Network Addressing * Profibus-DP - Manual addressing up to 127 nodes * DeviceNet - Manual addressing up to 63 nodes NOTE: Fieldbus options are not field installable. Call your local Technology Center or Compumotor to order a fieldbus version of the 6K. Expandable I/O The ability to add digital and analog I/O to the 6K makes it a very flexible and attractive controller choice for both OEMs and end-users alike. You are free to choose exactly how much I/O your system requires. The expansion I/O of the 6K ensures that you pay only for the I/O that you need. Contrast this to other controller manufacturers that make you pay for a fixed amount of I/O regardless of whether you utliize all of it or not. SIM cards are available with: 8 analog inputs - 12-bit (+/- 1 V) 8 analog outputs - 1-bit (+/- 1 V) 8 digital inputs - 24 VDC, sourcing or sinking is jumper selectable - LEDs for visual reference 8 digital outputs - 24 VDC, sourcing or sinking, 3 ma current sink, short circuit protected - LEDs for visual reference 8 reed relay outputs - 1 Watt max power* -.5 A max current, 75 V max voltage* - 4 µs activation time typical - 1 µs release time typical * Note: On the reed relay SIM, neither power, current nor voltage should ever exceed the maximum rated values listed. Exceeding the rated values will damage the reed relay SIM. Example: 1 Watts = Volts. Configuration SIM cards may be added to the EVM32 to achieve a maximum of 256 bits (32 bits per EVM32 times eight EVM32 modules per 6K): 256 additional bits digital inputs digital outputs - 64 analog inputs (4 bits per input) - 64 analog outputs (4 bits per output) reed relay outputs Note: The actual number of digital outputs is dependent on heat. Please consult the product documentation to determine duty cycle and load considerations. 264 Parker Hannifin Corporation

245 Catalog 8-4/USA 6K Controllers 6K CONTROLLERS Features Motion 1-8 axes of stepper/servo control (any combination) Outputs standard +/- 1V or step & direction Servo update rates of 62.5 µs/axis Interface Capability 1 Mbps twisted pair Ethernet Multiple protocols 1 RS232 port (3 wire) - 96 or 192 baud 1 RS232/485 port (2 or 4 wire) - 96 or 192 baud Profibus-DP option DeviceNet option Parker CTC Motion Panel TM, PowerStation TM and othe CTC touchpanels via Ethernet Language and Software Wizards-based Motion Planner TM Software provided Compumotor 6 programming language Multi-tasking (Up to 1 separate tasks) Position based following Contouring (2-axes circular, tangent & proportional third axis) Compiled moves PLC Scan Mode PLS (Programmable Limit Switch) capability Scaling Cam profiling Variables and high level math functions 3K non-volatile memory for program storage Physical Standalone operation PC-based control via Ethernet Fieldbus via Profibus -DP or DeviceNet 24VDC user supplied DIN Rail mountable Onboard I/O 5-24 VDC Home, Positive and Negative Limits per axis 9-17 fast trigger inputs for high speed position capture 4-8 digital outputs Drive Fault output per axis Shutdown and Enable inputs per axis 12 MHz encoder input for each axis Auxilliary encoder input for following Expansion I/O VDC, 32 channel expansion modules Up to 256 digital I/O points Up to 64 analog I/O points All digital I/O is updated every 2ms Digital I/O have LEDs for visual reference Compatible with Ethernet I/O Discover How The 6K Motion Controller Can Solve Your Next Application. Call Today. 265 Parker Hannifin Corporation

246 Catalog 8-4/USA 6K Controllers Ethernet What is Ethernet? Ethernet Today Ethernet is a well-known and widely used communication protocol that has been in existence since the 197s when it was developed by Xerox. Since that time it has expanded rapidly and today it is the most commonly used LAN in existence. We know Ethernet best for its everyday uses such as , Internet and Intranet. Availability of Ethernet Ethernet is an open platform serial communication which is vendor neutral. It is governed by the IEEE 82.3 standard adopted in Due to the large market and availability, Ethernet component choices are numerous and inexpensive. Since Ethernet is a standard, connectivity between a wide range of Ethernet capable products is fast and easy. Ethernet Mediums The medium over which Ethernet communication is transmitted is varied. The most common medium to date is 1ase-T. 1ase-T means a 1-Mbps (1 million bits per second) baseband signal carried over twisted pair cable. Most facilities using Ethernet are using 1ase-T as their medium. Other mediums used are 1ase5 and 1ase2, thick coaxial and thin coaxial cable respectively. 1ase-F is a fiber optic medium. 1 ase-t is becoming more common today.... 6K CONTROLLERS Communication Protocol Ethernet is a standard of communication between hardware devices. Several protocols, or languages, are spoken over the Ethernet network and provide a common interface between devices. TCP/IP (Transfer Control Protocol/Internet Protocol) is by far the most prevalent protocol due to its common usage in office environments. Protocols such as Modbus/TCP and A Ethernet have become more popular in industrial environments over Ethernet networks because they support industrial device communication better than typical PC protocols such as TCP/IP. Summary The availability of Ethernet, a wide range of Ethernet products, extremely fast communications, and a proven communication protocols make Ethernet a perfect choice for networking and communication between industrial devices. Visit DVT on the web at Parker Hannifin Corporation

247 Catalog 8-4/USA 6K Controllers Ethernet and Motion Control 6K CONTROLLERS Motion Control Via Ethernet Ethernet was developed as a high-speed method of communication between two computers. When looking at a motion controller it is obvious that it is nothing more than a highly specialized computer. Therefore it seems understandable to use Ethernet for high-speed communication between an industrial computer and a motion controller. Ethernet Flexibility On the market today are hundreds and thousands of products with Ethernet communication capability. A motion controller using Ethernet can join these products on a LAN and share information with I/O modules, sensors, PLCs, HMIs and vision systems to name a few. Additionally, Ethernet controllers allow connectivity to not just one PC but literally thousands and can have several host computers located throughout an entire factory. Incorporating TCP/IP protocols in an Ethernet controller also allows for access to the Internet and other software and devices utilizing TCP/IP. Now, you can sit your desk and upload or download information to a motion controller on the factory floor. The factory floor might be in another building, another state or another country. Ethernet Networking With the popularity of Ethernet growing on the plant floor, the ability to network industrial devices over ethernet has become a viable alternative to traditional fieldbus. This type of communication is typically handled via a client/server relationship over the ethernet network. The client is the device that opens a connection to a server and queries for information or commands some action. The client on an Ethernet network is synonymous with a master on a traditional fieldbus network. The server is the device that, once queried by a client, serves the information back to or carries out the actions commanded by the client and is synonymous with a slave on a traditional fieldbus network. As an example, in a system with a 6K and a PC running Motion Planner, the PC is the client and the 6K is the server. The following explains two ways to use networking capability of the 6K or Gem6K. Peer-to-Peer Network with other 6K or Gem6K units The 6K may be connected to other 6K devices (6K Controllers or Gem6K drive/controllers) via Ethernet. This type of connection uses UDP broadcasting and is not a client/server relationship. Data Chain is a peer-to-peer network created by Compumotor to share data between multiple 6K/Gem6K units. Up to eight units may broadcast on the Ethernet network simultaneously with an unlimited number of units subscribing to these broadcasts. Each broadcast unit may send up to eight 32-bit values. Each subscribing unit may receive all eight values from each broadcast unit, adding up to a possible 64 values in each subscribing units. The update rate in each unit is user definable for maximum system performance. Determinism Ethernet is a flexible alternative to traditional bus-based control. It also offers an attractive networking solution on a widely accepted platform. It is important however to understand how the 6K integrates on an open network. For applications requiring minimal data transfer such as periodic scanning of product status or program downloads, this can be accomplished on an open network. For highly data intensive applications such as continuously updating visual interfaces, Compumotor recommends a direct PC to 6K Ethernet connection via a crossover cable. For applications requiring intensive data transfer network access, isolate the 6K from the open network using an Ethernet switch. Utilizing Ethernet as a motion control communication scheme makes sense from an economic, technological and adaptability standpoint. The sheer number of Ethernet compatible products and the low cost of obtaining Ethernet technology make it an attractive solution for many years to come. 6K or Gem6K as a Client You can connect the 6K via Ethernet to multiple devices, creating a client/server network. The 6K is the client, and has the ability to open or close a connection with another device (server) and request information from that device. The 6K supports up to 6 simultaneous server connections. Devices (servers) that may be connected to the 6K include: - Allen radley SLC5-5 PLC, using A Ethernet protocol - OPTO22 SNAP I/O, using Modbus/TCP protocol - DVT vision system cameras Discover How The 6K Motion Controller Can Solve Your Next Application. Call Today. 267 Parker Hannifin Corporation

248 Catalog 8-4/USA 6K Controllers The 6K Software The Right Idea and the Right Tools 6K CONTROLLERS Motion Planner TM Motion Planner is a code development package like no other. Several features are incorporated to assist novice and expert users alike in developing code. Develop your code correctly the first time with powerful wizards and debugging tools. Tune servos quickly and easily with built in servo tuning software. Create visually appealing user interfaces with our PanelMaker Visual asic scripting tool. Motion Planner is an essential part of any 6K project. Wizards Working with Compumotor s 6K multi-axis motion controllers just got even easier. Now the 6K s Motion Planner application software comes with wizards, eliminating any need to learn a proprietary language. Let our wizards do the programming for you! Develop your application code in one-third the time Multiple, modular wizards for set up, error handling, networking and all motion commands Generate error-free application code with full comments Eliminate the need to learn specific command syntax. It s Free Motion Planner is shipped free with every 6K and together they present hardware and software designers with a faster and better motion control solution than ever before. We have spent time perfecting our software so you don't have to spend your time putting it to work. Motion Planner software is also available for free at our website: ( 268 Parker Hannifin Corporation

249 Catalog 8-4/USA 6K Controllers 6K CONTROLLERS SmartEditor TM Creating code is one of the most time consuming aspects of system development. The software designers at Compumotor understand this, so Motion Planner's editor was designed with efficiency in mind. The SmartEditor TM incorporates these functions: Automatic syntax checking as you type Color coded syntax highlighting Ever present help screen to access command descriptions Motion Planner's SmartEditor TM will virtually eliminate syntax debugging and will help you generate efficient error free code the first time. PanelMaker You spend a lot of time developing your application potential. You need a way to relay that potential to users and operators. Motion Planner's PanelMaker features allows you to create informative and aesthetically pleasing interface screens without purchasing expensive software. PanelMaker utilizes powerful Microsoft Visual asic TM scripting to assist in panel creation. If you are already familiar with Visual asic TM you will find the programming very similiar and if not, we have created several pre-defined interfaces for you in our interface gallery. An ActiveX control is also provided for fast checking of controller parameters. ServoTuner TM To help you optimize your servo axes and speed you on your way towards creating motion, Motion Planner TM includes a servo tuning utility. Using ServoTuner TM you can change all tuning gains and see the motor response on the graphical tuning interface. Motion Planner TM will seamlessly integrate your programming, setup and tuning so you spend more time developing your application's full potential. CompuCAM Now you can convert your.dxf, HPGL or G-Code files directly into language that the 6K understands with CompuCAM. uilt-in filters, available for this add-on utility to Motion Planner TM, allow quick creation of complex contouring code. All scaling and tolerances are handled within CompuCAM, just set your default parameters, import your file to create the 6K code. It s that easy! Discover How The 6K Motion Controller Can Solve Your Next Application. Call Today. 269 Parker Hannifin Corporation

250 Catalog 8-4/USA 6K Controllers 6K Language 6K CONTROLLERS Now More Powerful than Ever! The 6 Motion Control Language is the cornerstone of Compumotor's control products. Users of 6 products value the simple yet powerful nature of the 6 Language. Several major software features have been added to the 6K to make it even more powerful: Multitasking PLC Scan Mode PLS (Programmable Limit Switch) Virtual Master Web Registration Repetitive Cycle These features add to the already impressive list of 6 Language features such as: Contouring Cam Profiling Teach Mode Data Arrays Position Following Registration Multi Tasking The 6K offers pre-emptive multitasking which allows the user to simultaneously run up to 1 tasks from one controller. Separate logic and motion programs can now be created and executed at the same time allowing more flexible error handling and I/O monitoring than ever before. PLC Scan Mode PLC Scan Mode allows you to mimic the functions of a PLC. A high speed compiled program is dedicated to scan as fast as 2 ms and handles only logic functions such as error bits, I/O bits, variables and timing to ensure high-speed scanning. PLC Scan Mode also allows powerful features to be programmed including PLS functionality (Programmable Limit Switches). MotionPanel for the 6K Controller and Gem6K Drive/Controller Cut your motion/hmi setup time from hours to minutes! With MotionPanel s menu-driven interface, you can manage multiple 6K motion programs without having to write and debug additional code. Unlike two- and four-line alphanumeric displays, MotionPanel provides easy-to-read touchscreens (optional color displays are available) with more understandable menus for the user. With the Windows-based Interact development software, you can even customize panels to simplify and enhance screens for the operator. Try doing that with a proprietary alphanumeric display device! This PC-based flexibility, combined with high-speed Ethernet communications, provides the most advanced, easy-to-use motion/hmi package available for machine control today! Automatically detects up to 8 axes of 6K motion Automatically detects digital and analog expansion I/O Instantly uploads motion programs from solid-state Compact FLASH disk - including scaling PC-based hardware/software with an upgrade path to advanced HMI functionality Plug and Play Setup 1. Connect Ethernet cable. 2. Power up MotionPanel. 3. Enable Compumotor 6K Ethernet connection. 4. Touch the pre-configured panels and go! Following The 6K introduces three new following features to its repertoire: Virtual Master allows you to follow an internal count source to solve multi-axis electronic cams and sinusoidal move profile applications. Web Registration allows you to easily handle web processing applications with dedicated registration handling subroutines. Following Repetitive Cycle defines a motion synchronized to a repetitive external event such as high speed cut-onthe-fly. 27 Parker Hannifin Corporation

251 Catalog 8-4/USA 6K Controllers 6K CONTROLLERS Four Machine Control Architecure Types Machine control is the control of all elements of a machine or stand alone system. The elements can include motion control, control of the inputs and outputs, control of analog inputs and outputs from more advanced sensors, interface to the human machine interface (HMI), and communication with the enterprise level of the factory or other equipment. As a motion control company, Compumotor engineers our products to tightly couple with machine control products. The following presentation over the next three pages highlight four common approaches for a machine control solution. Displayed with each machine control architecture is the 6K solution and the options for connection between the devices. Motion Controller ased Machine Control System Description Many applications from low to moderate complexity can eliminate a separate machine control component and use the motion controller as the sole machine control. Motion controller capabilities have been expanding rapidly and are capable of controlling inputs and outputs as well as motion parameters. For many applications, this can provide the tightest coupling between a motion function and a machine control function. For this type of control scheme the motion controller must be a stand-alone controller. A stand-alone controller has its own operating system and must be able to be installed as an individual component. In addition, the controller must be able to interface to human machine interface for data entry and be capable of efficiently controlling inputs and outputs. This control scheme can also be used to break apart a complex machine into several simpler machine control components. In this case, communication between the sub-components must be fast and efficient. Key Advantages with this Control Scheme: est value for low to moderate complexity applications One programming platform for all machine control functions Tight coupling between motion control and machine control Typical Applications: Less than 256 I/O points Tight coupling of machine control and motion control like electronic cam control How the 6K Fits: The 6K has several unique features to help integrate it easily as a machine control solution: PLC scan mode allows high scan rates on specified I/O points or registers Expandable I/O of the 6K with the EVM modules allows customization and expandability up to 256 I/O points Drivers to CTC s full family of human machine interfaces Discover How The 6K Motion Controller Can Solve Your Next Application. Call Today. 271 Parker Hannifin Corporation

252 Catalog 8-4/USA 6K Controllers 6K CONTROLLERS Four Machine Control Architecure Types PC-Logic Control (PCLC) ased Machine Control System Description Traditional industrial control methodologies meet with PC industry driven performance and price with the PcLC control type. y using a software-based PLC, or soft control, cost effective PLC replacement is a reality. MachineLogic TM is a DOS-based real time operating system control program that was developed by CTC, a division of Parker Hannifin. The program provides deterministic control that runs on any PC or any CTC PowerStation human-machine interface (HMI). As a real-time system, a hard disk is not required for operation removing a potential source of failure. ecause soft control is provided with all the popular PLC programming languages, there is no need for incremental learning. This solution provides the open environment inherent with PCs without having to reeducate the whole factory. This approach enhances supportability and minimizes the learning curve for programming and developmental tools. This solution fully integrates HMI with the machine control in a tightly coupled and rugged package. This machine control method is especially cost effective when used with a PowerStation HMI. For the same price of a HMI comes all the processing power of a machine controller. Key Advantages With This Control Scheme: CTC PowerStation flash memory is more rugged than a PC hard disk Real time and deterministic behavior (Windows TM NT cannot guarantee this) Maintainable just like a PLC (programming language already known to maintenance and programmers) Reliable HW and SW integration when using PowerStation Standard network support for ease of information flow Common development environments save time and money New engineers are more familiar with PCs than PLCs System solution available through one vendor (motion, HMI, PLC), all fully integrated Typical Applications Less than <5 I/O points Needed combination of HMI with the control engine or needed higher speed graphics How the 6K Fits The 6K connects directly to the CTC PowerStation family with either an Ethernet or RS232/485 connection. Drivers are available with each PowerStation to make integration a snap. 272 Parker Hannifin Corporation

253 Catalog 8-4/USA 6K Controllers 6K CONTROLLERS Four Machine Control Architecure Types PC-ased Machine Control System Description As a machine controller, no other device can compete with a common PC or Industrial PC in the areas of flexibility and the sheer versatility it can offer. Since the early 198 s, when the PC was first used to control industrial automation systems, industry has witnessed a technology explosion from extremely slow and limited memory machines into the very powerful and productive machines available today. A direct result of this increased power is that many industrial automation manufacturers have turned to the PC as a machine controller. The PC is the natural choice for data intensive applications and also applications that benefit from front-end Windowsbased software and operator interfaces. Many applications have specific data handling and visual display requirements that cannot be handled by other types of machine control. Additionally, industrial automation users have found that there is a multitude of communication protocols for the PC providing several connectivity options. us-based cards, which fit into an empty computer expansion slot, RS-232, RS-485 serial communications, and most recently high-speed Ethernet communication are all used to communicate between the PC and control hardware. Compumotor offers a line of motion control for any connectivity need. RS-232 and Ethernet interfaces are available in single- or multi-axis controllers. Ethernet is the latest platform gaining popularity in industrial environments and offers a simple, inexpensive yet very high-speed connection to the PC and other industrial devices. Key Advantages With This Control Scheme Handles data intensive applications Variety of connectivity options Front end software can be customized New engineers are more familiar with PCs than PLCs Typical Applications Data acquisition/processing in addition to machine control handling large amounts of data Networking of many machines or to other factory activities connectivity to plant information technology system Need for central control of I/O devices distributed over a large area How the 6K Fits The 6K communicates with any PC system via a 1ase-T Ethernet port making it a solution for bus-based machine control schemes. Connections are established by using the 6K Communications Server which is included on the Motion Planner TM CD ROM. The 6K Communications Server is a 32-bit OLE automation (COM) server which facilitates communications between 6K controllers and PC software applications. It is compatible with any 32-bit software application or programming environment which can utilize an OLE automation component, including Visual asic, Visual C++, and JAVA. Individual commands or entire motion programs can be sent from the computer program to the 6K Controller. Likewise, alarm information and fast status updates are sent from the 6K back to the computer. Discover How The 6K Motion Controller Can Solve Your Next Application. Call Today. 273 Parker Hannifin Corporation

254 Catalog 8-4/USA 6K Controllers 6K CONTROLLERS Four Machine Control Architecure Types PLC-ased Machine Control System Description The programmable logic controller or PLC is the most common type of machine control and by far the most prevalent. PLCs were first developed in the late 196s as an alternative to the relay cabinets that were the most common solution for machine control. Thirty years later, PLCs have had continual iterative developments and are now extremely reliable and flexible devices for machine control. PLCs are perfect for applications requiring hundreds or thousands of I/O points and can control complex processes. Their weakness however has been in interfacing with complex equipment outside of the PLC rack such as vision systems and motion control equipment. Traditionally, the PLC used discrete outputs to communicate to the peripheral devices. This placed a great limitation on the type of communication that was possible and made the transmission of numerical values very inconvenient. Often an ASCII module was added to the PLC solely to communicate to the device. The recent advent of the fieldbus promises to greatly increases the flexibility of communication by developing standards for communication that could bring many elements together. Key Advantages with this Control Scheme: High reliability Proven technology On line editing Typical Applications I/O centric applications (I/O control is the most critical criteria) Process control Greater than 5+ I/O points How the 6K Fits The 6K has several unique features to help integrate it easily with a PLC based system: Fieldbus interface cards for Profibus-DP and DeviceNet allow new levels of compatibility Ethernet interface using A Ethernet protocol RS232/485 communication Functions controllable via discrete inputs and outputs 274 Parker Hannifin Corporation

255 Catalog 8-4/USA 6K Controllers 6K CONTROLLERS Specifications Parameter Parameter Type Value Power Input 24 VDC, 2 Amp, User Supplied Additional power may be required for I/O use See Installation Guide for Details Environmental Operating Temperature 32 o to 122 o F ( o to 5 o C) Storage Temperature -22 o to 185 o F (-3 o to 85 o C) Humidity % to 95% non-condensing Performance Command +/- 1V or Step & Direction Configurable per axis Servo Update Encoder Stepping Accuracy Position Range Velocity Range As fast as 62.5 µs/axis Two phase quadrature detect incremental encoders with differential (recommended) or single ended outputs (+5 VDC TTL compatible) Max Frequency = 12 MHz post quadrature +/- steps from preset total +/-2,147,483,648 counts 1 to 2,48, counts/sec (step & direction output) 1 to 12,, counts/sec (+/- 1V output) Inputs End-of-Travel & Home Factory default is 24 VDC sourcing Limits per axis Jumper LIM-P to GND for sinking -24 VDC range through VIN ref 1/3 1/3 1/3 voltage switching threshold Configurable as programmable inputs if not needed as limits Onboard EVM32 Expansion (optional) Fast trigger inputs 9 on 6K2 & 6K4, 17 on 6K6 & 6K8 Factory default is 24 VDC sourcing Jumper TRIG-P to GND for sinking -24 VDC range through VIN ref 1/3 1/3 1/3 voltage switching threshold Up to 256 digital inputs (2 ms update rate) Up to bit analog inputs (+/- 1 VDC) VDC user supplied through EVM32 module 1/3 1/3 1/3 voltage switching threshold on digital inputs LEDs provided on digital inputs for visual reference Outputs Onboard 5-24 VDC user supplied 3 ma maximum current sink 4 on 6K2 & 6K4, 8 on 6K6 & 6K8 EVM32 Expansion (optional) Up to 256 digital outputs (3 ma maximum current sink)* Up to 64 1-bit analog outputs (+/- 1VDC) VDC user supplied through EVM32 module Up to 256 relay outputs (.5 A) LEDs provided on digital and relay outputs for visual reference Communications Ethernet 1 ase-t (1Mbps Twisted Pair) Multiple protocols Serial RS-232, RS wire or 4-wire Up to 192 baud, Up to 99 units in daisy-chain or multi-drop * Maximum number of outputs and maximum current sink are heat dependent. See product documentation for duty cycle considerations. Discover How The 6K Motion Controller Can Solve Your Next Application. Call Today. 275 Parker Hannifin Corporation

256 Catalog 8-4/USA 6K Controllers 6K CONTROLLERS Front Surface Connectors Encoder 9-pin D connector, female Drive 15-pin D connector, female Limits/Home 25-pin D connector, female Triggers/Outputs 25-pin D connector, female Pin No. Signal 1 +5VDC 2 A+ 3 A Z+ 7 Z- 8 Single Ended 9 ISO GND Pin No. Signal 1 Step+ (stepper) 2 Direction+ (stepper) 3 Command+ (servo) 4 Stall (stepper) 5 Drive Fault (both) 6 Command- (servo) 7 Shutdown (NO) (servo) 8 Shutdown (NC) (servo) 9 Step- (stepper) 1 Direction- (stepper) 11 Shutdown+ (stepper) 12 Shutdown- (stepper) 13 ISO GND (both) 14 Shtdn Common (servo) 15 Analog Ground (servo) Pin No. Signal 1 Home4 3 Neg4 5 Pos4 7 Home3 9 Neg3 11 Pos3 13 Home2 15 Neg2 17 Pos2 19 Home1 21 Neg1 23 Pos1 25 Reserved Even ISO GND Pin No. Signal 1 Output4 3 Output3 5 Output2 7 Output1 9 Trigger8 11 Trigger7 13 Trigger6 15 Trigger5 17 Trigger4 19 Trigger3 21 Trigger2 23 Trigger1 25 Reserved Even ISO GND Top Surface Connectors I/O Expansion (15-pin D connector, male) RS-232/485 (9-pin connector, male) Power Input 12-pin Screw Terminal Pin No. Signal 1 SHIELD 2 ISO GND 3 ENALE 4 OUT DIODE 5 MASTER TRIG 6 ISO GND 7 CNTRL-P 8 LIM-P 9 TRIG-P 1 VINref VDC RTN VDC PWR Master Encoder Input 9-pin D connector, female Pin No. Signal 1 +5VDC 2 A+ 3 A Z+ 7 Z- 8 ISO GND 9 ISO GND Connection to the expansion I/O modules. I/O modules sold seperately. Up to 256 digital inputs, 256 digital outputs, 64 analog inputs, 64 analog outputs, and 256 relay outputs. Configurable for RS-232 or RS-485 at 96 or 192 baud RS-232/Fieldbus In (9-pin D connector male) RS-232 port at 96 or 192 baud Data in port on fieldbus options Ethernet (RJ45 Connector) 1ase-T Ethernet connection with TCP/IP and UDP protocol 276 Parker Hannifin Corporation

257 MASTER ENCODER RS-232 ETHERNET GND EXPANSION I/O GND RS-232/485 MASTER ENCODER RS-232 ETHERNET GND EXPANSION I/O GND RS-232/485 Catalog 8-4/USA 6K Controllers Controller I/O Screw Terminal reakout 6K CONTROLLERS Ordering Information and Part Numbers Expansion I/O* Power Supply PS-6W 6 Watt 24 volt DC power supply 6Kn n= 2 2 axes No ship kit (omit to n= 4 4 axes include ship kits) n= 6 6 axes n= 8 8 axes Example: 6K4-NK (a 4-axes controller with no ship kit included and no synchronization bus included.) *For fieldbus options, please contact your local ATC or call Compumotor. VM25 25 pin-d to screw terminal breakout board w/ 2 cable (for use with onboard I/O) MotionPanel See HMI section for product details Dimensions for 6K and EVM32 Dimensions in inches (mm) 6K2 & 6K4 NK [ ] EVM32-ASE Expansion I/O module w/ 2 cable and cover SIM8-IN-EVM32 8 digital input SIM with LEDs SIM8-OUT-PNP 8 digital sourcing output SIM with LEDs SIM8-OUT-NPN 8 digital sinking output SIM with LEDs SIM8-AN-IN 4 12-bit analog input SIM SIM8-AN-OUT 4 +/- 1V analog 1-bit output SIM SIM8-RLY1 8 1 watt reed relay SIM * EVM32-ASE and SIM cards sold separately. Up to 4 SIM cards fit in each EVM32-ASE. EVM32 Cables K to Stepper (ZETA, OEM75, S-Drive) K to Servo (cut off) expansion I/O cable Gemini to 6K Servo Gemini to 6K Stepper Ship Kit 6K-Kit 6K Hardware Installation Guide 6K Programmer s Guide 6K Command Reference Motion Planner CD Panel Mounting Hardware Crossover Ethernet cable for direct PC to 6K communication only [ ] SHIELD ENALE OUT DIODE MASTER THIG CNTRL-P LIM-P THIG-P VINref 24 VOC ATN +24 VOC PWR [ 8.87 ] 1. [ 25.4 ] 5.43 [ ] 3.68 [ ] 6K6 & 6K [ ] [ ] SHIELD ENALE OUT DIODE MASTER THIG CNTRL-P LIM-P THIG-P VINref 24 VOC ATN +24 VOC PWR [ 8.87 ] 1. [ 25.4 ] 5.43 [ ] 3.68 [ ] Discover How The 6K Motion Controller Can Solve Your Next Application. Call Today. 277 Parker Hannifin Corporation

258 Catalog 8-4/USA 6 Series 6 Series Family A Powerful Lineup of Controllers & Software 6 Series A Proven Lineup of us-ased Controllers and Software The 6 Series consists of 2 and 4-axis ISA based controllers with step and direction or +/- 1V output to control step motors or servo motors. All 6 Series controllers share the following features: The powerful and proven 6 programming language Circular interpolation Cam profiling Position following Registration Non-volatile program memory 28 programmable inputs 26 programmable outputs Dedicated registration triggers for position capture Analog inputs for joystick and variable input End-of-travel and home limits per axis Incremental encoder feedback Motion Architect TM programming environment DLLs for use with C++ and Visual asic TM development Optional Software CAD-to-motion (CompuCAM) DDE Server (DDE6) OCX Controls (Motion OCX Toolkit) Graphical servo tuning (Servo Tuner) The 6 Series family consists of the following products: AT625/AT645 2 or 4 axis PC/AT based +/- 1V controller Compatible with industry standard +/- 1V torque or velocity servo drives AT62/AT64 2 or 4 axis PC/AT based step & direction controller Compatible with industry standard step motor drives Compatible with industry standard position based digital servo drives VM24 24V I/O Module Compatible with all 6 Series products Compatible with all industry standard PLC I/O VM5 Screw terminal breakout for 6 Series I/O Compatible with all 6 Series products OEM versions of these products are available. Please call for more information. 278 Parker Hannifin Corporation

259 Catalog 8-4/USA Servo Controllers 6 Series Family AT625/AT645 Servo Controllers Multi-Processor-ased, Two-Axes or Four-Axes Servo Controllers The AT625 and AT645 are multi-processor-based, two-axes and four-axes servo controllers designed to be inserted into a single open ISA expansion slot. They provide sophisticated control of any Compumotor servo motor/drive or any standard +/-1V analog input servo drive system. In addition to the controller, a separate auxilliary board simplifies connections with encoders, motor drives, joystick, limits, and programmable I/O. The AT625 and AT645 come standard with Motion Architect TM support software for Microsoft Windows TM. Motion Architect TM allows easy creation and implementation of motion programs. DLLs are provided for Microsoft Windows TM development. The AT625 and AT645 use the proven 6 Series command language. The 6 command language is powerful enough to solve the most complex applications yet its basiclike structure will not overwhelm a novice programmer. Features Motion 1 to 4 axes of optically isolated servo control (+/- 1V) Incremental encoder feedback Analog input option provides one 14-bit +/-1VDC input per axis Controls servo drives in torque or velocity mode Update rates for servo control as fast as 2 microseconds per axis. 1.2 MHz post-quadrature position feedback frequency I/O Home, positive and negative end-of-travel limits per axis 24 programmable inputs and 24 programmable outputs Dedicated trigger interrupts provide high-speed position capture and registration capability to ±1 encoder count at maximum frequency Drive enable relay outputs Drive fault inputs Programming Soft operating system for 6 Series command language Multi-axis teach capability using data arrays Position-based following Cam profiling 2- to 4-axes linear interpolation 2-axes circular interpolation with proportional or tangential control of a third axis Compiled motion for shorter move execution times S-curve or trapezoidal motion profiling Numeric, binary and string variable storage User-configurable error condition interrupts Program debug tools - trace mode, step mode and break points 15K of RAM for program storage and path storage Software Provided Motion Architect TM for Windows programming environment DLL (Dynamic Link Libraries) for Windows TM software development in Visual C++ and Visual asic Optional Software Servo Tuner for graphical tuning of torque or velocity servo drives CompuCAM for CAD-to-motion Motion OCX Toolkit to create Microsoft Visual asic TM controls DDE Server provides data exchange with DDE capable applications Discover How The 6K Motion Controller Can Solve Your Next Application. Call Today. 279 Parker Hannifin Corporation

260 Catalog 8-4/USA 6 Specifications 6K CONTROLLERS Specifications AT625/AT645 Performance Input Power Inputs Outputs Environmental Physical Parameter Value Position range ±2,147,483,648 counts Velocity range.1 to 1,2, counts/sec Acceleration range.1 to 2,147,483,648 counts/sec 2 Motion trajectory update period Default: 1.6 ms for AT625; 3. ms for AT645 Servo sampling update period Default: 4 µs for AT625; 785 µs for AT645 System update period Default: 1.6 ms for AT625; 3. ms for AT645 AT625 and AT645 PC Card ANI Card 12V Auxiliary oard (AC or DC input) 24V Auxiliary oard (AC or DC input) DC Auxiliary oard 3.5A from the PC-AT bus for each card from PC-AT bus 9-132VAC, 5/6Hz, 12VAC, single phase; or power from an external source of 5VDC, ±1% 9-264VAC, 24VAC, single phase; or power from an external source of 5VDC, ±1% 1.6A and 5mA, ±1% from an external source Home, Pos/Neg limits, drive fault, HCMOS*-compatible; internal 6.8 KΩ joystick trigger, joystick release, Pull-ups to 5V; voltage range is -24V joystick axes select, joystick velocity Encoder Differential comparator accepts two-phase quadrature incremental encoders with differential (recommended ) or single-ended outputs (+5VDC TTL-compatible*), Maximum frequency = 1.6 MHz, post quadrature. 24 programmable HCMOS*-compatible with internal 6.8KΩ pull-up (Connect IN-P to +5V -24 to source current or connect IN-P to GND to sink current). Voltage range = -24V 5-pin plug is compatible with OPTO-22 signal conditioning equipment. Trigger Inputs AT625 has 3 & AT6545 has 4 TTL compatible* high speed inputs for position capture & general purpose functions. Internal 6.8KΩ pull ups to +SV; voltage range is -24V. Analog (Joystick) Voltage range = -2.5VDC, 8-bit A/D converter. Input voltage must not exceed 5V. Analog (ANI option) Voltage range = ±1VDC, 14-bit A/D converter. one per axis. Requires an 8-bit slot. (See also I/O pin outs & circuit drawings) 24 programmable and Open collector output with 4.7KΩ pull-ups. OUT-A through OUT-D Can be pulled up by connecting OUT-P to +5V on the auxiliary board, or to user-supplied voltage of up to 24V. Max. voltage in OFF state (not sinking current) = 24V, max. current in ON state (sinking) = 3mA. 5-pin plug is compatible with OPTO-22 signal conditioning equipment. Command Out Shutdown Auxiliary Analog Output (ANA) oard Monitor Alarm (MA) Operating temperature Storage temperature Humidity ±1V analog output. 12-bit DAC. Load should be >2KΩ impedance. Shutdown relay output. Max. rating: 175VDC,.25A, 3W ±1V analog output. 8-bit DAC. Load should be >2KΩ impedance. Accuracy is ±5%. Detects unrecoverable faults in hardware and software. When MA detects fault, status light on AT6n5 card turns off and status light on auxiliary board turns red. 32 to 122 F( to 5 C) 22 to 185 F( 3 to 85 C) % to 95% non-condensing 12 VAC and 24 VAC AUX oards Height 1.1 in ( mm) Width 6.1 in ( mm) Depth 2. in (5.8 mm) DC Input AUX oard Height 11.6 in ( mm) Width 6.1 in ( mm) Depth 1.75 in (44.45 mm) * HCMOS-compatible voltage levels: low 1.67v, High 3.3v * TTL-compatible voltage levels: low.4v, High 2.4v 28 Parker Hannifin Corporation

261 Catalog 8-4/USA Step & Direction Controllers 6K CONTROLLERS AT62/AT64 Step & Direction Controllers Two and Four Axes of us-ased Step & Direction Control The AT62 and AT64 are two-axes and four-axes step and direction controllers designed to be inserted into a single open ISA expansion slot. They provide sophisticated control of any Compumotor step motor or digital servo or any standard step motor or digital step and direction servo system. In addition to the controller, a separate auxilliary board simplifies connections with encoders, motor drives, joystick, limits, and programmable I/O. The AT62 and AT64 come standard with Motion Architect TM support software for Microsoft Windows TM. Motion Architect TM allows easy creation and implementation of motion programs. DLLs are provided for Microsoft Windows TM development. The AT62 and AT64 use the proven 6 Series command language. The 6 command language is powerful enough to solve the most complex applications yet its basiclike structure will not overwhelm a novice programmer. Features Motion 1 to 4 axes of step motor or digital step and direction servo control Incremental encoder feedback 1.6 MHz maximum step output frequency I/O Home, positive and negative end-of-travel limits per axis 24 programmable inputs and 24 programmable outputs Dedicated trigger interrupts provide high-speed position capture and registration capability to ±1 encoder count at maximum frequency Drive enable relay outputs Drive fault inputs Programming Soft operating system for 6 Series command language Multi-axis teach capability using data arrays Position-based following Cam profiling 2- to 3-axes linear interpolation 2-axes circular interpolation with proportional or tangential control of a third axis Compiled motion for shorter move execution times Trapezoidal motion profiles Numeric, binary and string variable storage User-configurable error condition interrupts Program debug tools - trace mode, step mode and break points 15K of RAM for program storage and path storage Stall detection for step motors Software Provided Motion Architect TM for Windows TM programming environment DLL (Dynamic Link Libraries) for Windows TM software development in Visual C++ and Visual asic TM Optional Software CompuCAM for CAD-to-motion Motion OCX Toolkit to create Microsoft Visual asic TM controls DDE Server provides data exchange with DDE capable applications Discover How The 6K Motion Controller Can Solve Your Next Application. Call Today. 281 Parker Hannifin Corporation

262 Catalog 8-4/USA 6 Specifications 6K CONTROLLERS Specifications AT62/AT64 Parameter Value Performance Input Power Inputs Outputs Environmental Physical Position range ±2,147,483,648 steps Velocity range 1 to 1,6, steps/sec Acceleration range 1 to 24,999,975 steps/sec 2 Motion Algorithm Update Rate 2 ms AT62 and AT64 PC Card 1.8A max from the PC-AT bus 12V Auxiliary oard (AC or DC input) 9-132VAC, 5/6Hz, 12VAC, single-phase; or power from an external power source of 5VDC, ±1% 24V Auxiliary oard (AC or DC input) 9-264VAC, 24VAC, single-phase; or power from an external power source of 5VDC, ±1% DC Auxiliary oard +5VDC 1.6A (See also I/O pinouts & circuit drawings) Encoder Differential comparator accepts two phase quadrature incremental encoders with differential (recommended) or single ended outputs (+5VDC TTL compatible*). Maximum frequency = 1.6 MHz, post-quadrature. 24 Programmable HCMOS* compatible with internal 6.8 KΩ pull-up (connect IN-P to +5 24V to source current or connect IN-P to GND to sink current). Voltage range = 24V. 5-pin plug is compatible with OPTO-22 signal conditioning equipment. Trigger Inputs AT62 has two and AT64 has four high-speed inputs for encoder capture and registration. HCMOS* compatible with internal 6.8 KΩ pull-up to AUX-P (wired to +5V at factory). Voltage range = V-24V. Analog (Joystick) Voltage range -2.5VDC, 8-bit A/D converter. Home, Pos/Neg Limits, Pulse Cut Off HCMOS* compatible; internally 6.8KΩ pull-ups to AUX-P (wired to +5V at factory). Voltage Range = V-24V. Joystick Inputs (Axes and Velocity) HCMOS and TTL compatible; internal 6.8 KΩ pull-up to +5V; voltage range is -24V. Select, Release, Trigger and Auxiliary) Drive Fault, In Position HCMOS* compatible; internal 1. KΩ pull-up to 5V; voltage range = V 5V. Home, Pos/Neg Limits, HCMOS* compatible; internally 6.8KΩ pull-ups to AUX-P (wired Pulse Cut Off to +5V at factory). Voltage Range = V-24V. 24 Programmable Open collector output with 4.7KΩ pull-ups. Can be pulled up by connecting OUT-P to +5V on the auxiliary board, or to user-supplied voltage of up to 24V. Max voltage in OFF state (not sinking current) = 24V, max current in ON state (sinking) = 3mA. 5-pin plug is compatible with OPTO-22 signal conditioning. Step, Direction, Shutdown Differential line driver output. Signal high > +3 ma, signal low < -3 ma. +output for each differential drive is active high; output for each driver is active low. Step pulse width is.3µs to 2 µs. oard Monitor Alarm (MA) Detects unrecoverable faults in hardware and software. When MA detects fault, status light on AT6n card turns off and status light on auxiliary board turns red. Operating temperature Storage temperature Humidity 32 to 122 F ( to 5 C) -22 to 185 F (-3 to 85 C) % to 95% noncondensing 12 VAC and 24 VAC AUX oards Height 1.1 in ( mm) Width 5.5 in (139.7 mm) Depth 2. in (5.8 mm) DC Input AUX oard Height 11.6 in ( mm) Width 5.5 in (139.7 mm) Depth 1.5 in (38.1 mm) * HCMOS-compatible voltage levels: low 1.67V, high 3.3V TTL-compatible voltage levels: low.4v; high 2.4V 282 Parker Hannifin Corporation

263 Catalog 8-4/USA I/O Accessories 6K CONTROLLERS VM24 and VM5 The VM24 and VM5 have been designed to work with the 6 Series I/O to provide greater ease of use in your applications. VM24 The VM24 provides 24 volt capability for the 6 Series programmable I/O. The VM24 module consists of a DIN Rail mountable base and up to three 8-bit SIM (single in-line module) boards. VM5 The VM5 is a screw terminal adaptor that breaks out the connections for the 24 programmable inputs and 24 programmable outputs on the 6 Series controllers. Two VM5s are required to break out both the inputs and outputs. Features Outputs 5-24 VDC capable Undervoltage lockout Thermal shutdown protection Sink or source current up to 5 ma Inputs 5-24 VDC capable Sourcing or sinking jumper selectable per SIM 1/3 1/3 1/3 switching threshold Overvoltage clamp High frequency filter Features General DIN Rail mountable Convenient screw terminal access to 6 series progammable I/O Comes with 2 ft. ribbon cable Physical 5.31 in wide x 3.3 in high x 2.28 in deep 135 mm wide x 77 mm high x 58 mm deep Physical in. wide x 2.84 in. high x 2.5 in. deep 132 mm wide x 72 mm high x 64 mm deep Discover How The 6K Motion Controller Can Solve Your Next Application. Call Today. 283 Parker Hannifin Corporation

264 Catalog 8-4/USA I/O Accessories 6 Series Software Motion Architect TM Motion Architect TM is designed for use with all 6 Series products. It comes standard with each 6 Series product and makes the implementation of the controllers remarkably easy. Features System Configurator and Code Generator Automatically generate 6 controller code containing basic setup system setup parameters (I/O definitions, encoder operations, drive setup etc.) based on dialog box entries Program Editor Create blocks or lines of 6 programming code, or copy portions of code from another file. Save editor files for later use in a high-level program such as Visual asic TM or C++. Terminal Emulator Download and upload 6 programs to and from the controller. Download the soft operating system. Go on-line and determine controller status. Test Panel Create your own test panel to exercise your programs and check I/O, motion, system status and timers. Context Sensitive Help Access help on 6 programming commands or how to use Servo Tuner TM Servo Tuner is a graphical tuning software utility to reduce the time required to set up PID gains in a 6 Series servo controller (AT625/AT645). Servo Tuner allows you to optimize your servo performance by adjusting overshoot, settling time, rise time and steady state error. Features Tune analog velocity or digital position loops Calculate gain settings automatically based on inertia and motor drive constants Tune for step response, trapezoidal move or S-Curve move profiles Capture and display up to nine motion parameters Automatically stores the last four tuning sessions for iterative tuning. 6 Series Family CompuCAM CompuCAM is a CAD-to-motion software package that converts.dxf, HP-GL or G-Code geometry files to 6 programming code. From CompuCAM you can run your CAD program, import your geometry, generate and arrange your 6 code and save it for download to your 6 Series controller. CompuCAM Features Types of positioning - 2-axis circular interpolation - Point-to-point, multi-axis linear interpolation Supports end of path operation (turning on and off I/O, moving a third axis).dxf Filter supports - Lines and arcs, circles and polygons, polylines (ellipses, bezier curves, splines) HP-GL Filter Supports - Absolute/Relative arcs - Circles - Pen up/pen down - Input P1/P2 - Scale G-Code - F & G Codes - H, I, J, L, M Codes - N, O, P, X, Y, Z Codes - Customizable H&M codes 284 Parker Hannifin Corporation

265 Catalog 8-4/USA 6 Series Software Motion OCX Toolkit Motion OCX Toolkit is a powerful standalone software package that allows the programmer to easily and effectively develop control interfaces for the 6 Series controllers. Motion OCX Toolkit provides a quick and easy way to incorporate advanced functionality into their applications. Motion OCX Toolkit includes the following three controls: Communications Shell Use Comm6 to control basic communication with the 6 product, including interrupt handling and sending/receiving files Terminal OCX Use Term6 to interace to the 6 Series controller online. Check status, execute commands immediately and view error messages. Fast Status Polling OCX Poll6 is used to poll the 6 Series controller fast status register and display quickly updated information such as motor position and system status. 6 Series Family Motion OCX Toolkit provides 32-bit OLE Custom Control extensions designed to run under Windows TM 95, 98 or NT and the following applications: Visual asic TM 4. or later Delphi 2. or later Visual C++ Any other 32-bit development environment containing OCX controls DDE6 (Dynamic Data Exchange Server) DDE6 is a software driver that enables communications between Microsoft Windows applications that support the DDE protocol and the 6 Series controllers. The DDE6 supports NetDDE, allowing any computer on any Windows TM NT Server, which supports NetDDE, to control any 6 Series controller connected to a networked computer. DDE6 not only supports all 6 Series controllers but it also supports multiple 6 Series controllers simultaneously. DDE is a Microsoft protocol that automatically updates data to and from Windows TM applications. The DDE servers send the 6 Series fast status information to a DDE equipped windows application that requests it. Information provided via DDE6 includes: Status Report Motor/Encoder Position Motor Velocity Axis Status System Status Interrupt Status User Status Timer Variables Following Status Phase Shift Inputs/Outputs End-of-travel Limits Home limits Analog inputs The following are some applications that support the DDE protocol. Intellution (FIX DMACS) National Instruments (LabVIEW) Wonderware Software Development Corp. (InTouch) United States Data Corporation (Factory Link IV) Discover How The 6K Motion Controller Can Solve Your Next Application. Call Today. 285 Parker Hannifin Corporation

266 Catalog 8-4/USA Introduction HMI & Machine Control CTC Products Provide a Hardware and Software Solution It is not difficult to find a provider of software products for the factory floor. Nor is it hard to find a source that can provide PC hardware solutions. ut automation users today need a supplier that can provide both products and bundle them together as a single solution. Not only can CTC products provide this bundled solution, but because the hardware and software are designed and tested under the same roof, our engineering team can optimize products to yield the best possible system performance. A single source supplier for PC-based HMI/machine control hardware and software also benefits the machine builder by simplifying integration, support, and training efforts. CTC bundles PowerStation hardware and Interact HMI (Human- Machine Interface) software together, and also now integrates MachineLogic PC-based control. Parker is truly a single source for PC-based HMI and Machine Control solutions. For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

267 Catalog 8-4/USA Human-Machine Interface HMI & Machine Control Human-Machine Interface Software Interact s modular software design delivers a full range of HMI solutions for all of your plant floor machine control needs. Interact lets you start with push-button panel replacement and then allows you to expand with trending, recipes, reporting and networking. Interact has a complete family of application modules. You buy only those modules you need for your current application, knowing that Interact can easily expand to meet your future needs as well. As part of CTC s MachineShop Development Suite, Interact can easily be integrated with MachineLogic PC-ased Control software for a complete machine control solution. Interact Has the est Features of Windows and DOS Interact is also truly unique because it gives you the best features of both Windows and DOS. You develop your application in Windows with Interact s powerful integrated development environment, MachineShop. For run-time, Interact uses a DOS multi-tasking kernel to keep response times fast and hardware platform costs low. Plus, Interact can run on any PC or on CTC s PowerStation line of flat-panel workstations. With over 5 device drivers, Interact can work with all major brands of control equipment. Interact Lets Information Flow throughout your Plant Managing information flow is critical in today s manufacturing environment. Not only do you want to be able to network workstations on the factory floor but you also want to send this valuable data to other areas such as supervisory stations or MIS departments for analysis. Interact is the best solution because it covers your need for high speed response times on the plant floor, plus its open architecture design lets you share plant floor data throughout your organization. It s a single solution that offers features to meet the needs of MIS, your Supervisor and SCADA stations, and the plant floor. 288 Parker Hannifin Corporation

268 Catalog 8-4/USA Human-Machine Interface HMI & Machine Control Interact HMI Software Modules Interact is a feature-rich software package that can be tailored to meet the needs of any HMI project. With its modular design (see diagram below), Interact lets you build an application by selecting from a complete family of software modules, ranging from 3-D panel tools, to trending, networking and machine configuration. With Interact, you buy only those modules you need for your current application knowing that Interact can easily expand to meet future needs. Interact also offers you a variety of connectivity options to programmable controllers and intelligent control equipment. Communication Device Drivers for 5+ and Remote I/O PLC connections are part of the standard product, including several Ethernet and Compumotor motion control drivers. Core Interact Modules: Panel ToolKit Module (PTM) The Panel ToolKit provides a library of over 35 pre-configured 3D panel tools that can be used to construct the touchscreen equivalent of traditional control panels. These ready-to-use tools save on development engineering cost and are modeled after hardwired devices, giving operators the consistent look and feel of devices found on the plant floor. Tools include lighted pushbuttons, numeric displays, panel meters, XY plots, and action tools such as Go To / Load Panel. PTM is included with Interact and CTC PowerStations. Graphics Monitoring Module (GMM) The Graphics Monitoring Module lets users add graphics displays to the application to make the operator interface as intuitive as possible for operators, thereby decreasing training and support requirements. This module includes 256 color support and free-form graphics, giving designers the flexibility to import a picture of a machine and animate images on the machine to create an application that operators will find easy to use. A CAD-like, object-oriented graphics development environment simplifies the creation of graphical displays. GMM is included with Interact and CTC PowerStations. Alarm Management Module (AMM) The Alarm Management Module is a feature rich alarm package that monitors alarm conditions, and allows users to acknowledge and clear alarms from any screen. Operator comments and alarms can be logged along with application parameters. Other features include five levels of alarm priority, user levels that can be assigned to all alarm functions, and color-coded alarm priorities. AMM is included with Interact and CTC PowerStations. Networking Module (NET) This Interact Module enables the transfer of multiple applications throughout the manufacturing facility - or in remote locations using off-the-shelf LAN/WAN operating systems. It is a network aware architecture that simplifies centralization of applications and/or program files on a network server. NET is included with Interact and CTC PowerStations. For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

269 Catalog 8-4/USA Human-Machine Interface HMI & Machine Control Other Interact Modules: Recipe Module (RCM) The Recipe Module (RCM) is designed for batch processing applications. This module creates a library of recipes containing process values, allowing operators to upload, download, modify and store recipes on-line. Other features include a wide range of recipe controls and an automatic recipe activity log. Machine Configuration Module (MCM) Machine Configuration Module (MCM) is a valuable Interact option designed to address specific requirements of machine builders and users. With the power of MCM, you have the ability to design, manage and perform efficient manufacturing changeovers. This tool also makes it possible to rapidly develop modular configurations and machine setup functions, allowing you to easily customize products and options to meet your customer s unique requirements. Data Transfer Module (DTM) The Data Transfer Module (DTM) provides a high speed gateway to share information between different types of control equipment by exchanging data among multiple drivers. This module allows you to replace expensive networking software and hardware with inexpensive software connections. Historical Trending Module (HTM) The Historical Trending Module (HTM) gathers selected data from the machine or process, and allows you to view this data on-line in graphical or spreadsheet format. These data files can also be logged to disk so that they can be analyzed off-line using popular PC packages. Data can be logged on time interval, event or operator input. Advanced features such as data and time search allow for enhanced on-line analysis of logged data. Report Module (RPM) The Report Module (RPM) creates free-form reports for any Interact application. These real-time data reports can be previewed on the display screen while in online operation; completed reports can be downloaded to a network or disk for review at a later date. Reports can also be printed in hard copy or ASCII file format. User Program Module (UPM) You can add your own software or application-specific features or communication drivers to Interact s architecture through the use of the Software Developers Kit. The UPM is designed to a user-written terminate-and-stay-resident (TSR) program to share data with Interact; the SDK shows users how to write a TSR program that functions as an Interact module or communication driver. Ordering Information (See MachineShop section for information about ordering development software.) Interact DOS Runtime Systems Description Model # Interact Runtime Core Modules (PTM, GMM, AMM, NET) Interact Runtime Core Modules + 1 Optional Module Interact Runtime Core Modules + 2 Optional Modules Interact Runtime Core Modules + 4 Optional Modules Interact Runtime Core Modules + All Optional Modules* INT-516 INT-5161 INT-5162 INT-5164 INT-516A * The Interact DDE Server is not included with the All Modules option. 29 Parker Hannifin Corporation

270 Catalog 8-4/USA PC-ased Machine Control HMI & Machine Control PC-ased Machine Control Software The benefits of PC-based control are being brought to the machine builder - without all of the cost - with CTC s MachineLogic Control Software. MachineLogic is a deterministic, hard real-time control system with program execution times down to one millisecond. It offers the best of both PLC and PC-based technologies and supports all IEC languages including ladder logic. MachineLogic can be run on CTC s entire family of Power- Station workstations, ranging from the 6" display P1/P1P up to the 15" PS1 and P9, giving users the ability to match the workstation with the specific needs of the project. MachineLogic can run stand-alone or can be used in conjunction with CTC s Interact, the #1 rated machine control HMI software. MachineLogic features a high level of reliability because it runs on solid state Flash versus hard drive systems. It uses of a PLC control engine that has been proven in thousands of installations, high-speed retentive memory and easy on-line editing. I/O Support MachineLogic supports three types of I/O: fieldbuses (such as Profibus and DeviceNet), Ethernet I/O and PC I/O in a PC/14 format for lower cost systems. Although other third party I/O products work with MachineLogic, CTC s MachinePoint I/O provides users with unique features as well as a single source for machine control. (Details on MachinePoint can be found on page 316). Two Runtime Targets - One Development Software CTC offers a MachineLogic Soft Runtime option, which runs control software on the host CPU, or a Slot Card Runtime, which runs independent of the host CPU and operating system. oth PC-based control runtime targets share the same MachineShop development environment and toolbar, with the ability to easily download a program. For larger PC-based control applications, the PCI Slot Card features performance that is beyond even higher-end PLC and PC controls. Slot Card Features: Independent CPU processor will more than handle most any machine control application. Embedded OS - designed for control applications. Over 4M of application memory space available - many times greater than previous MachineLogic release. Supports Profibus/DeviceNet (1 card per application) and Ethernet I/O at the same time. 3 connections available for system debug - Ethernet and RS232 (card) and PowerStation Ethernet port. Compact FLASH application storage with automatic transfers between CF disk (on PowerStation) and PCI card. PCI communication allows remote Interact workstations to communicate with a Slot Card via standard PowerStation Ethernet port. For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

271 Catalog 8-4/USA PC-ased Machine Control HMI & Machine Control Features and Specifications EC Compliance IEC Programming Languages Specification Operating System Development: Windows 95/98/Me/2/NT Soft Runtime: RTXDOS (executes in MS DOS or ROM DOS systems only) Slot Card Runtime: Embedded Real-Time OS Programming Languages LD Ladder Diagram FD Function lock Diagram SFC Sequential Function Chart IL Instruction List ST Structured Text Multitasking Execution Up to 16 simultaneous tasks Cyclic task (fixed interval) System task (internal) Instruction Set All instructions outlined in IEC User developed function and function blocks PID routines HMI Interface Slot Card Interfaces to CTC s Interact HMI product via high speed PCI bus Soft Runtime communicates with Interact via shared memory Hardware Requirements Slot Card Runtime operates on PS1/12/15 (-3 or -4 expansion), P9 PowerStations or standard PC with PCI us (V.2.1 or later with CTC MLSCR Card). One card per system. Soft Runtime operates on all PowerStations or standard PC with ISA or PC/14 slot (with CTC Control Adapter card) Data Types Supported (Runtime) Data Types Supported (Runtime) oolean Short integer Integer Dougle integer Unsigned Short integer Unsigned integer Unsigned double integer yte Word Double word Real Time String I/O Support Profibus DP DeviceNet Ethernet Modbus TCP I/O PC/14 I/O (TD) Debug Tools Instance tree On line monitoring Forcing Watchlist reak points Array and Structure debug Single stepping/single cycling Logic Analyzer Additional Features Off-line simulation and debug Application templates for simplified project creation On-line documentation Interact has the ability to exchange tags with MachineLogic MachineShoop utility interfaces MachineLogic and Interact development environments 292 Parker Hannifin Corporation

272 Catalog 8-4/USA PC-ased Machine Control HMI & Machine Control PC-ased Machine Control Architecture PowerStation with Interact HMI and MachineLogic Ethernet Peer-to-Peer Connection to 6K or Gem6K Controller Ethernet, DeviceNet and Profius I/O Drive Motor Ordering Information (See MachineShop section for information about ordering development software.) MachineLogic Runtime Systems*** Description Model # MachineLogic Slot Card (requires PCI slot) Unlimited Tags Runtime MachineLogic Unlimited Tags Soft Runtime for PC/14 System MachineLogic Unlimited Tags Soft Runtime for ISA System DeviceNet UCS MachineLogic IO Interface Card**** Profibus PC/ Interface (5136-PF-14)^^^ Profibus ISA 5136 Interface (5136-PF-ISA)^^^ MLSC-6123 MLC-612 MLC-6121 MLDVN -1-A PF A PF-5136-ISA-A *** Requires Interact 6. for HMI, New MachineShop Shell, and 8 M Compact FLASH or equivalent. ****Card factory installed on MachineLogic Control Adapter Card. MachineLogic Control Adapter and I/O Interface cards require two card slots total. ^^^ Must be purchased with MachineLogic Runtime (MLC-6121). PowerStations should be ordered without Class1 Div 2 approvals when MLC A is installed. For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

273 Catalog 8-4/USA Development Environment HMI & Machine Control Development Environment for Interact and MachineLogic MachineShop is an integrated suite of Windows-based software for developing Interact HMI and MachineLogic PCbased control applications. MachineShop s convenient toolbar includes a Project Manager, Environment Navigation, and a PowerStation Transfer area. Whether you buy Interact, MachineLogic, or both, these tools make it easy to manage, create, integrate and transfer your machine applications. MachineShop runs on a standard PC, as well as CTC s full line of PowerStation s, integrating all of these products into a bundled solution that can fit the requirements of any machine. For a complete machine control solution, integrate MachineLogic control with Interact HMI software - and run it on one of CTC s PowerStation workstations. Project Management MachineShop s Project Management is a simple, intuitive way to configure and manage automation projects. It conveniently collects configuration data and runtime files into a central location. y allowing MachineLogic and Interact projects to appear in a single, unified environment, development tasks are simplified. The Project Management allows the user to... ackup and restore data from storage devices such as disks, hard drives and networks Document all project information Access data on runtime storage requirements and components used for the application Easily perform project tasks with the guidance of Wizards Use a common tag list for MachineLogic and Interact. PowerStation Transfer Once an application has been developed, MachineShop s PowerStation Transfer manages and transfers files that are needed to create or update a runtime project. These convenient tools simplify the transfer process, so projects can go online quickly. PowerStation Transfer can... Automatically transfer run time projects including Interact and/or MachineLogic ack up and restore runtime projects Transfer projects via the Internet Transfer with a serial connection or direct to Compact FLASH Help users select transfer options, using Wizard-based guidance. The PowerStation family includes a range of workstations to meet the needs of every machine you build from a 6" panel replacer to a 15" high performance PC. The flexible line of PowerStation workstations lets you select from Processors, display types, expansion and storage capabilities to get the right PowerStation for your application. Every PowerStation is bundled with #1 rated Interact HMI and is available with MachineLogic PC-ased Control Software - for a complete machine control solution. Ordering Information When ordering MachineShop Development Software, be sure to include software options and/or modules that match runtime software configuration that were ordered. MachineShop Development Software Configurations Description Model # Interact Only (PTM, GMM, AMM, NET) Interact + 1 Optional Module Interact + 2 Optional Modules Interact + 4 Optional Modules Interact + All Optional Modules Interact (PTM, GMM, AMM, NET) & MachineLogic Interact & MachineLogic + 1 Optional Module Interact & MachineLogic + 2 Optional Modules Interact & MachineLogic + 4 Optional Modules Interact & MachineLogic + All Optional Modules MachineLogic Only MSP-1N MSP-1N1 MSP-1N2 MSP-1N4 MSP-1NA MSP-1 MSP-11 MSP-12 MSP-14 MSP-1A MSP-1N 294 Parker Hannifin Corporation

274 Catalog 8-4/USA PowerStations HMI & Machine Control P1/P1H P1P, P1-1 PS1 & PS5 PS12 & PS15 P9 (page 297) (page 3, 32) (page 34) (page 34) (page 37) A Workstation For Every Machine You uild Factory-Floor Rugged The PowerStation family includes a range of workstations to meet the needs of every machine you build from a 6" panel replacer to a 15" high performance PC. The flexible line of PowerStation workstations lets you select from processors, display types, expansion and storage capabilities to get the right PowerStation for your application. Every PowerStation is bundled with #1 rated Interact HMI and is available with MachineLogic PC-ased Control Software - for a complete machine control solution. Removable Compact FLASH All CTC PowerStations come equipped with many helpful features such as removable Compact FLASH for software storage. This non-volatile solid-state technology offers significantly higher reliability than conventional hard drive systems while simplifying development and maintenance support. Simply create any changes on a PC and copy to flash cartridge (compact flash cartridge fits into any standard PCMCIA adaptor). This cartridge can be sent to a customer and inserted into a PowerStation. Upon power up, all change are incorporated into the unit. Parker s CTC line of PowerStation workstations is quality designed, manufactured and tested in Parker s Milford, Ohio facility. Here, pride is taken in delivering a quality workstation that you can count on to operate 24 hours a day, regardless of harsh factory floor environments. The uild Quality In philosophy is evident throughout the entire engineering and manufacturing process from the very beginning of the product design process up to the time the product is shipped out the door to the customer. Perhaps that s why approval agencies have stated that CTC products have one of the highest levels of selfassessment in the industry. uilt-in Ethernet Communications PowerStations come standard with built-in 1/1 ase-t Ethernet port* so that you can take full advantage of Ethernet communications on the factory floor. Interact HMI software includes Ethernet drives for Modbus, TCP/IP, A- PLCs, Compumotor 6K motion controllers, Gemini drive/controllers and more, with OPC server applications for exchanging data with Windows systems. 1/1 ase-t Ethernet Port* Ethernet Drivers for Common Factory Devices A- ControlLogix PLC A- PLC-5, SLC 55 Compumotor 6K Motion Controller Modbus TCP/IP (Modicon Quantum and Momentum) TI55 Ethernet family of PLCs More to come... Exchange Data with Window Systems OPC Server Applications SCADA, MES, MIS *P1 units include a 1 ase-t Ethernet port. For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

275 Catalog 8-4/USA PowerStations HMI & Machine Control CTC Product Quality PowerStation workstations are designed to meet the challenge of passing more tests in one day than most other units see in a lifetime. CTC PowerStations are designed and tested to withstand conditions occurring in a factory setting including electrical noise, mechanical shock and vibration, high temperature and humidity levels. This attention to detail is carried out into all areas of the design including EMI (electromagnetic immunity), detailed thermal, shock and vibration analysis and hosedown testing. Quality goes beyond testing the product to ensure robustness. It also involves selection of the right components and technology that fit an industrial environment. This is why CTC has instituted an unsurpassed supplier relationship process. This process makes true partners of our component suppliers by ensuring the use of the right components, including design reviews and quarterly performance evaluation with the supplier. In addition, the manufacturing team tests each and every unit before it is shipped using a unique 1% system burn-in in which the unit is thermal and power cycled over a period of time. It is quality-driven testing like this that builds in the reliability you need on the factory floor. Integrated Development Teams Qualified Component Selection Supplier Certification Continuous Design Reviews Commitment to Continuous Improvement Internal and Agency Product Testing Environmental Evaluation Temperature Humidity NEMA 4 Hosedown Chemical Resistance Power Supply Testing System Functionality Electromagnetic Compatibility (EMC) Testing Emmissions Immunity Mechanical/Packaging Testing Vibration Shock Agency Certification UL/cUL CE 296 Parker Hannifin Corporation

276 Catalog 8-4/USA PowerStations HMI & Machine Control P1/P1H PowerStations P1: A powerful display-based panel replacement alternative CTC s 1/4 VGA PowerStation is a powerful, PC architecture hardware and HMI solution for your panel replacement applications. The Model P1 workstation includes Interact software for panel replacement, along with alarming, graphics and networking capability. This software combination makes it easy for you to replace pushbuttons, digital meters, and other devices used in panels, eliminating the time and cost of hardwiring. The Model P1 PowerStation gives operators the information they need to more effectively monitor and control your machine or process. In addition, free-form graphics and animation capability enables you to provide a realistic representation of your application. P1H: A basic HMI with Interact Panel ToolKit and Networking Runtime software The P1H PowerStation provides another alternative for customers seeking a low cost solution for simple push button replacement applications. This new basic HMI with only Interact Panel ToolKit Runtime and Networking Runtime software is able to use 5+ Interact Drivers and is available in two models - monochrome and color. Customers can use either MachineShop or the new MachineShop asic HMI Package (which includes only the Interact Panel Toolkit Module) to develop P1H screens. Users in the field can also easily upgrade the P1H to a fully functional P1. P1/P1H PowerStations - a solution for any OEM application You can use CTC s Model P1/P1H PowerStations in a wide variety of applications, such as packaging, paper, food, beverage, pharmaceutical, and petro/chemical. In addition, Interact applications are portable - so you can use the same Model P1 Interact application on any workstation or PC platform. Plus, Interact works with most control equipment; this feature is beneficial for OEMs whose equipment must support multiple PLCs. CTC s P1 and P1H PowerStations can do the following for your machines: Replace hardwired panels, save time and reduce installation cost Reduce panel size Support over 25 Interact PLC communication drivers Provide applications that can migrate to other PowerStations or PCs Use the full featured, Interact HMI software Removable Compact FLASH memory for easy field upgrades For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

277 Catalog 8-4/USA PowerStations HMI & Machine Control P1/P1H PowerStations Features Values Software Interact Run-Time Software P1: PTM, AMM, GMM, NET; P1H: PTM, NET Display Type Flat Panel acklight Cold Cathode Fluorescent Tube Monochrome/Color Mono - LCD; Color - STN Resolution 1/4 VGA (32 x 24) Size 5.7" (145 mm) Diagonal CPU 8386 SX/4 MHz System Memory Standard 8 M standard (1 SIMM 72 pin) Storage Memory Compact FLASH cartridge 16M Compact FLASH (minimum) (Field replaceable FLASH Disk) I/O Ports Serial (1) RS232/422/485 (non-isolated) (1) RS232 (non-isolated) Ethernet; (NE 2 compatible) 1 MPS; 1ase-T with RJ45 connector Parallel IM Parallel Expansion Slots PC/14 (16 bit) User Interface Function Key On Screen Numeric Key On Screen Touchscreen Yes (analog resistive) Keyboard Port IM AT with Y-cable Mouse IM AT with Y-cable Package Designed for NEMA 4, 4X Temperature Range -45 C Rel. Humidity (non-condensing) 5-95% Vibration 1-15 Hz, 1G Shock 1G, 11 msec (operating) 3G, 11 msec (non-operating) Weight 3.3 lbs. (1.5 Kg) Overall Size (HxWxD) 7.7" x 5.6" x 3.2" (194.7 x x 81 mm) Power Requirements AC 9-26 VAC; 5/6 Hz; (Ext.Opt.) Maximum Power Consumption 5 Watts max. DC 18-3 VDC Maximum Power Consumption 25 Watts Agency Approval CE; UL/CUL; (Class I Division 2 - Available as option on DC units only) 298 Parker Hannifin Corporation

278 Catalog 8-4/USA PowerStations HMI & Machine Control Ordering Information (See MachineShop section for information about ordering development software.) P D R Family Touch only Display DRAM Storage Power Interact P1 Common Configurations Description Model # Mono LCD - FLASH Color STN - FLASH P11-14DR P11-314DR P1 Factory-Installed (or User-Installed) Hardware Accessories Description Model # PC/14 Installation Kit for a single PC/14 card PC/14 Installation Kit for two PC/14 cards PC/14 Installation Kit for three PC/14 cards Class I, Div. 2 Approval for P1 Units Allen-radley 1771 Remote I/O Card and Driver P11-PC14 P12-PC14 P13-PC14 P11-FM1-A AR-325 P1H Configurations (2 Configurations Available) Description Model # Mono LCD - FLASH Color STN - FLASH P1H-14DR P1H-314DR Adding Options to an Existing P1H Runtime Description Model # P1H Upgrade to P1 (GMM, AMM)* PP1-516 * P1H Upgrade is for Runtime software only. MachineShop (MSP-1N-P or eqivalent) must be purchased/used to create AMM and GMM functionality. MachineShop asic HMI Package for P1H The MachineShop asic HMI Package includes one software development system for the Interact Panel Toolkit (PTM) and Interact Networking. This package is available with the purchase of a P1H PowerStation. It may be upgraded to a standard MachineShop Interact development system by purchasing an upgrade package that enables the use of Alarm Management and Graphic Monitoring Modules. When the MachineShop asic HMI Package is ordered, development software for PTM and Networking Modules is included with a Compact Flash PCMCIA Adapter. Description Model # P1H MachineShop asic HMI Development (PTM, NET) MSP-1NH-P Upgrade to Standard MachineShop HMI (GMM, AMM) MOD-56-H For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

279 Catalog 8-4/USA PowerStations HMI & Machine Control P1P PowerStation It s a perfect fit for applications that need high speed and high functionality in a compact hardware package! The 6" P1P is a Pentium-based HMI workstation with advanced features, yet is small enough to fit almost any machine. It also sports an all-new look...with its sleek bezel design and graphical displays, bringing a modern, high tech look to any machine. The P1P not only offers a 6" STN display, but also provides a full VGA TFT option, which can run all of CTC s Interact software modules. This also means that the P1P can run applications developed for larger PowerStation workstations - on a smaller, more compact unit. The P1P comes bundled with CTC s core Interact HMI software modules (panel tools, graphics, alarming and networking) and is a perfect companion to CTC s MachineLogic PCbased control software. All of this allows you to integrate HMI and machine control in a small, yet powerful, package. Typically, smaller HMI workstations have slower processors, but the P1P delivers much higher speed with its Pentium processor. The P1P is an open architecture unit that offers expansion capabilities it comes standard with a solid-state 16 M Compact FLASH memory cartridge that is expandable to 128 M. The removable Compact FLASH allows users to make changes to applications by simply dropping in an updated cartridge. Ordering Information (See MachineShop section for information about ordering development software.) P D R - Family Pentium Display DRAM Storage Power Interact Agency P1P Common Configurations Description Model # Color STN (1/4 VGA) Pentium - FLASH Color TFT (Full VGA) Pentium - FLASH P12-334DR-3 P12-434DR-3 Factory-Installed (or User-Installed) Hardware Accessories Description Model # PC/14 Installation Kit for a single PC/14 card PC/14 Installation Kit for two PC/14 cards PC/14 Installation Kit for three PC/14 cards Allen-radley 1771 Remote I/O Card and Driver P11-PC14 P12-PC14 P13-PC14 AR-325-A 3 Parker Hannifin Corporation

280 Catalog 8-4/USA PowerStations HMI & Machine Control P1P PowerStation Software Features Values MachineShop with Interact Runtime PTM, AMM, GMM, NET Display Type Flat Panel acklight Cold Cathode Fluorescent Tube Monochrome/Color Color - LCD, TFT Resolution STN: 1/4 VGA (32 x 24) TFT: VGA (64 x 48) Size 5.7" (145 mm) Diagonal (LCD) 6.4" (163 mm) Diagonal (TFT) CPU Pentium (consult factory for specific processor information) System Memory Standard 32 M (minimum) Storage Memory Compact FLASH 16 M compact FLASH (minimum) (Field replaceable FLASH Disk) Floppy Disk Drive N/A Hard Drive N/A I/O Ports Serial (1) RS232/422/485 (1) RS232 Ethernet 1/1 ase-t with RJ45 connector Parallel IM Enhanced Expansion Slots PC/14 (16 bit) External Video N/A User Interface Function Key On Screen Numeric Key On Screen Touchscreen Analog Resistive Select Key N/A Cancel Key N/A Keyboard Port IM AT with Y-cable Mouse PS/2 with Y-cable Package Designed for NEMA 4, 4X Temperature Range -45 C Rel. Humidity (non-condensing) 5-95% Vibration 1-15 Hz, 1G (Sin) 1-5 Hz 1.5G (RMS Random) Shock 1G, 11 msec (operating) 3G, 11 msec (non-operating) Weight 3.26 lbs. (1.48 Kg) Overall Size (HxWxD) 8.7" x 6.3" x 3.25" (221 mm x 16 mm x 82.5 mm) Power Requirements AC 9-26 VAC; 5/6 Hz; (Ext. Opt.) Maximum Power Consumption 5 Watts max. DC VDC Maximum Power Consumption 25 Watts Agency Approval CE; UL/CUL Class I Division 2 (DC units only) For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

281 Catalog 8-4/USA PowerStations HMI & Machine Control P1-1 PowerStation The new addition to the P1 PowerStation line features a 1 Pentium 166 processor package. Like the other P1 products, this new economical 1 unit is availble in color and mono display options with PC/14 expansion. The P1-1 comes bundled with Interact Core Modules (panel tools, graphics, alarming, and networking), and can also come bundled with any of the interact optional modules, as well as MachineLogic, CTC s PC-ased Control software. Ordering Information (See MachineShop section for information about ordering development software.) P D R - Family Model Display DRAM Storage Power Interact Agency P1-1" Common Configurations Description Model # 1" Mono LCD - Pentium 166 MHz - FLASH P15-44DR-3 1" Color TFT Pentium 166MHz- FLASH P15-444DR-3 1" Color High right TFT Pentium 166MHz- FLASH P15-544DR-3 Factory-Installed (or User-Installed) Hardware Accessories Description Model # Expansion kit: for two PC/14 cards total Expansion kit: for three PC/14 cards total COV-2 COV-3 32 Parker Hannifin Corporation

282 Catalog 8-4/USA PowerStations HMI & Machine Control P1-1" PowerStation Features Values Software Interact Runtime PTM, GMM, AMM, NET. Additional modules and MachineLogic PC-ased Control Software optional Display Type Flat Panel acklight Cold Cathode Fluorescent Tube Monochrome/Color Mono - LCD; Color - TFT Resolution VGA (64 x 48) Size 9.4 (239 mm) Diag. (Mono/LCD)) 1.4 (264 mm) Diag. (Color/TFT) CPUs Pentium (consult factoryfor specific processor information) System Memory Standard 32 M (minimum) Storage Memory Compact FLASH (Type II connectors) 16 M Compact FLASH (minimum) Floppy Disk Drive N/A Hard Drive N/A CD ROM N/A Video Memory 2 M High Speed SDRAM I/O Ports Serial (1) RS232/422/485 (2) RS232 Ethernet 1/1ase-T w/ RJ45 connector Parallel (1) 25-Pin D-sub connector (supports i-directional SSP/SPP/ECP) Expansion Slots 1 PC/14 Standard, up to 3 PC/14 cards supported External Video N/A US N/A User Interface Function Key Pop-Up On Screen Numeric Entry Pop-Up On Screen Touchscreen Analog Resistive 8-wire Keyboard/Mouse Port 1 PS/2 Mouse port & 1 PS/2 Keyboard port Package Designed for NEMA 4/4X Temperature Range -5 C Rel. Humidity (non-condensing) 5-95% Vibration 1-15 Hz, 1G (Sin): 1-5 Hz.5G (RMS Random) Shock 1G, 11 msec (operating) 3G, 11 msec (non-operating) Weight ~13.4 lbs. (6.7 Kg) Overall Size (H x W x D) 11.2 x x 4.29 Power Requirements AC -- Max. Power Consumption 9-25 VAC; 5/6 Hz; (external purchased separately) 11 Watts max DC -- Max. Power Consumption VDC Standard Watts max Agency Approval Plan (not yet approved) CE, UL/CUL, Class 1 Div. 2 For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

283 Catalog 8-4/USA PowerStations HMI & Machine Control PS Series PowerStations Match the Right Display Size with the Right Functionality...at the Right Price CTC has taken its popular PowerStation line and enhanced it with more displays and hardware configuration options. With the new modular PS Series, you can get the hardware and software features you need at the price point you want. These PowerStations offer you more value at a very competitive price - plus you get an open platform to run advanced HMI capabilities such as recipe handling, trending or reporting. The PS Series simply gives you more options than any other operator interface solution. The PS5 Function Key PowerStation model includes arrows for cursor control and features 4 function keys (2 plus Shift) for operators who prefer traditional function key operation. This flat-panel workstation features Interact s Core Modules (Panel Tools, Panel Alarms, Graphics and Networking Modules), and all drivers. The PS5 can run additional Interact modules; it also supports networking options. You can literally mix and match displays, expansion capabilities, hardware configurations, and software functionality to get the right workstation for your machine. To build your custom operator interface to get the best possible solution for your application Choose your display No Display 2. Choose your expansion needs PC/14 ISA/PCI 3. Choose your workstation package Integrated PS PowerStation bundled with CTC s Interact HMI software PC version workstation with Windows without Interact (See Industrial PC section) RS Remote System with Interact (or RC Remote Computer) that is cable-connected to a separate monitor RS Remote System PowerStation A powerful, RS version PowerStation offers the performance and features of the PS Series hardware platform without an integrated display. Remote Systems can be mounted in an enclosure and cable-connected to a separate 12" or 15" Industrial Flat Panel Monitor. 34 Parker Hannifin Corporation

284 Catalog 8-4/USA PowerStations HMI & Machine Control PS Series PowerStation Features Values 1" Display Type Flat Panel (PS1 & PS5) Monochrome/Color Mono LCD; Color TFT Resolution VGA (64 x 48) Screen Size 9.4" (239 mm) Diagonal (Mono LCD) 1.4" (264 mm) Diagonal (Color TFT) 12" Display (PS1) Type Flat Panel Monochrome/Color Color TFT Resolution SVGA (8 x 6) Screen Size 12.1" (31 mm) Diagonal 15" Display (PS15) Type Flat Panel Monochrome/Color Color TFT Resolution XGA (124 x 768) Screen Size 15.1" (38 mm) Diagonal Software PS/RS undled PowerStation Includes Interact Runtime: PTM, GMM, AMM, NET. CPU Pentium (consult factory for specific processor information) System Memory Standard 32 M (minimum) Storage Memory Compact FLASH (Type II connectors) 16 M Compact FLASH (minimum), (1 external & 1 internal), (also supports MicroDrive) Floppy Disk Drive Optional (external, surface or panel mount) Hard Drive EIDE Interface (consult factory for HD capacity) CD ROM Optional Super Slim CD ROM I/O Ports Serial (1) RS232/422/485 (2) RS232 Ethernet 1/1ase-T w/rj45 connector Parallel (1) 25-Pin D-sub connector (supports i-directional SSP/SPP/ECP) Expansion Slots: PC/14 models 3 PC/14 cards are supported ISA/PCI models 3 slots (2 ISA 1 ISA/PCI Configurable) or (2 PCI 1 ISA/PCI configurable) [Note: 1 PC/14 card is supported in this configuration] External Video (1) Analog 15-Pin D-sub connector (supports simultaneous video mode) US (2) US Ports User Interface Function Key PS5 only: 4 (2 plus shift) Numeric Key PS5 only: yes Touchscreen* Analog Resistive (8-wire, 124 x 124 resolution) Keyboard Port 1 PS/2 Keyboard port Mouse 1 PS/2 Mouse port Package Designed for NEMA 4/4X Temperature Range -5 C Rel. Humidity (non-condensing) 5-95% Vibration** 1-5 Hz,.5 (RMS Random); [Compact Flash units: 1-5 Hz, 1g (RMS Random)] Shock 1G, 11 msec (operating) 3G, 11 msec (non-operating) Cutout Dimensions: 1" Display*** 9.86" (25 mm) x 12.6" (32 mm) clip mount 12" Display 11.25" (286 mm) x 14.14" (359 mm) clip mount 15" Display 12.4" (315 mm) x 15.9" (44 mm) clip mount Power Requirements AC 9-25 VAC; 5/6 Hz (external supply only) Maximum Power Consumption 11 Watts DC VDC Maximum Power Consumption 78 Watts Agency Approval UL,CUL,CE; Class 1 Division 2 * Not applicable to RS and RC units. ** Does not apply to MicroDrive option. *** PS5 dimensions not included (consult factory). For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

285 Catalog 8-4/USA PowerStations HMI & Machine Control Ordering Information (See MachineShop section for information about ordering development software.) * Does not denote display size for PS5 models PS Series Common Configurations Description Model # 1" Mono LCD - Pentium - FLASH PS1-2M2-DD1-AD3 1" Color TFT - Pentium - FLASH PS1-2T2-DD1-AD3 1" right Color TFT - Pentium - FLASH PS1-2H2-DD1-AD3 12" Color TFT - Pentium - FLASH PS12-2T2-DD1-AD3 15" Color TFT - Pentium - FLASH PS15-2T2-DD1-AD3 Function Key Version (PS5) Common Configurations Description Model # 1" Mono LCD - Pentium - FLASH PS51-2M1-DD1-AD3 1" Color TFT - Pentium -FLASH PS51-2T1-DD1-AD3 1" right Color TFT - Pentium -FLASH PS51-2H1-DD1-AD3 RS (Remote System Version) Common Configurations Description Model # No Display (Remote System) - Pentium - FLASH RS-22-DD1-AD3 Factory-Installed (or User-Installed) Hardware Accessories Description Model # Expansion kit: for two PC/14 cards total Expansion kit: for three PC/14 cards total COV-2 COV-3 36 Parker Hannifin Corporation

286 Catalog 8-4/USA PowerStations HMI & Machine Control P9 PowerStation The most powerful and serviceable PowerStation yet! CTC s high-end industrial workstation is a powerful and rugged PC platform for machine control with either a 12 or 15 display. These units stand apart from the competition by offering a variety of features and options, plus a high level of reliability and serviceability for the plant floor. The P9 is available with either a 12" or 15" color TFT display for large screen applications. Features like field replaceable bulbs, hard drive, CD-ROM, floppy drive and CPU board make these units easy to maintain and troubleshoot. Plus the unique design makes them a powerful and maintainable PC solution for plant floor applications. P9 PowerStation Models There are a variety of P9 PowerStation configurations available; some of the workstation s features are listed here. undled with Interact software or MachineLogic PC-based control software 12" SVGA (8 x 6), color TFT display or 15" XGA (124 x 768) color TFT display Celeron /Pentium III Compact FLASH and/or Hard Drive storage 32x CD-ROM drive 3.5" floppy drive 3 RS232 serial ports, 1 RS232/422/485 serial port 1/1 base-t Ethernet port, 2 US ports, 1 parallel port 2 ISA and 1 PCI or 3 ISA slots Designed for NEMA 4/4X Quality resolution scaling from XGA or SVGA to VGA Field replaceable hard drive, CD-ROM and floppy drive Field upgradable NLX CPU board RS9 Remote System CTC has developed a powerful, new RS version that is based on the new P9 hardware platform. Now you can get all of the power, expandability and serviceability of the P9 in a Remote System that can be mounted in an enclosure and cableconnected to one of our 12" or 15" Industrial Flat Panel Monitors. This configuration offers a RS solution with a Celeron or Pentium III processor up to 1 GHz. For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

287 Catalog 8-4/USA PowerStations HMI & Machine Control P9 PowerStation Features Values Software Interact Run-Time Software PTM, AMM, GMM, NET Display Type Flat Panel acklight Cold Cathode Fluorescent Tube Color TFT Resolution SVGA (8 x 6) or XGA (124 x 768) Size 12.1" or 15.1" Diagonal CPUs Celeron; Pentium III (consult factory for specific processor information) System Memory Standard 32 M SDRAM DIMM (minimum) Storage Memory Compact FLASH cartridge 16 M compact FLASH (minimum) PCMCIA FLASH Adapter Via 3rd Party FLASH Card Via 3rd Party Adapter oard Hard Disk Card Via 3rd Party Adapter oard SRAM Card Via 3rd Party Adapter oard CD-ROM Drive 32x (min.) CD-ROM (standard) Floppy Disk Drive 3.5", 1.44 M, Side Access (standard) Hard Drive EIDE Interface (consult factory for HD capacity) I/O Ports Serial (1) RS232/422/485 (isolated) (3) RS232 Ethernet 1/1 ase-t Ethernet Controller RJ45 Interface US 2 Ports Parallel i-directional IM Enhanced Expansion Slots 2 ISA/1 PCI or 3 ISA Slots (user configurable) Sound ESS AudioDrive Sound Controller Soundlaster Pro Compatible Sound Interface External mini audio stereo jack User Interface Function Key Onscreen Numeric Key Onscreen Touchscreen Yes (analog resistive) Keyboard Port PS/2 Keyboard (AT-style adapter cable included) Mouse Port PS/2 Mouse (AT-style adapter cable included) Package Designed for NEMA 4, 4X Temperature Range -5 C (for 85 MHz and lower) Rel. Humidity (non-condensing) 5-95% Vibration.25g rms Shock 1G, 11 msec (operating) 3G, 11 msec (non-operating) Weight 12" lbs. (12.59 Kg) 15" lbs. (14.12 Kg) Overall Size (HxWxD - ehind Panel) 12" " x 15.1" x 1." (38mm x 383mm x 254mm) 15" " x 16.8" x 1.2" (338mm x 427mm x 259mm) Power Requirements AC AC (9-26V) autoranging Maximum Power Consumption 12 Watts Agency Approval UL/CUL/CE 38 Parker Hannifin Corporation

288 Catalog 8-4/USA PowerStations HMI & Machine Control Ordering Information (See MachineShop section for information about ordering development software.) P A Family Touchscreen Display CPU DRAM Expans. Primary Second O.S. Second Power Storage Storage Drive Agency P9 Common Configurations Description Model # 12" TFT Display - Celeron - FLASH P91-4NA-14A-4A3 15" TFT Display - Celeron - FLASH P91-5NA-14A-4A3 12" TFT Display - Pentium III - FLASH P91-4PA-14A-4A3 15" TFT Display - Pentium III - FLASH P91-5PA-14A-4A3 P9 RS (Remote System Version) Common Configurations Description Model # No Display - Celeron - FLASH No Display - Pentium III - FLASH P9R-NA-14A-4A3 P9R-PA-14A-4A3 For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

289 Catalog 8-4/USA Industrial PCs HMI & Machine Control PC5, PC1, PC12, PC15 and RC Industrial PCs CTC Industrial PCs are modular workstations that supply full functionality and open PC architecture to run any Windows or DOS package, and have the same rugged design as CTC s standard PowerStation. These PCs includes a range of options to meet the needs of any factory floor application - from a compact 1" unit up to a 15" large screen PC. You can select from display types, expansion and storage capabilities to get the right PC for your application. There are even Remote Computers (RC) available (without display) in which an enclosed back shell can be mounted in an enclosure and cableconnected to one of CTC s flat panel industrial monitors. Ordering Information The PC5 Function Key PC model includes arrows for cursor control and features 4 function keys (2 plus Shift) for operators who prefer traditional function key operation. Features include: Compact FLASH storage media, built-in Ethernet port and a NEMA 4/4X rating. These Industrial PC PowerStations are higher-end units that supply full functionality and open PC architecture to run any Windows or DOS package, and have the same rugged design as CTC s standard PowerStation. * Does not denote display size for PC5 models PC1/PC12/PC15 Common Configurations Description Model # 1" Color TFT - Pentium - Hard Drive PC1-2T2-8DA-AD3 1" right Color TFT - Pentium - Hard Drive PC1-2H2-8DA-AD3 12" Color TFT - Pentium - Hard Drive PC12-2T2-8DA-AD3 15" Color TFT - Pentium - Hard Drive PC15-2T2-8DA-AD3 Function Key (PC5) Common Configurations Description Model # 1" right Color TFT - Pentium - Hard Drive - Touchscreen PC51-2H1-DD1-AD3 RC (Remote Computer Version) Common Configurations Description Model # No Display - Pentium - Hard Drive RC-22-8DA-AD3 31 Parker Hannifin Corporation

290 Catalog 8-4/USA Industrial PCs HMI & Machine Control PC5, PC1, PC12, and PC15 Industrial PCs Features Values 1" Display Type Flat Panel - TFT (PC1 & PC5) Color N/A Resolution VGA (64 x 48) Screen Size 1.4" (264 mm) Diagonal 1" Display (PC12) Type Flat Panel Color Color TFT Resolution SVGA (8 x 6) Screen Size 12.1" (31 mm) Diagonal 15" Display (PC15) Type Flat Panel Color Color TFT Resolution XGA (124 x 768) Screen Size 15.1" (38 mm) Diagonal Operating System PC/RC Industrial PCs Choices include Windows 98/2/NT/Embedded NT CPU Pentium (consult factory for specific processor information) System Memory Standard 32 M (minimum) Storage Memory Compact FLASH (Type II connectors) 128 M Compact FLASH (minimum), (1 external & 1 internal), (also supports MicroDrive) Compact FLASH slots, (1 external & 1 internal), (also supports MicroDrive) Floppy Disk Drive Optional (external, surface or panel mount) Hard Drive EIDE Interface (exact sizes vary - consult factory for HD capacity) CD ROM Optional 24x Super Slim CD ROM I/O Ports Serial (1) RS232/422/485 (2) RS232 Ethernet 1/1ase-T w/rj45 connector Parallel (1) 25-Pin D-sub connector (supports i-directional SSP/SPP/ECP) Expansion Slots PC/14 models 3 PC/14 cards are supported ISA/PCI models 3 slots (2 ISA 1 ISA/PCI Configurable) or (2 PCI 1 ISA/PCI configurable) [Note: 1 PC/14 card is supported in this configuration] External Video (1) Analog 15-Pin D-sub connector (supports simultaneous video mode) US (2) US Ports User Interface Function Key PC5 only: 4 (2 plus shift) Numeric Key PC5 only: yes Touchscreen* Analog Resistive (8-wire, 124 x 124 resolution) Keyboard Port 1 PS/2 Keyboard port Mouse 1 PS/2 Mouse port Package Designed for NEMA 4/4X Temperature Range -5 C Rel. Humidity (non-condensing) 5-95% Vibration** 1-5 Hz,.5 (RMS Random); [Compact Flash units: 1-5 Hz, 1g (RMS Random)] Shock 1G, 11 msec (operating) 3G, 11 msec (non-operating) Cutout Dimensions: 1" Display*** 9.86" (25 mm) x 12.6" (32 mm) clip mount 12" Display 11.25" (286 mm) x 14.14" (359 mm) clip mount 15" Display 12.4" (315 mm) x 15.9" (44 mm) clip mount Power Requirements AC 9-25 VAC; 5/6 Hz (external supply only) Maximum Power Consumption 11 Watts DC VDC Maximum Power Consumption 78 Watts Agency Approval UL,CUL,CE Class 1 Division 2 * Not applicable to RS and RC units. *** PC5 dimensions not included (consult factory) ** Does not apply to MicroDrive option For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

291 Catalog 8-4/USA Industrial PCs HMI & Machine Control PC9 Industrial PC CTC s high-end industrial workstation is a powerful and rugged PC platform for machine control and a durable, open solution for powering PC-based factory automation into the future. These units stand apart from the competition by offering a variety of features and options, plus a new level of reliability and serviceability for the plant floor. The PC9 is available with either a 12" or 15" color TFT display for large screen applications. Features like field replaceable bulbs, hard drive, CD- ROM, floppy drive and CPU board make these units easy to maintain and troubleshoot. Plus the unique design makes them a powerful and maintainable PC solution for plant floor applications. There are a variety of PC9 PowerStation configurations available; some of the workstation s features are listed here. 12" SVGA (8 x 6), color TFT display or 15" XGA (124 x 768), color TFT display Celeron/Pentium III Compact FLASH and/or Hard Drive storage 32x CD-ROM drive 3.5" floppy drive 3 RS232 serial ports, 1 RS232/422/485 serial port 1/1 base-t Ethernet port, 2 US ports, 1 parallel port 2 ISA and 1 PCI or 3 ISA slots Designed for NEMA 4/4X Analog resistive touchscreen Field replaceable hard drive, CD-ROM and floppy drive Field upgradable NLX CPU board PC9 Remote Computer Version CTC has developed a powerful, new remote PC that is based on the new PC9 hardware platform. Now you can get all of the power, expandability and serviceability of the PC9 in a Remote Computer that can be mounted in an enclosure and cableconnected to one of our 12" or 15" Industrial Flat Panel Monitors. This configuration offers a remote solution with a Celeron or Pentium III processor up to 1 GHz. 312 Parker Hannifin Corporation

292 Catalog 8-4/USA Industrial PCs HMI & Machine Control PC9 Industrial PC Features Values Display Type Flat Panel acklight Cold Cathode Fluorescent Tube Color TFT Resolution SVGA (8 x 6) or XGA (124 x 768) Size 12.1" or 15.1" Diagonal CPUs Celeron; Pentium III (consult factory for specific processor information) System Memory Standard 32 M SDRAM DIMM (minimum) Storage Memory Compact FLASH cartridge 16M compact FLASH (minimum) PCMCIA FLASH Adapter Via 3rd Party FLASH Card Via 3rd Party Adapter oard Hard Disk Card Via 3rd Party Adapter oard SRAM Ca Via 3rd Party Adapter oard D-ROM Drive 32x (min.) CD-ROM (standard) Floppy Disk Drive 3.5", 1.44 M, Side Access (standard) Hard Drive EIDE Interface (consult factory for HD capacity) I/O Ports Serial (1) RS232/422/485 (isolated) (3) RS232 Ethernet 1/1 ase-t Ethernet Controller RJ45 Interface US 2 Ports Parallel i-directional IM Enhanced Expansion Slots 2 ISA/1 PCI or 3 ISA Slots (user configurable) Sound ESS AudioDrive Sound Controller Soundlaster Pro Compatible Sound Interface External mini audio stereo jack User Interface Function Key Onscreen Numeric Key Onscreen Touchscreen Yes (analog resistive) Keyboard Port PS/2 Keyboard (AT-style adapter cable included) Mouse Port PS/2 Mouse (AT-style adapter cable included) Package Designed for NEMA 4, 4X Temperature Range -5 C (for 85 MHz CPU and lower) Rel. Humidity (non-condensing) 5-95% Vibration.25g rms Shock 1G, 11 msec (operating) 3G, 11 msec (non-operating) Weight 12" lbs. (12.59 Kg) 15" lbs. (14.12 Kg) Overall Size (HxWxD - ehind Panel) 12" " x 15.1" x 1." (38mm x 383mm x 254mm) 15" " x 16.8" x 1.2" (338mm x 427mm x 259mm) Power Requirements AC AC (9-26V) autoranging Maximum Power Consumption 12 Watts Agency Approval UL/CUL/CE (Class 1 Div 2 optional) For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

293 Catalog 8-4/USA Industrial PCs HMI & Machine Control Ordering Information P A Family Touchscreen Display CPU DRAM Expans. Primary Second O.S. Second Power Storage Storage Drive Agency PC9 Common Configurations Description Model # 12" TFT Display - Celeron - Hard Drive P91-4NA-1AJ-4A3 15" TFT Display - Celeron - Hard Drive P91-5NA-1AJ-4A3 12" TFT Display - Pentium III - Hard Drive P91-4PA-1AJ-4A3 15" TFT Display - Pentium III - Hard Drive P91-5PA-1AJ-4A3 PC9 RC (Remote Computer Version) Common Configurations Description Model # No Display - Celeron - Hard Drive No Display - Pentium III - Hard Drive P9R-NA-1AJ-4A3 P9R-PA-1AJ-4A3 314 Parker Hannifin Corporation

294 Catalog 8-4/USA Industrial Monitors HMI & Machine Control Industrial Monitors These sleek, high-resolution Industrial Monitors enhance the overall look and functionality of your machine. Available in 12" or 15" displays, both models feature a lightweight displays with multiple mounting options. 12" SVGA (8 x 6), or 15" XGA (124 x 768) Advanced video image autosizing for lower resolutions Analog resistive touchscreen Serial touchscreen interface Optional cable lengths - 6', 15', 25', 5' Video frequency detect 24 VDC power (optional AC brick) On-screen display control Rear button control for on-screen display Field replaceable bulbs 12" and 15" Industrial Monitors Features Values 12" Display Type Flat Panel acklight Cold Cathode Fluorescent Tube Color TFT Resolution 12 SVGA (8 x 6) Size 12.1 (31 mm) Diagonal 15" Display Type Flat Panel acklight Cold Cathode Fluorescent Tube Color TFT Resolution 15 XGA (124 x 768) Size 15.1 (38 mm) Diagonal User Interface Touchscreen Analog Resistive Video Controls On Screen Display (OSD) controlled by rear panel buttons Package Designed for NEMA 4, 4X Temperature Range -5 C Rel. Humidity (non-condensing) 95% Vibration 1-5 Hz,.5g (RMS) Shock 1G, 11 msec (operating); 3G, 11 msec (non-operating) 12" Display Weight / Size (H x W x D) 15" Display Weight / Size (H x W x D) 14.6 lbs. (6.6 Kg) / 12.1 x 15.1 x 3.6 ; 38 mm x 383 mm x 91 mm 17.2 lbs. (7.8 Kg) / 13.3 x 16.8 x 3.8 ; 338 mm x 427 mm x 96 mm Power Requirements AC - Maximum Power Consumption 9-26 VAC; 5/6Hz (Ext.Opt.), 5 Watts maximum DC - Maximum Power Consumption 2-36 VDC, 3 Watts maximum Agency Approval CE, UL/CUL Class 1 Div 2 Ordering Information Industrial Monitor Common Configurations Description Model # 12" Color TFT Display PM1-4A1-XD3 15" Color TFT Display PM1-5A1-XD3 For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

295 Catalog 8-4/USA MachinePoint I/O HMI & Machine Control I/O for MachineLogic MachinePoint I/O is CTC s remote I/O system for connecting field devices to MachineLogic PC-based control through an industrial fieldbus. It is part of a bundled solution, giving you a single source for machine control, HMI, workstations and fieldbus I/O. CTC s MachineLogic and MachinePoint work together to provide a systems solution for machine control. Although other third party I/O products work with MachineLogic, MachinePoint I/O offers you more features (such as replaceable circuitry) than many other solutions. Plus, you ll benefit because the MachineLogic and MachinePoint I/O combination has already been factory tested to work together as an integrated solution for machine control applications. MachineLogic communicates to the I/O through a fieldbus option (Profibus or DeviceNet) or Ethernet I/O (ModbusTCP/IP). You can choose one of CTC s buscoupler products to read the protocol, and then select from several I/O solutions to handle your machine inputs and outputs. CTC offers two models to meet your specific project needs: the Standard uscoupler model (for applications that require more advanced features such as remote diagnostics) or the Economy uscoupler (same performance as the standard buscoupler, but at a lower cost). Standard uscoupler Features 4 character display Keypad for advanced features Diagnostic features Service functions Error code display Mode operation access Single stepping/single cycling Economy uscoupler Features On module diagnostics Operating Mode display Remote forcing Remote Run/Stop capability Modular I/O MachinePoint Modular I/O offers a variety of benefits, including a unique replaceable circuitry feature that allows modules to be replaced without having to disconnect field wiring. Modular I/O can accommodate up to 6 modules per buscoupler. Modular I/O Features Analog or digital I/O products Opto-isolation at fieldbus connection Full range of addresses for Profibus Easy error code indication Fast/easy setup and commissioning No software required Low cost analog I/O Reset I/O to zero or last known state on bus failure Compact I/O Incorporates buscoupler and I/O into one package Suitable for small I/O count nodes Supports Profibus and DeviceNet No analog I/O supported 316 Parker Hannifin Corporation

296 Catalog 8-4/USA MachinePoint I/O HMI & Machine Control Ordering Information and Part Numbers MachinePoint I/O Products us Interface Model # uscoupler Ethernet uscoupler Profibus-DP Economy uscoupler Profibus-DP uscoupler DeviceNet Economy uscoupler DeviceNet W W W W W us 24 VDC I/O and Interface* Model # Compact 16I Profibus-DP Compact 8I/O Profibus-DP Compact 16O Profibus-DP Compact 8I 8I/O Profibus-DP Compact 16I DeviceNet Compact 8I/O DeviceNet Compact 16O DeviceNet Compact 8I 8I/O DeviceNet W W W W W W W W VDC I/O** Model # Digital 16 I Digital 8 I/O Digital 16O Digital 8I 8I/O DC 2 amp Digital Output Input, NPN Support 24 VDC W W W W Consult Factory Consult Factory AC I/O** Model # 23 VAC - 4 Inputs W VAC - 4 Inputs W Relay** Model # Relay Output - 4 SA/25V** W Analog** Model # Analog 4I +/- 1V Analog 4I..1V Analog 4I 2mA Analog 4I/4O +/- 1V Analog 4I/4O 1V Analog 4I/4O 2mA Analog 4I/4O 4-2mA W W W W W W W Specialty** Model # Specialty Module 4I Pt1/Pt1 (RTD Input) Specialty Module 4I Type J/K Thermocouple Specialty Module 4I Counter Specialty Module 4I Quadrature Inputs W W W W * Expansion Modules are not compatible with Compact I/O family. ** Modular I/O is not compatible with Compact I/O family. For complete specifications for each I/O module, please visit For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation

297 Catalog 8-4/USA Human-Machine Interface HMI & Machine Control MotionPanel for the 6K Controller and Gemini Drive/Controllers Cut Your Motion/HMI Setup Time From Hours To Minutes With MotionPanel s menu-driven interface, you can manage multiple 6K motion programs without having to write and debug additional code. Unlike two and four line alphanumeric displays, MotionPanel provides easy-to-read touchscreens (optional color displays are available) with more understandable menus for the user. With the Windows-based Interact development software, you can even customize panels to simplify and enhance screens for the operator. Try doing that with a proprietary alphanumeric display device! This PC-based flexibility, combined with high speed Ethernet communications, provides the most advanced, easy-to-use motion/hmi package available for machine control today! Automatically detects up to 8 axes of 6K motion Automatically detects digital and analog expansion I/O Instantly uploads motion programs from solid-state Compact FLASH disk - including scaling PC-based hardware/software with an upgrade path to advanced HMI functionality Plug and Play Setup 1. Connect Ethernet cable. 2. Power up MotionPanel 3. Enable Compumotor 6K Ethernet connection 4. Touch the pre-configured panels and go! Features Software On-line Diagnostics in Graphical Format for Easy Maintenance One-Touch 6K ackups with Download/Upload to MotionPanel - with Scaling! rick I/O Setup and Easy to Read Status Information Clear Layout of Task Status Information Ability To Test Applications Without Downloading On-line Help Provided for Each Panel Includes MachineShop for MotionPanel Software for Easy Customization of Panels [TR6] Seamless Upgrade Path to CTC s Interact with Advanced HMI Functionality PC-ased, Factory-Hardened Platform 6" Flat Panel Computer Easy Field Maintenance 1/4 VGA Monochrome or Color STN Display NEMA 4, 4x Compact Flash Storage MotionPanel and 6K Program ackup 8 M capacity Accessible from Outside of Unit Eliminates the Need for Serial Downloads Communications High Speed Connections for Multiple 6Ks Ethernet Port 2 Serial Ports (1-RS232 & 1 RS 232/422/485) 1 Parallel Port 318 Parker Hannifin Corporation

298 Catalog 8-4/USA Human-Machine Interface HMI & Machine Control Compatible Compumotor Controllers For complete information on the 6K controller, please see the Controller section of this catalog. Compumotor controllers compatible with MotionPanel HMI include the 6K Controller (above), the GT6K Drive/Controller (below, left), the GV6K Drive/ Controller, the GV6 Drive/Controller (below, right) and GT6 Drive/Controller. For complete information on the Gemini GV6K, GT6K, GV6 or GT6 drive/controllers, please see the Gemini product information in both the Servo Drive and Stepper Drive sections of this catalog. Ordering Information MotionPanel Configurations Description Model # Mono LCD - FLASH Color STN - FLASH PMP-14DM PMP-314DM Adding Options to an Existing MotionPanel Runtime The base MotionPanel unit includes Runtime software for Interact s Panel Toolkit Module (PTM). To add alarming and free-form graphics functionality, purchase the MotionPanel upgrade that includes Runtime software for Interact s Graphics Monitoring Module (GMM) and Alarm Management Module (AMM). Adding this option converts the base MotionPanel unit to a P1 Runtime system. Description Model # MotionPanel Upgrade to P1 (NET, GMM, AMM)* PP1-516 * MotionPanel Upgrade is for runtime software only. MachineShop Development (MSP-1N-P or equivalent) must be purchased/used to create NET, AMM and GMM functionality and use additional communications drivers. For More Information on HMI & Machine Control Products, Call Parker Hannifin Corporation