Attachment for the FX Drive on Conair SC-5 Cutters, SCX Cutters and the Combination Puller/Cutter (models SCX ) WARNING - Reliance on this Manual Could Result in Severe Bodily Injury or Death! This manual is out-of-date and is provided only for its technical information, data and capacities.
30V FX Series Positioning Drive Reference Manual P/N 400282-00 Revision: A9 Date: October 27, 2000 © EMERSON Motion Control, Inc.
230V FX Series Positioning Drive Reference Manual Information furnished by EMERSON Motion Control is believed to be accurate and reliable. However, no responsibility is assumed by EMERSON Motion Control for its use. EMERSON Motion Control reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. EMERSON Motion Control also assumes no responsibility for any errors that may appear in this document.
© EMERSON Motion Control, Inc. 1994, 2000 Part Number: 400282-00 Revision: A9 Date: October 2000 Printed in United States of America Information in this document is subject to change without notice. Companies, names, and data used in examples herein are fictitious unless otherwise noted. No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose, without the express written permission of EMERSON Motion Control.
Customer Service It is EMERSON Motion Control’s goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support you need. Whether by phone, fax or modem, you can access EMERSON Motion Control support information 24 hours a day, seven days a week. EMERSON Motion Control 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A.
Need on-site help? EMERSON Motion Control provides service, in most cases, the next day. Just call EMERSON’s customer service center when on-site service or maintenance is required. Training Services (952)995-8000 EMERSON Motion Control maintains a highly trained staff of instructors to familiarize customers with EMERSON Motion Control’s products and their applications. A number of courses are offered, many of which can be taught in your plant upon request.
Document Conventions Manual conventions have been established to help you learn to use this manual quickly and easily. As much as possible, these conventions correspond to those found in other Microsoft® Windows®1 documentation. Menu names and options are printed in bold type: the File menu. Dialog box names begin with uppercase letters: the Axis Limits dialog box. Dialog box field names are in quotes: “Field Name”. Button names are in italic: OK button. Source code is printed in Courier font: Case ERMS.
For the purpose of this manual and product, "Caution" used without the safety alert symbol indicates a potentially hazardous situation which, if not avoided, may result in property damage. Note For the purpose of this manual and product, “Note” indicates information about the product or the respective part of the manual which is essential to highlight. Throughout this manual, the word “drive” refers to a FX Series drive.
Example Reference Manual Safety Considerations You have the responsibility to comply with the safety requirements of your system. This includes installing your system with an appropriate master disconnect switch for emergency shut down using the proper wire and, if necessary, a properly sized transformer. You can separate the logic AC power and the bridge AC power so that only the bridge AC power is removed when an interlock or emergency stop switch is activated.
Example Reference Manual FX DRIVE THREE PHASE 196-264 VAC 50/60 Hz L1 L1 L2 L2 L3 L3 AC POWER INPUT GND SINGLE PHASE 196-264 VAC Figure 1: L1 L1 L2 L2 AUX AC POWER INPUT External Disconnect Example (FX-6200 through FX-4800) Failure to follow safe installation guidelines can cause death or serious injury.
Safety Considerations Setup, Commissioning and Maintenance It is essential that you give careful consideration to changes to drive settings. Depending on the application, a change could have an impact on safety. You must take appropriate precautions against inadvertent changes or tampering. Restoring default parameters in certain applications may cause unpredictable or hazardous operation.
Example Reference Manual Safety of Machinery Within the European Union all machinery in which this product is used must comply with Directive 89/392/EEC, Safety of Machinery. The product has been designed and tested to a high standard, and failures are very unlikely.
230V FX Series Positioning Drive Reference Manual Table of Contents Customer Service iii Customer Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Safety Considerations Introduction vii 1 Basic Motion Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Configuration Sheet - Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Configuration Sheet - PCM Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Software Setup and Operation 67 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Glossary 177 Index 193 xiii
xiv
230V FX Series Positioning Drive Reference Manual Introduction Basic Motion Control A motion control system provides programmable control of speed, torque and positioning of motors. Controlling motion includes the ability to accelerate and decelerate, control the velocity and achieve accurate positioning of the motor shaft.
230V FX Series Positioning Drive Reference Manual Modes of Operation There are five modes of operation available on the basic drive. These modes are Indexing, Analog Velocity, Analog Torque, Pulse/Pulse and Pulse/Direction. FX drives are shipped from the factory in the Indexing/Pulse-Pulse mode. Indexing The primary operating mode of the FX drive is the Indexing mode. The Indexing mode is available at all times and is independent of any alternative operating mode switch settings.
Introduction Analog Velocity In the Analog Velocity mode, the motor shaft velocity is proportional to an analog voltage applied to the drive. The drive is now strictly a velocity control and the position loop is disabled. The Analog Velocity mode is selected with a specific setting of front panel DIP switches.
230V FX Series Positioning Drive Reference Manual Pulse mode is selected with specific front panel DIP switch settings. The FX drive may be commanded to execute Indexes, Jog and Home moves when in this mode. Pulse/Direction The Pulse/Direction mode uses two separate inputs for pulse and direction (the same as used for the clockwise and counterclockwise inputs). When pulses are applied to the pulse input, the direction of the motor shaft is controlled by the direction input.
Introduction PCX programming software for the FX drive. Setup of the I/O functions is explained in“Software Setup and Operation” on page 67 of this manual. These inputs and outputs can connect to a PLC, limit switches, or switches and indicators on an operator’s control panel. An LED indicator associated with each input and output provides visual feedback of I/O activity.
0V FX Series Positioning Drive Reference Manual 6
230V FX Series Positioning Drive Reference Manual Product Overview The motion control solution consists of three essential components that form the basic system. The components are a FX Positioning Drive, DX Series Brushless Servo Motor and motor cabling. This basic system can be enhanced with the addition of snap-on application modules or peripheral equipment.
230V FX Series Positioning Drive Reference Manual ground wires and the optional brake can be ordered from EMERSON Motion Control or can be supplied by the user. Application Modules An “application module” also called “PCM” can be added to increase the capabilities of the basic FX drive for applications that require more sophisticated motion control. Application modules are mounted on the FX drive by two snap handles located at the top and bottom of the module.
Product Overview • Ratio Control: PCM-5, 14, 15, 16, 17, 18, 19, 22, 22Q, 23, 24 and IBS-15. Ratio Control permits the FX drive to synchronize motion with an external encoder or another FX drive/ PCM module combination. A 25 pin socket is provided for connection to an encoder cable. A through connector allows multiple axes to be synchronized to an external encoder or to each other.
230V FX Series Positioning Drive Reference Manual Expanded I/O Memory Expansion Programs Thumbwheel Display Ratio Control Phase Sync Multiple Axis Ratio Control Suspend Resume Web Loop Control IOM-1 Yes No Yes Yes No No No Yes No PCM-1 Yes Yes Yes Yes No No No Yes No PCM-2 Yes Yes Yes Yes Yes No No Yes No PCM-4 Yes Yes Yes Yes Yes No No Yes No PCM-5 Yes Yes Yes No Yes No Yes Yes No PCM-11 Yes Yes Yes No Yes No Yes Yes No PCM-14 Yes Yes
Product Overview All thumbwheels are mounted in a small self-contained enclosure. Pre-assembled cables may be purchased for electrical connection to the application module. T-16 Numeric Display The T-16 Numeric Display is available with the IOM-1, PCM-1, -2 and -4 modules. The T16 displays the position or velocity of the FX drive through the parallel interface connector. The large LEDs are easily visible at a distance to allow monitoring at different positions on the machine.
230V FX Series Positioning Drive Reference Manual 12
230V FX Series Positioning Drive Reference Manual Installation Basic Installation Notes You are required to follow all safety precautions during start-up such as providing proper equipment grounding, correctly fused power and an effective Emergency Stop circuit which can immediately remove power in the case of a malfunction. See the “Safety Considerations” section for more information. Electromagnetic Compatibility (EMC) Drives are designed to meet the requirements of EMC.
230V FX Series Positioning Drive Reference Manual Achieving Low Impedance Connections Noise immunity can be improved and emissions reduced by making sure that all the components have a low impedance connection to the same ground point. A low impedance connection is one that conducts high frequency current with very little resistance. Impedance cannot be accurately measured with a standard ohmmeter, because an ohmmeter measures DC resistance.
Installation Sizing and Wiring Gauges,” for fuse sizing and wire gauge requirements. "Fuse Wiring" shows the two possible connection options for a single phase drive. For three phase drives an additional 20A 600V fuse is necessary for L3. For either option, the fuses (F1, F2, F3, and F4) must meet the ratings in the table shown on page 17.
230V FX Series Positioning Drive Reference Manual 3. Thermo Disc 85°C (185°F) thermal switch Type 36T21 22228 UL File E19279 Additional protection against motor overload is provided by internal drive diagnostic features. If normal operating parameters are exceeded, the seven segment diagnostic display on this drive will indicate one of the fault conditions below, at which time power will be removed from the motor (see “Troubleshooting” on page 145 for a complete description) .
Installation * † Drive Model External AC Line Input Fusing Sizes External Logic Fusing Sizes Recommended Minimum AC Line Input Wire Gauge FX-208* 15 AMP 5 AMP† 16 AWG FX-316* 15 AMP 5 AMP† 16 AWG FX-340* 15 AMP 5 AMP† 14 AWG FX-455* 15 AMP 5 AMP† 14 AWG FX-490* 20 AMP 5 AMP† 14 AWG FX-4120* 20 AMP 5 AMP† 12 AWG FX-6120* 20 AMP 5 AMP† 12 AWG FX-6200 20 AMP 5 AMP† 12 AWG FX-6300 30 AMP 5 AMP† 10 AWG FX-8200 20 AMP 5 AMP† 12 AWG FX-8300 30 AMP 5 AMP† 10 AWG FX-
230V FX Series Positioning Drive Reference Manual in memory even if the motor shaft is moved. In most applications a Home cycle will not be needed when bridge power is restored. The available speed and torque will vary with the supplied voltage. The torque speed curves in the Product Specifications section. The logic AC current requirement for the FX-208 through FX-6120 can be met with a 115VAC, 1.0ARMS source.
Installation LOGIC POWER JUMPERED TO BRIDGE POWER INPUT EXTERNAL LOGIC AC POWER JUMPERS L1 L2 L1 L1 L2 L2 L3 L3 R S BRIDGE POWER TERMINALS MOTOR PHASE TERMINALS L1 L1 L2 L2 GREEN THREE PHASE AC VOLTAGE SOURCE L1 L1 L2 L2 L3 L3 R S T T C1 C3 OPTIONAL BRAKE SWITCH TERMINALS LOGIC POWER TERMINALS SAFETY GROUND TERMINALS GREEN C1 C2 Figure 11: THREE PHASE AC VOLTAGE SOURCE SAFETY GROUND TERMINALS GREEN THREE PHASE AC VOLTAGE SOURCE LOGIC POWER TERMINALS LOGIC POWER WIRED SEPA
230V FX Series Positioning Drive Reference Manual FX DRIVE THREE PHASE 196-264 VAC 50/60 Hz L1 L1 L2 L2 L3 L3 AC POWER INPUT GND SINGLE PHASE 196-264 VAC Figure 12: L1 L1 L2 L2 AUX AC POWER INPUT Typical Three-Phase Connection (FX-6200 through FX-8400) An uninterruptable power supply of 220VAC at 1 Amp is adequate for power to the Auxiliary Input on the FX-6200 through FX-8400.
Installation The following examples show AC power connections for single phase and three phase FX drives. These examples are shown for reference only. Local electrical codes should be consulted before installation. (3 PHASE APP. ONLY) L3 L1 SECONDARY * 230 VAC L2 EARTH GROUND PRIMARY EARTH GROUND * BY GROUNDING THE CENTER POINT OF THE WYE DISTRIBUTION TRANSFORMER, THE PHASE-PHASE VOLTAGE IS 230 VAC AND THE VOLTAGE PHASE-EARTH GROUND IS LIMITED TO APPROXIMATLY 115 VAC.
230V FX Series Positioning Drive Reference Manual 3 PHASE ISOLATION TRANSFORMER L1 L2 L3 PRIMARY EARTH GROUND DISTRIBUTION PANEL Figure 15: Phase Delta/Delta Distribution to a Three-Phase WYE/WYE Isolation Transformer 3 PHASE ISOLATION TRANSFORMER L1 L2 L3 EARTH GROUND DISTRIBUTION PANEL Figure 16: Three-Phase Delta/WYE Distribution to a Three-Phase WYE/WYE Isolation Transformer Transformer Sizing Most applications will not require a transformer.
Installation • The AC power is derived from an open delta, earthed midpoint power source. A “constant voltage” ferro-resonant transformer is not recommended under any circumstances. This type of transformer is intended only for constant load applications, and can cause high voltage surges during power up. If an input transformer is being used, the size of the transformer will be determined by the application requirements of the system.
230V FX Series Positioning Drive Reference Manual to the drive will drop under heavy load conditions. This will decrease the available maximum speed of the drive. If your machine parameters change after the initial sizing such that a motion profile requires more than the original average torque, you should review the transformer size to be sure that it is adequate.
Installation Wire Sizing It is very important, with respect to safety and machine performance, that you use the proper wire gauge for the installation. The table below identifies the amperage requirements for the FX drives. Use this table as a guideline to determine the appropriate wire sizes to use for proper installation. .
230V FX Series Positioning Drive Reference Manual Grounding The GND terminals of the drive are internally bonded to the chassis. The enclosure and drive grounds should be a common single point that ultimately is a continuous electrical path to earth ground. Figure 17, "Suggested Grounding Example" illustrates the suggested grounding arrangement. Ground wires should not be shared with other equipment. Also ensure that metal to metal contact is made between the ground lug and the cabinet back.
Installation Noise Suppression Electrical Noise You can greatly reduce the effects of electrical noise on electronic equipment when you follow the techniques outlined below. If mixing wires cannot be avoided, then the low voltage control input and output wiring must be shielded. The shield for these wires should only be connected to ground at the source end of the cable. 1. Do not run low power control signals and high power wiring in the same raceway. 2.
230V FX Series Positioning Drive Reference Manual suppresser networks greatly extend the life of contacts controlling the coil because the transient energy, which can easily reach 1000 volts, shunts through the suppresser rather than arcing across the controlling contacts as they open. Some suppressor networks extend the time needed to engage the relay. Enclosure Requirements FX drives are designed for the industrial environment.
Installation Drive Model Logic Power Losses (Plp) (Watts) Maximum Shunt Regulation Losses (Psr) (Watts) Maximum Total Power Losses* (Watts) FX-208 45 30 120 FX-316 70 50 165 FX-340 FX-455 45 130 75 255 175 120 350 FX-490 300 250 610 FX-4120 380 250 695 FX-6120 380 250 695 FX-6200 500 400 975 FX-6300 740 400 1225 500 400 975 FX-8300 740 400 1225 FX-8400 850 400 1340 FX-8200 * Maximum Power Stage Losses (Pmo) (Watts) 60 Maximum Total Losses (Watts) = PSB
230V FX Series Positioning Drive Reference Manual Max Operating Losses These values represent the losses associated with moving the load. These losses occur during the conversion of AC input power to the proper voltage and current waveforms for the motor. Shunt Regulation Losses These values represent the losses created when the motor and load are decelerated to a stop faster than friction would stop the system.
Installation PO = (Percent)(Max Rating)P(O) = % x P(MO) PO = (0.6)(175 watts) = 105 watts This value can be substituted in the total power loss calculation: PT = PSB + PO + PSR PT = 50 watts + 105 watts + 220 watts = 375 watts Contact the EMERSON Motion Control Applications Engineering department if you have any questions concerning power losses. Actual shunt regulation losses will vary from the values listed above.
230V FX Series Positioning Drive Reference Manual DIP SWITCHES MODE SELECT SWITCHES SERIAL SET-UP SWITCHES 1 2 3 4 5 6 7 8 1 2 3 4 ON OFF MODES OF OPERATION OFF OFF ON OFF OFF ON ON ON Figure 20: PULSE/PULSE PULSE/DIRECTION ANALOG VELOCITY ANALOG TORQUE FX Drive Front Panel DIP Switches/Mode Selection Mode Control Interface Command Device Analog Velocity Zero to ±10 VDC Velocity Controller Analog Torque Zero to ±10 VDC Torque Controller Pulse/Direction Position Increments Pul
Installation VOLTAGE VOLTAGE (+) (+) (CW) (CCW) VELOCITY OF MOTOR (CW) (CCW) (-) VELOCITY MODE Figure 21: TORQUE FROM MOTOR (-) TORQUE MODE Analog Velocity/Analog Torque Modes In either of the two Analog modes, a ±10 VDC signal is equated to either CW or CCW maximum programmed velocity in the Analog Velocity mode, CW or CCW full peak torque rating in the Analog Torque mode. If an (A) in on the display, the external and serial control modes are not ignored.
230V FX Series Positioning Drive Reference Manual Application of a (+) positive voltage to pin 7 with respect to pin 13 (GND) will produce either a CW motion or torque in the CW direction as viewed from the shaft end of the motor. Application of a (-) negative voltage to pin 7 with respect to pin 13 (GND) will produce a CCW motion or CCW torque. The opposite conditions are true if the analog voltage is applied to pin 6 with respect to pin 13.
Installation PIN # DESCRIPTION 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 8 15 9 1 NOT USED PULSE MODE CW + PULSE MODE CCW + (-) ANALOG INPUT COMMAND (+) ANALOG INPUT COMMAND +15 VDC COMMAND OUTPUT VELOCITY OUTPUT (10V = MAX DRIVE RATED RPM) CURRENT OUTPUT (10V = PEAK RATED CURRENT OR TORQUE) -15 VDC (SEE WARNING BELOW) ANALOG GROUND +5 VDC (SEE WARNING BELOW) SHIELD COMMAND INPUT CIRCUIT 100K (+) COMMAND 7 (-) COMMAND 6 100K 100K 10K 10K TO A-D 10 BIT 100K ANALOG GND 13 1 Figure 23: COMPUTER PRO
230V FX Series Positioning Drive Reference Manual + + +12 +12 VDC 7 (+) COMMAND FX DRIVE COMMAND CONNECTOR -12 - 13 + FX DRIVE CUSTOMER SUPPLIED INTERFACE FX DRIVE CUSTOMER SUPPLIED INTERFACE +12 +12 VDC 6 - ANALOG GND + (-) COMMAND FX DRIVE COMMAND CONNECTOR -12 13 ANALOG GND -12 VDC -12 VDC - - EXAMPLE: (-) COMMAND EXAMPLE: (+) COMMAND Figure 24: Customer Supplied Interface to the Command Connector Pulse Modes (Pulse/Pulse or Pulse/Direction) In Pulse mode, the FX drive re
Installation In either pulse mode, once motion is initiated with these inputs, motion in the opposite direction cannot be achieved until motion in the initiated direction has been stopped by stopping the incoming pulses. In a pulse train application, the pulses are fed into the CW and CCW inputs on the 15-pin Dsubminiature style command connector (pins 4 and 2, 5 and 3 respectively). The inputs are optically isolated and can be used for current sinking or sourcing; this requires two connections per input.
230V FX Series Positioning Drive Reference Manual Failure to follow safe installation guidelines can cause death or serious injury. In the Pulse Mode, the Stop Input (Input function #11) must be held “Active” to prevent motion. If the Stop Input is not held “Active”, you must stop incoming command pulses to avoid motion. Serial Interface All FX drives are equipped with two RS-423 serial interface connectors which are signal compatible and optically isolated.
Installation SINGLE FX DRIVE HOST FX DRIVE A TX RX RX TX MULTI-DROP FX DRIVE HOST TX RX FX DRIVE 1 A RX TX TXM B A FX DRIVE 2 RX TX RXM Figure 27: Serial Signal Flow Diagrams MULTI-DROP CABLE FROM SERIAL 2A (DRIVE 1) TO SERIAL 1A (DRIVE 2) (DD-XXX) Figure 28: HOST CABLE TO SERIAL 1A (TIA-XXX OR TIX-XXX) Multi-Drop Connections DIP Switch Settings The DIP switch numbers and their corresponding functions are shown in Figure 29 "FX Drive Front Panel DIP Switches" on page 41.
230V FX Series Positioning Drive Reference Manual a different address when all are used on the same computer port. Factory setting is No ID, or SW4, 5, 6, 7, and 8 in the “Off” position. Duplex Switch Switch 1 of the four position DIP switch sets either half or full duplex mode. In half duplex mode the serial data is not echoed back to the programming device for confirmation or display. In full duplex mode the data is echoed back to the programming device allowing the data to be verified.
Installation MODE SELECT SWITCHES SERIAL SET-UP SWITCHES 1 2 3 4 5 6 7 8 OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF ON
230V FX Series Positioning Drive Reference Manual Serial Communication Framing Information When using serial communication, the data must be sent as a string of continuous bits. This string of data bits must be “framed” by start and stop bits so that valid data can be recognized. The framework which the FX drive will recognize is as follows: 1 start bit 8 data bits * 1 stop bit No parity bit * The high order data bit is ignored by the drive.
Installation Performance Code A Applications using cables with a performance code “A” will see degradation in positional accuracy, increase in electrical noise susceptibility and possible instability. The following graph shows a typical degradation curve of positional accuracy. Positional accuracy degrades from ±15 arc-min at 15 feet to ±40 arc-min at 100 feet and ±70 arc-min at 200 feet. This must be considered when using cables longer than 100 feet.
230V FX Series Positioning Drive Reference Manual In multi-drop configurations the ground reference (earth ground) for each communicating device must be at the same potential. The further apart the communicating devices the more difficult this is to achieve. Therefore, it is a good idea to keep the multi-drop loop as short as possible. This condition is not as critical if all of the communicating devices are optically isolated (the serial bus ports in all FX drives are optically isolated).
Installation Serial Cable Wiring Diagrams FX DRIVE 1 SERIAL B FX DRIVE 2 SERIAL A SHIELD 1 1 RECIEVE 2 2 RX TRANSMIT 3 3 TX MULTI-DROP ENABLE 4 4 MEN GROUND 5 5 GND RECIEVE MULTI-DROP 6 6 RXM TRANSMIT MULTI-DROP 7 7 TXM NO CONNECTION 8 8 N/C NO CONNECTION 9 9 N/C 9 PIN MALE "D" TYPE Figure 32: 9 PIN MALE "D" TYPE DD-XXX Wiring Diagram (Multi-Drop Cable) TIX CABLE COMPUTER/TERMINAL RS232 FX DRIVE SERIAL A XMIT 2 2 RX REC 3 3 TX GND 7 5 GND SHIELD 25 PIN FEMALE "D"
230V FX Series Positioning Drive Reference Manual Input/Output Interface FX drives are equipped with 8 optically isolated inputs and 4 optically isolated outputs. These inputs and outputs provide proper timing and coordination between the FX drive’s motion and other machine control functions. The inputs and outputs are typically connected to the machine’s PLC or relay logic system. These inputs and outputs can also be connected to limit switches or switches and indicators on an operator’s control panel.
Installation Inputs and outputs require an external voltage source for operation. This voltage source must be in the range of 10.5 to 30 VDC. The negative (-) lead of the external power supply must be connected to the enclosure or safety ground. If inductive loads such as DC relay coils are connected to the outputs, a suppression diode must be installed in parallel with the load coil with its cathode towards the positive end of the external supply.
230V FX Series Positioning Drive Reference Manual Motor Connections DX motors are available in two different styles for most models. The first style has been designed to meet IP65 waterproofing standards. Cable entries are made through NPT conduit holes. The second style comes equipped with one or two MS style connectors. See the table below for motor connector options. Motors equipped with MS style connectors meet IP65 waterproofing standards.
Installation Be sure to use a new neoprene “O” ring to properly seal the rear cover. Discard the used one. Stator Connections You are responsible for supplying the wiring for the motor phase leads and motor ground connection (4 conductors). This wiring can be either a cable assembly or discrete wires. If a shielded cable is used, the shield should be terminated at one of the safety ground terminals on the amplifier’s terminal block.
230V FX Series Positioning Drive Reference Manual If the thermal switch causes unwanted thermal shutdown faults (“5” fault on the FX drive display) then high temperature wire (105°C/221°F recommended) should be installed. If high temperature wire is used on motor sizes DX-316 through DX-6300, JP1 (inside rear of motor) can be moved from the “normal” to the “disabled” position. This will allow the motor to provide more power before a thermal shutdown.
Installation shell. The drain wire is connected to pin 3, which is not connected to ANY point in the circuitry or chassis.
230V FX Series Positioning Drive Reference Manual Waterproofing DX motors that have NPT threaded conduit holes have waterproofing designed to meet IP65 and IEC529 “IP code” standards. To maintain this degree of protection cable entries into the motors are made through NPT conduit holes. Even if waterproofing is not necessary the threaded holes allow easy conduit termination at the motor.
Installation 6. Care must be taken to align the cover upon installation to prevent damage to the “O” ring which will destroy the waterproof integrity. .25" 4 WIRE MOTOR OPTIONAL 2 WIRE BRAKE HEATSHRINK TUBING WIRE INSULATION BARE WIRES Figure 39: NOTE: Cover any exposed shield or drain wires with heat shink. Leave only .25" of bare wire at open end for connection to terminal.
230V FX Series Positioning Drive Reference Manual CONNECTOR SHELL YEL/WHT 1 R REF GND BLU 2 G COS GND BLK 4 F BLK/WHT 5 RED/WHT 6 YEL 7 RED 8 9 PIN MALE "D" TYPE COS D SHLD CONNECTOR = PT06E-14-18S(SR) TO AMPLIFIER Figure 40: REF S U THERM SHLD (DRAIN WIRE) CLEAR HEATSHRINK 3 E H SIN BLU/WHT 9 SIN GND N THERM TO MOTOR ECF Cable Wiring Diagram, FX-316 through FX-4120 A general rule for the minimum cable bend radius is ten times the cable outer diameter.
Installation The ECM, ECS, and ECL cables come in three standard lengths (15, 25 and 50 feet) and can be ordered by the following numbers: ECS-015 = 15 feet ECS-025 = 25 feet ECS-050 = 50 feet ECM-015 = 15 feet ECM-025 = 25 feet ECM-050 = 50 feet ECL-015 = 15 feet ECL-025 = 25 feet ECL-050 = 50 feet CONNECTOR SHELL 1 2 4 TO AMPLIFIER 9-PIN CONNECTOR 5 6 7 8 9 3 YEL/WHT BLU BLK BLK/WHT RED/WHT YEL RED BLU/WHT SHLD (DRAIN WIRE) 9 PIN MALE "D" TYPE R S TO AMPLIFIER BLOCK TERMINAL T GND BRAKE + B
230V FX Series Positioning Drive Reference Manual TO AMPLIFIER TO MOTOR RED R BLK S BLU T GRN GND SHLD CUT BACK IF BRAKE IS NOT USED OR SEE "HOLDING BRAKE OPTION" SECTION FOR BRAKE WIRING BLU BLU/WHT A R B S C T D GND E SHLD F BRAKE - G BRAKE + H N/C CONNECTOR = PT06E-16-8S(SR) Figure 42: ECM Cable Wiring Diagram (FX-316 and DX-316C through FX-4120 and DX-4120C) TO AMPLIFIER R S T GND CUT BACK IF BRAKE IS NOT USED OR SEE "HOLDING BRAKE OPTION" SECTION FOR BRAKE WIRING TO MOTO
Installation Holding Brake Option You can order a DX motor with an optional holding brake. The holding brake holds the motor shaft whenever power is removed from the brake coil (as in a power failure). This type of holding brake must not be used to stop the motor and load unless a power loss situation occurs. You can control the brake through an input line. You must assign Brake Override (Input Function 13) to one of the input lines using PCX (See “Input Functions” on page 90).
230V FX Series Positioning Drive Reference Manual Holding Brake Wiring Diagrams MOTOR BRAKE LEAD + DX MOTOR BRAKE COIL SUPPRESSION DIODE FX DRIVE TERMINAL BLOCK + - MOTOR BRAKE LEAD USER SUPPLIED DC VOLTAGE SOURCE + NOTE: THE NEGATIVE SIDE OF THE DC POWER SUPPLY SHOULD BE CONNECTED TO EARTH GROUND.
Installation FX DRIVE USER SUPPLIED DC VOLTAGE SOURCE R GND REF - SIN COS + C GND S GND THERM DX MOTOR THERM SHLD TB1 - BRK2+ BRAKE BRK1- + SHLD DX-490WB through DX-6120WB Motors without Connectors FX DRIVE R GND REF USER SUPPLIED DC VOLTAGE SOURCE - Figure 46: SIN COS + C GND S GND THERM THERM SHLD BRK2+ + BRK1- SHLD Figure 47: TB1 - BRAKE DX MOTOR INTERNAL TO MOTOR DXM-6200WB through DXM-8400WB Motors without Connectors 59
230V FX Series Positioning Drive Reference Manual USER SUPPLIED DC VOLTAGE SOURCE FX DRIVE L1 - L2 + L1 L2 R A R BLK S B S BLU GRN T - BRAKE DX MOTOR RED C T D GND BRAKE SHLD INTERNAL TO MOTOR L SHLD BLU + K BRAKE + BLU/WHT M BRAKE - ECS-XXX CABLE Figure 48: DX-208CB Motors with Connectors USER SUPPLIED DC VOLTAGE SOURCE FX DRIVE L1 - L2 + L1 L2 R S T - BRAKE RED BLK BLU GRN BRAKE SHLD + BLU DX MOTOR A R B S C T D GND E BRAKE SHLD F BRAKE - G BRAKE + ECM-XXX CABLE Figur
Installation FX DRIVE L1 USER SUPPLIED DC VOLTAGE SOURCE L2 - L1 + L2 L3 R RED BLK S T - C1 BRAKE C2 C3 BLU GRN BRAKE SHLD + BLU/WHT ECL-XXX CABLE Figure 50: DX MOTOR A R B S C T D GND E SHLD F BRAKE - INTERNAL TO MOTOR G BRAKE + H N/C DX-490CB through DX-4120CB with Connectors Mechanical Installation - Motor To provide proper mechanical alignment, the mounting surface of the motor face plate is held perpendicular to the motor shaft to within 0.005 inches.
230V FX Series Positioning Drive Reference Manual Load Coupling A flexible coupling must be used between the motor shaft and the load to minimize mechanical stress due to radial loads, axial loads or misalignment. Radial and axial loading cannot exceed specified values. If you feel that the radial load rating for your installation will be exceeded, you may want to consider connecting the DX motor to an idler shaft that is supported by pillow block bearings (or similar).
Installation Installation Checklist Wiring (Amplifier/PCM Module) ______a. Ensure proper wire size used for application. ______b. Ensure resolver cable is connected securely at both ends. ______c. Wiring should be neat and orderly. ______d. Wiring should be properly labeled. ______e. Check electrically, Ohm out before power-up. ______f. Is AC wiring through a transformer? If so, is the wiring and the transformer large enough for worst case current draw for the application? ______g.
230V FX Series Positioning Drive Reference Manual Configuration Sheet - Amplifier FX-AMP MODE SELECTION SWITCHES SERIAL 1A COMMAND SERIAL 1B 1 2 3 4 5 6 7 8 1 2 3 4 OPEN OPEN * OPEN = OFF MODEL NUMBER SERIAL NUMBER PART NUMBER SERIAL INTERFACE 1A SERIAL INTERFACE 1B COMMAND CONNECTION FUNCTION NUMBER(S) POLARITY FILTER TIME 1 3 4 5 6 INPUTS 4 5 7 6 8 7 9 10 11 12 OUTPUTS 8 9 10 11 12 64 OUTPUTS 3 INPUTS 2 1 2
Installation Configuration Sheet - PCM Module FX-AMP SYNC SERIAL 1A SERIAL 1B MODEL NUMBER SERIAL NUMBER PART NUMBER FUNCTION NUMBER(S) POLARITY FILTER TIME 13 14 17 15 INPUTS 18 19 21 23 24 17 18 19 20 22 16 OUTPUTS 20 21 22 23 OUTPUTS 15 16 INPUTS 14 13 24 65
230V FX Series Positioning Drive Reference Manual 66
230V FX Series Positioning Drive Reference Manual Software Setup and Operation Overview EMERSON Motion Control’s PCX programming software version 7.X provides a simple, menu-driven, question and answer format for setup and programming of EMERSON Motion Control FX Series Drives. This format assists you in setup, programming, monitoring and controlling FX drive functions without requiring extensive programming knowledge.
230V FX Series Positioning Drive Reference Manual Figure 51: PCX Version 7.X Introduction Screen As with any software, a backup copy of the PCX diskette should be made before starting. PCX software is used primarily to set up and program a FX drive from a personal computer. After you have completed the set up and programming, you can disconnect the PC since the data you entered remains in the FX drive’s non-volatile memory.
Software Setup and Operation AD UPLO LOAD DOWN Figure 52: Upload/Download PCX Program Revisions The PCX software referred to in this manual is 7.0b or greater. Versions earlier than 7.0 may not provide for all of the functions described in this manual. Contact EMERSON Motion Control to obtain the most recent version of PCX. PCX files created with early versions of PCX should not be edited directly with newer versions of PCX. To convert earlier version PCX files: 1.
230V FX Series Positioning Drive Reference Manual PCX2.SCN This file is displayed when exiting from PCX and contains important information about how to contact EMERSON Motion Control. If this file is missing or not in the current directory, this window will not be displayed, however, this will not affect the operation of PCX. PCX-READ.ME This file contains last minute information about PCX and command line options that might not be included in this manual. Use any text editor to view this file.
Software Setup and Operation automatically saved with the file extension of PCX (e.g., Filename.PCX) so it is not necessary for you to specify one. Data files are stored in binary format and can only be edited by PCX. List File (*.LST) List files contain a description of all the FX drive’s parameters in an ASCII character text file which is created automatically whenever a data file is saved. You can use list files for printing, word processing, troubleshooting or as documentation.
230V FX Series Positioning Drive Reference Manual PCX MAIN MENU ON-LINE OPERATIONS COM 1,2,3 OR 4 DISK FILE OPERATIONS SERIAL COMMUNICATIONS DRIVE SETUP (DIAGRAM 2) EDIT/CREATE DATA FILE (DIAGRAM 5) BAUD RATE: ___ UPLOAD DATA FROM DRIVE DELETE FILE SERIAL PORT COM: ___ DOWNLOAD DATA FILE TO DRIVE (DIAGRAM 3) PRINT LIST FILE TERMINAL MODE DIAGNOSTICS INITIALIZE MEMORY OPERATIONS (DIAGRAM 4) TERMINAL MODE Figure 53: 72 PCX Hierarchy Main Menu
Software Setup and Operation DIAGRAM 2 DRIVE SETUP DEFINE MOTION DRIVE CONFIGURATION JOG DRIVE PARAMETERS HOMES LIMITS INDEXES INPUT FUNCTIONS SUSPEND OUTPUT FUNCTIONS Figure 54: PROGRAMMING PCX Hierarchy Diagram 2 73
230V FX Series Positioning Drive Reference Manual DIAGRAM 3 DOWNLOAD DATA FILE TO DRIVE ALL VALUES Figure 55: MOTION VALUES PCX Hierarchy Diagram 3 DIAGRAM 4 INITIALIZE MEMORY OPERATION ENTIRE MEMORY INDEX DATA PROGRAM DATA Figure 56: 74 GAIN SETUP INPUT/OUTPUT DATA PCX Hierarchy Diagram 4 LIMIT SETUP ANALOG SETUP
Software Setup and Operation DIAGRAM 5 EDIT/CREATE DATA FILE NEW FILE Figure 57: FILE NAMES CHANGE DIR PCX Hierarchy Diagram 5 75
230V FX Series Positioning Drive Reference Manual Getting Started - Main Menu When you press any key while viewing the Introductory screen, the Main Menu will appear. From the Main Menu you may work directly with an FX drive or with a disk file. When you select On-line Operations COM1, COM2, COM3 or COM4, PCX will automatically check all baud rates and attempt serial communications with the drive through the serial port you selected.
Software Setup and Operation Note For the next two steps, refer to the Installation chapter for more information. 2. On a multi-axis system make sure that the baud rate setting on each drive is the same. 3. On a multi-axis system, make sure that each positioning drive has a unique axis identifier. 4. Power to all FX drives must be on.
230V FX Series Positioning Drive Reference Manual Figure 60: Online Operations Options Drive Setup - Preliminary Data Before you set up your FX drive using PCX, you need to know some specific details about your system and make some calculations based on your system configuration. Be sure you know the following system details before starting: 1. System configuration - If you are using a gear reducer, leadscrew or belt and pulley, you will need to know the ratio of motor turns per actuator turns.
Software Setup and Operation PROGRAMMABLE LOGIC CONTROLLER (PLC) COMPUTER RUNNING PCX FX AMPLIFIER 10:1 GEAR REDUCER 0.2 IN/REV SCREW DX MOTOR 0.2 IN/REV = 5 SCREW REV/IN 10:1 REDUCER = 10 MOTOR REV/SCREW REV MULTIPLIED BY SCREW REV/IN 1 MOTOR REV = .
230V FX Series Positioning Drive Reference Manual Drive Setup - On Screen When you select the Drive Setup option, the Drive Setup menu will be displayed on the screen. In the Drive Setup Menu, you can access three areas. Figure 62: Drive Setup Options The Define Motion menu deals with motion related parameters. Data entry screens for Jog, Home, and Index are available here. The second option, Programming, deals with programming the amplifier.
Software Setup and Operation Drive Configuration The first area of PCX that needs to be set up are Drive Parameters in the Drive Configuration screen.
230V FX Series Positioning Drive Reference Manual Drive Parameters The Drive Parameters screen allows you to enter values that relate the FX drive to your actuator. PCX software and some displays such as EMERSON Motion Control’s T-21 Data Entry Terminal use these parameters to display familiar user units. (Some examples would be: in/sec; rpm; steps/rev; ft/min, etc.
Software Setup and Operation Figure 65: Clockwise (+) rotation of the motor Distance User Units You may enter up to three letters that represent the distance or position units of your system. Examples: IN for Inches GAL for Gallons MTR for Meters Any three ASCII characters are acceptable. User Distance Per Motor Revolution The units for lead screws are sometimes expressed as lead in “inches per revolutions”. (i.e., .2 in lead.) This means every revolution of the screw, moves the nut .2 inches.
230V FX Series Positioning Drive Reference Manual Velocity User Units To make the display data meaningful, you may convert the velocity units on your machine to the units used by the FX drive. Since it is possible to use an FX drive on a wide variety of applications, velocity units other than RPM can be set up. Three characters are available for velocity units (i.e., IPS, I/S, FPM, and F/M).
Software Setup and Operation SPEED SPEED TIME TIME MOD-SINE RAMPS Figure 66: LINEAR RAMPS Accel/Decel Shape The key advantage of using this option is reduced mechanical noise and wear of the mechanical components. The difference is shown below. Use the right and left arrow keys to select the shape you want. Press the key to confirm and enter your choice.
230V FX Series Positioning Drive Reference Manual The Time Base Override functions only to override the internal real-time base. If the FX drive is equipped with a synchronized module and if another external time base (encoder or analog) is selected, in a program, the time base override function will not have any effect. Limits The Limits screen allows you to set the maximum and minimum values the drive will accept, and protect the FX drive and machine from misuse.
Software Setup and Operation decel time could cause following error faults (“F”) or continuous torque exceeded (“1”) faults. The default is 8 ms. Minimum Accel and Decel Times can be set higher than 8 ms but never lower. Maximum Torque Output This parameter limits the amount of torque the drive produces. The drive’s peak torque rating is 200 percent and the continuous torque rating is 100 percent. Peak torque is only available for short periods. (see “Troubleshooting” on page 145).
230V FX Series Positioning Drive Reference Manual for this parameter leave enough room for the motor to stop without damaging machinery or injuring personnel. For example: A motor with 0.5 In/Rev lead screw and the motor’s maximum speed is 3000 RPM. If the motor is operating at 1500 RPM (750 In/Rev), and the Travel Limit Decel Time = 1 second, the actual stopping time would be: ((1500 RPM)/(3000 RPM))(1 sec)=.5 sec The distance traveled during the .
Software Setup and Operation 359.99 is 0.00. Similarly, if the axis is moving in a negative direction, one position beyond 0.00 is 359.99. When you have entered a non-zero value here, an Absolute Index will calculate the shortest path (CW or CCW) to that specific position. Two other rotary indexes, Rotary CW or Rotary CCW, force CW or CCW motion to an absolute position.
230V FX Series Positioning Drive Reference Manual In-Position Time The value entered here is the time (in seconds) that the drive must remain within the InPosition Range at the end of an index before the End Of Index output will be turned on. For example: If user units were degrees, and 5.00° was entered for the In-Position Range value, and 3.000 seconds were entered for the In-Position Time value, the drive must then be held within ±5.00° of the desired end of index position for at least 3.000 seconds.
Software Setup and Operation Figure 68: Input Functions Screen To assign an input function, use the up/down arrows to move the cursor to the desired input function, type in the desired line number and then press . The left hand window will then show the function beside the selected input line. If you wish to access a function that is off the screen, press the up/down arrow key or page down until the cursor is on the desired function. The screen will scroll as needed.
230V FX Series Positioning Drive Reference Manual 5 - Jog +39 - Home(1) Initiate 6 - Jog Input Response Time Input response time is the delay that takes place after a signal is received but before the motion occurs at the motor shaft. The diagram below shows the comparative response between an input and the start of motion when no serial communication is occurring. The typical response time for starting an index is 4 ms with a maximum time of 7 ms.
Software Setup and Operation VELOCITY (+) PROGRAMMED VELOCITY 12 mS (TYPICAL) TIME 4 mS 20 mS .1 mS (-) (+) INITIATE PULSE TIME (-) Figure 70: 3 mS MINIMUM PULSE WIDTH Velocity vs.
230V FX Series Positioning Drive Reference Manual type in the time, followed by . Times must be entered in increments of .002 seconds. To return to the standard input screen press . Description of Input Functions 0 Index Initiate Executes the selected index. If Index Select Function #14 is not assigned, the Default Index will initiate. (Factory set to Index 0.) 1 Home (0) Initiate Executes Home Cycle #0 (see “Homes” on page 109).
Software Setup and Operation 4 Jog Starts and stops a jog in the direction specified by the Jog Direction input function #7. Defaults to the programmed Jog Fast velocity. 5 Jog + Starts and stops a clockwise jog. If function input #8 is not assigned, the jog speed defaults to the Jog Fast velocity. 6 Jog - Starts and stops a counterclockwise jog. If function #8 is not assigned, the jog speed defaults to the Jog Fast velocity.
230V FX Series Positioning Drive Reference Manual 12 Inhibit Drive Prevents all motion by disabling the drive’s bridge transistors and engaging the holding brake. The drive is re-enabled (and the brake is released) when input is removed. 13 Brake Override Releases the brake when Inhibit is active. This allows the motor to be rotated by hand. 14 Index Select Allows you to choose an index using input lines and sets the starting input line number for a given number of index select lines.
Software Setup and Operation Hexadecimal is another way to use binary which groups bits in sets of four counting from 0 to 15. The format of the Index Select Lines is binary. That is, the first line assigned has the value of 1, the second a value of 2, the third a value of 4, the fourth a value of 8, and so on. The index number selected is the sum of the values of the lines activated.
230V FX Series Positioning Drive Reference Manual 20 Clear Sensor Limit Hit Clears the Sensor Limit Hit output. The Sensor Limit is programmed by PCX or serial commands. This input is used in “Feed to Sensor” and “Registration” indexes. 21 Reset Fault Duplicates the function of the reset switch on the front of the digital drive. It will clear nonfatal drive faults. 22 Zero Position Sets the current position of the motor to zero. All absolute positions will be referenced to this set position.
Software Setup and Operation 28 Wait/Jump Inputs Used with the Wait For Input program function to stop program execution until the input line assigned with External Input is activated, or with the Jump program command to change program flow based on line conditions. Sets the starting Input Line number for multiple Wait/ Jump Input Lines, and then asks for number of lines. If your system requires four Wait for External Input Lines, you could assign any four consecutive Input Lines.
230V FX Series Positioning Drive Reference Manual Decimal Binary Hexadecimal 13 1101 0xD 14 1110 0xE 15 1111 0xF 16 10000 0x10 32 100000 0x20 64 1000000 0x40 128 10000000 0x80 Hexadecimal is another way to use binary which groups bits in sets of four counting from 0 to 15. Selecting program 5 in this example would require activating lines 5 (value 1) and 7 (value 4) while activating the line assigned to Input Function 29, Program Initiate.
Software Setup and Operation 36 Clear All Programmable Outputs When the line assigned to this function is activated, this function will clear (set to Off) all programmable output lines. To clear individual programmable output lines, see “Output Functions” on page 102. 37 Feed Sensor (1) Defines which input line will be used for Feed Sensor (1) in Feed Sensor Indexes. This is an edge sensitive function. It must be taken from low level to high level to be recognized.
230V FX Series Positioning Drive Reference Manual 43 Time Base Override Any motion initiated when this input is active will use the time base selected in the parameters screen. 44 Output Clear Torque Limit Clears a Torque Limit Hit Output after a torque limit has been exceeded. Torque Limit Hit Output is set up using the “Output Functions” screen. 50 Clear Position Window Timeout This input is used to clear the Position Window Timeout output.
Software Setup and Operation Figure 71: Output Functions Screen Description of Output Functions 0 Ready This output is On continuously after power up if the microprocessor and its memory are operating correctly. It deactivates when either a Watchdog Timer Fault or Uninitiatized Fault occurs. To be active, this output must be assigned and the drive powered down, then up. 1 External Mode This output is On when the FX drive is ready to be operated from external I/O.
230V FX Series Positioning Drive Reference Manual 3 End Of Index This output activates after completion of an index. If the Index Count is greater than 1 this output will activate after each index is completed. It is turned Off automatically with the next motion or when the Clear End Of Index input is used. If there is index dwell time, this output will be active this amount of time after the index movement is complete. 4 End Of Home (0) This output activates after the completion of a Home (0) cycle.
Software Setup and Operation 10 Sensor Limit Hit This output activates during a Feed Sensor or Registration index if the Feed Sensor Limit is exceeded before a sensor signal is received. This output also activates during a home when the Home Limit Distance is exceeded. This output is deactivates with the Clear Sensor Limit input. The condition that activates this output is not a fault and the index will continue.
230V FX Series Positioning Drive Reference Manual 20 Torque Limit Hit This output is normally inactive and will turn on when the “Torque Limit” is reached as set in “Limits” screen. The only way to deactivate this output is with the “Clear Torque Limit Output” input function. Does not cause a fault condition. 31 Position Window Timeout This output will activate if a Position Window does not complete before the In Position timeout expires.
Software Setup and Operation Define Motion FX drive basic motion functions are accessed in the Define Motion screen. The bottom sections of the screens in each of the menus provide information such as the range of possible values, available types, valid units, and any other special instructions. Figure 72: Define Motion Options Jog The Jog function produces + or - rotation of the motor at controlled velocities.
230V FX Series Positioning Drive Reference Manual Figure 73: Jog Setup Screen Serial, Fast and Slow Velocities When setting up the Jog parameters, you can set up three velocities: Serial Velocity, Fast Velocity and Slow Velocity. The acceleration and deceleration times are used for all jog velocities. When on-line with an FX drive, pressing the space bar initiates and stops the axis jogging at serial velocity. All accel times are based from Ø RPM to maximum default motor velocity, not programmed speed.
Software Setup and Operation Homes Home cycles are used in applications where knowledge of the exact starting position for the load is a prerequisite for the initiation of other moves. You can activate a home cycle by sending a signal to an FX drive input line where an Initiate Home input function is assigned. If the application requires it, you can connect an external home switch or sensor to an input line to which the Home Sensor input function has been assigned.
230V FX Series Positioning Drive Reference Manual The number of home parameters shown in the home screen will change depending on the Home Type selected. A maximum of two Home cycles can be programmed with an FX drive (Home #0 and Home #1). However, most applications require only one home function. Lock The Home Lock feature is available to prevent all motion (except Jog) from being initiated before a home cycle has been completed.
Software Setup and Operation Additionally, the Home Completed output (output function number 9) and End of Home output, if assigned, will not come on. The Home Limit is disabled when the limit is set to the default value zero. Home Cycle Example An example of a Home cycle can be demonstrated with a ball screw or rack and pinion drive. This particular application uses most of the programming features in the Home setup.
230V FX Series Positioning Drive Reference Manual VELOCITY FEED OFF VELOCITY (+) SENSOR OFF ACCEL DECEL OFFSET FROM RESOLVER ZERO B TIME C A DECEL OFFSET VELOCITY (-) HOME SENSOR ON INITIATE FEED ON VELOCITY Figure 76: Home Cycle Motion Profile The (A) motion is -100 RPM to find the sensor (feed on velocity). The (B) motion is +15 RPM to find the sensor “Off” (feed off velocity). The (C) motion is -15 RPM to move to the once per revolution offset (offset velocity).
Software Setup and Operation Feed On (home to sensor) This Home moves in the direction specified by the sign of the speed to the point where a Home Sensor Input is received.The drive will decelerate to a stop as quickly as possible once the sensor is reached. Therefore, the “Feed on Velocity” should be kept below 50 RPM for the default decel ramp to final velocity.
230V FX Series Positioning Drive Reference Manual Feed On/Off (home to sensor then off sensor) The “Feed Off Velocity” should be kept below 50 RPM for the default decel ramp to the final position.
Software Setup and Operation Feed On/Off/On (home to sensor then off sensor then on sensor) The “Slow Feed on Velocity” should be kept below 50 RPM for the default decel ramp to the final position.
230V FX Series Positioning Drive Reference Manual Indexes An index is a complete motion sequence that moves a specific distance or to a position. This motion sequence is a combination of a programmed velocity, an acceleration time to maximum velocity, a deceleration time from maximum velocity, a final travel distance or position, an optional dwell time at zero speed after the distance or position has been reached, and an index repeat count.
Software Setup and Operation VELOCITY PROGRAMMED ACCEL TIME (AT1) PROGRAMMED DECEL TIME (DT1) DRIVE MAXIMUM VELOCITY INDEX VELOCITY COMMANDED POSITION VELOCITY TIME DISTANCE TRAVELLED ACTUAL ACCEL TIME (AT2) Figure 84: ACTUAL DECEL TIME (DT2) DWELL TIME Velocity vs. Time Profile of an Incremental Index AT1=(AT2)(IV/MDV) DT1=(DT)(IV/MDV) Where: MDV = Maximum Drive Velocity. AT1 = Acceleration Time from zero to MDV (Value you entered). AT2 = Actual Acceleration Time.
230V FX Series Positioning Drive Reference Manual VELOCITY PROGRAMMED DECEL TIME (DT1) PROGRAMMED ACCEL TIME (AT1) DRIVE MAXIMUM VELOCITY INDEX VELOCITY VELOCITY ABSOLUTE POSITION TIME DISTANCE TRAVELLED ACTUAL ACCEL TIME (AT2) Figure 85: ACTUAL DECEL TIME (DT2) DWELL TIME Velocity vs. Time Profile of an Absolute Index AT1=(AT2)(IV/MDV) DT1=(DT)(IV/MDV) Where: MDV = Maximum Drive Velocity. AT1 = Acceleration Time from zero to MDV (Value you entered). AT2 = Actual Acceleration Time.
Software Setup and Operation DRIVE MAXIMUM VELOCITY VELOCITY VELOCITY DRIVE MAXIMUM VELOCITY FEED VELOCITY FEED SENSOR OR TORQUE LIMIT FEED ACCEL TIME PROGRAMMED ACCEL TIME FEED DECEL TIME INDEX VELOCITY INDEX VELOCITY FEED VELOCITY FEED SENSOR OR TORQUE LIMIT FEED ACCEL TIME FEED DECEL TIME PROGRAMMED DECEL TIME PROGRAMMED DECEL TIME TIME DISTANCE Figure 86: FEED SENSOR LIMIT DISTANCE TIME DWELL TIME DISTANCE FEED SENSOR LIMIT DISTANCE DWELL TIME Velocity vs.
230V FX Series Positioning Drive Reference Manual Rotary + and Rotary - Indexes Rotary + and - Indexes provide forced directional control of moves to absolute positions. All other parameters function the same as they do with absolute indexes. An Absolute Index is a direct move to a specific position, regardless of the starting point. A Rotary + Index moves to the specified position, but only in a + direction.
Software Setup and Operation 2. If the specified position is outside the rotary range, the drive will travel the distance and direction calculated by distance. Example 3: If the starting position is at Ø° and 360° is the specified position, an Absolute Index would travel 360° in the + direction. At the completion of this index the motor position would be Ø°. Example 4: If the starting position is at Ø° and 361° is the specified position, an Absolute Index would travel 361 in the + direction.
230V FX Series Positioning Drive Reference Manual Accel Time This parameter specifies the time in which the FX Drive will accelerate from zero speed to maximum velocity during the index. The acceleration time actually used is found using the following formula: Actual Accel Time (AT2)=(AT1)(IV/MDV) Where: MDV = Maximum Drive Velocity. AT1 = Acceleration Time from zero to MDV (Value you entered). AT2 = Actual Acceleration Time. IV = Index Velocity (in user units) you entered for this index.
Software Setup and Operation The default value is zero (Ø), which means if the index count is greater than zero (Ø), the FX drive will immediately initiate the next index upon completion of the previous index. Feed To Sensor (Ø) This parameter only appears in Feed To Sensor and Registration Indexes.
230V FX Series Positioning Drive Reference Manual The value entered here sets the maximum torque limit that the index will feed to when “Yes” is entered for the Feed To Torque Limit parameter. This value is entered as a percentage of the maximum torque (200% maximum) available in the drive. For example, if you are using an FX-208, which has 8 in/lbs of continuous torque, and your application requires 4 in/lb of torque, you would enter a value of 50 percent.
Software Setup and Operation Count For each of the Index Types, the Count is the number of times the Index will repeat when initiated. The End Of Index Output, if assigned, will come on at the end of each index; Index Count completes only once after all repetitions are complete and any non-zero entry for index dwell time has expired. Count defaults to Ø (zero) and a number must be entered or the index is ignored. Note Count for Absolute Indexes should always be 1. You only go to a specific position once.
230V FX Series Positioning Drive Reference Manual one event. If you attempt a Suspend command after the drive has already been suspended and the Suspend memory has not cleared, the new information will not be retained. You can clear suspended memory by using the Abort Suspend Function (Input function #33), or a hardware Stop command (Input function #11).
Software Setup and Operation Automatic Clear Upon Program This feature may be used to automatically clear a Suspend cycle. When used with the Run Program On Suspend feature, the program you selected will be executed before the Automatic Clear occurs. Once a Suspend cycle is cleared, the original program will not be resumed and the controller will be free to accept another Suspend input or motion command. When this feature is not used, a Resume input is needed to clear the Suspend cycle.
230V FX Series Positioning Drive Reference Manual 3. The Suspend Upon Fault may only occur in a situation where Suspends are allowed (i.e., programs or indexes). Unlike other Suspend conditions, a Suspend Upon Fault may occur during the ramp down portion of an index which occurs in a program. 4. When a fault occurs during a Suspend function, the program which was running during the Suspend is terminated. However, the Suspend remains active following a fault reset.
Software Setup and Operation WAIT AT HOME POSTION UNTIL INPUT LINE 5 IS TURNED ON. INPUT LINE 5 HAS BEEN ASSIGNED THE "WAIT/JUMP INPUTS" FUNCTION VELOCITY DURING PROGRAM 2, ONE OUTPUT IS UPDATED AT THE END OF EACH INDEX OUTPUT (+) WAIT OUTPUT 2 1 4 3 AFTER A 5 SECOND DWELL, COMPOUND INDEXES 4 AND 5 WILL BE EXECUTED. EXECUTE PROGRAM 1 (-) HOME POSITION AFTER HOME CYCLE HOME CYCLE Figure 89: 5 ONCE INPUT 5 IS TURNED ON EXECUTE PROGRAM 2. PROGRAM 2 CONTAINS 3 INDEXES (1, 2 AND 3).
230V FX Series Positioning Drive Reference Manual Figure 90: Program #1 Example In the example shown above, Program #1 is the main program and Program #2, below, is called as a subroutine of Program #1. This call can be seen in step 2 of Program #1.
Software Setup and Operation Description of Programming Functions Each program function has a designated single or double letter function code that is used when creating a program. This section describes the functions. C Call Index (Compound) The Call Index (Compound) feature allows you to link two indexes together without stopping motion between the indexes. You cannot compound into Index #Ø under any circumstances or into Index #63 if you have a PCM-14 on your FX drive.
230V FX Series Positioning Drive Reference Manual DECEL RATE OF INDEX 1 VELOCITY DECEL RATE OF INDEX 2 (+) DECEL RATE OF INDEX 3 INDEX 1 INDEX 2 INDEX 3 0 FEET 12 (-) Figure 93: 13 21 Example 1, Compound Index Profile The drive will continue at that velocity until it approaches the programmed distance of Index #2, then decelerate at the Index #2 deceleration rate to the Index #3 programmed velocity.
Software Setup and Operation After completing Index #1, the drive will accelerate at the acceleration rate of Index #2 until it reaches the programmed velocity of Index #2. After completing Index #2 the drive will accelerate to the programmed velocity of Index #3 and move at that velocity until it approaches the programmed distance, at which time it will decelerate at the Index #3 deceleration rate and top.
230V FX Series Positioning Drive Reference Manual E End Program This function is used to designate the end of a program. It may be used more than once when using the Jump commands. The End Program function is also used to terminate programs prior to the last program step. The End Program function is equivalent to a return from subroutine when used at the end of a called program. F Set Maximum Following Error This function overrides the “Maximum Following Error” which is set up in the “Limits” screen.
Software Setup and Operation Failure to follow safe installation guidelines can cause death or serious injury. Use care in constructing programs that create a continuous loop condition by “Nesting” programs. When nesting programs, your program must return to the “Master” program somewhere in the loop to prevent programs from becoming stacked up in memory.
230V FX Series Positioning Drive Reference Manual Figure 97: Jump Options The “Jump Always” command is an unconditional jump statement that causes program execution to move immediately to the specified program step. The “Jump on Input Pattern (PGI)” command, brings up another window with these match selections.
Software Setup and Operation Figure 98: Jump on Input Pattern Commands Window The “Jump on Input Pattern (PGI)” command causes program execution to skip to the designated program step if the specified input lines match the pattern you have selected. If the specified lines do not match that pattern the program continues to the next step in the program.
230V FX Series Positioning Drive Reference Manual You may now choose which lines to monitor during this step by entering a (1) in the field corresponding to the input line you wish to monitor. Any field that has a zero or an “X” will cause that input line to be ignored during execution of this step. W Wait For Input Commands Before this command can be used in a program, you must assign Input Function #28, “Wait/ Jump Input” to one or more hardware or internal input lines.
Software Setup and Operation Once the Wait Command has been selected and a choice made from the pop-up screen, the cursor will then move to the center of the PCX screen. Zeroes will appear in this field that correspond to the number of External Lines selected in the Input Function Screen. The leftmost zero will correspond to the first line selected. You now choose which lines to monitor during this step.
230V FX Series Positioning Drive Reference Manual All Values The “All Values” option will download all values to the drive. Motion Values The Motion Values option downloads only values that affect movement and values in the Drive Parameters screen. Diagnostics When you select this option, PCX will monitor and display the status of the drive with the screen in the figure below. This mode is useful when you are troubleshooting a drive.
Software Setup and Operation Initialize Memory Operations Initialize Memory Operations allows you to reset the amplifier’s various memory areas to their default settings. Figure 102: Initialize Memory Operations Options Entire Memory This option resets all drive values held in the non-volatile memory to their factory default settings. This includes index data, input/output data, drive parameters, drive limits, gain settings and analog setup information.
230V FX Series Positioning Drive Reference Manual Analog Setup This option sets Analog Channel Full Scale and Analog Channel Null Values to their default settings (see FX Drives Serial Commands Manual for a complete list of serial commands). Limit Setup This option sets parameters in the “Limits” and “Drive Parameters” screens to their default settings. Terminal Mode In this mode the computer operates as a simple ANSI terminal.
Software Setup and Operation Disk File Operations When you select this operation from the Main Menu, the Disk File Operations menu will be presented on the screen. Figure 103: Disk File Operations Options Edit/Create Data File When you select this option, PCX will display the New File and Change Dir options and list all files that have the extension of “.PCX” in the current directory. You can select a previously saved data file from the list to be recalled or create a new file.
230V FX Series Positioning Drive Reference Manual Delete File The “Delete File” feature allows you to erase PCX files from a disk. When you select this option, PCX will list all files that have the extension of “.PCX” in the current directory. You can select a previously saved file from the list to erase. The PCX data file as well as its corresponding ".LST" file will be erased. Print List File PCX will list all files that have the extension of “.LST” in the current directory.
230V FX Series Positioning Drive Reference Manual Troubleshooting LED Display An alphanumeric LED display on the front of the FX drive provides status and fault information. The display aids in quickly identifying problems so that corrective action can be taken and machine downtime minimized. The standard serial interface includes diagnostic status and fault reporting by simple ASCII serial commands.
230V FX Series Positioning Drive Reference Manual Status Indicator Codes Following is a list of the status indicator codes. The characters in parentheses correspond to the diagnostic label attached to the front cover of the amplifier. (.) Serial Control Mode An illuminated decimal point LED in any mode indicates the drive is in the Serial Control Mode. While in the Serial Control Mode, motion can only be initiated by ASCII serial commands sent through the serial interface.
Troubleshooting different application module for the first time. It may be cleared with the reset push-button on the front panel just to the right of the LED display. If this fault cannot be cleared with the reset push-button, contact factory service. (L) Travel Limit The “L” fault occurs when either a hardware travel limit or a software travel limit is exceeded. Motion in the direction opposite to the one that caused the fault (away from the exceeded limit) is allowed.
230V FX Series Positioning Drive Reference Manual (2) Percent of Continuous Current Approximate Time Before “1” Fault (seconds) 160 2.0 180 1.8 200 Peak 1.5 Shorts Fault The drive can detect if the motor stator or stator cable or bridge becomes shorted. If this happens, the diagnostic display on the drive will indicate “2”. The bridge AC must be turned off and the cause of the short circuit must be determined and repaired before a restart is attempted.
Troubleshooting (6) Bridge Circuit Breaker Open or Low AC Voltage If the bridge circuit breaker or fuse is open or bus power has been interrupted, the drive will display a “6”. A “6” fault can also be caused by a low AC line voltage. The drive must be manually reset after restoring power. If logic power is maintained while bridge power is off, position information remains in memory even if the motor shaft is moved. In most applications a Home cycle will not be needed when bridge power is restored.
230V FX Series Positioning Drive Reference Manual Troubleshooting Fault Symbols Use the table below to determine what to do in case of a fault. The procedures referenced in the troubleshooting guide are listed on the following pages.
Troubleshooting Fault Symbol Symptom/ Trouble Possible Cause Position Error Fault Low bridge AC input voltage and/or insufficient KVA ratings for external transformer Accel ramp times too short Load creating too much friction Gear reducer oil level too low for high speeds Wrong type of gear reducer oil (too thick) Uninitialized Memory First power-up with new firmware First power-up with new PCM module Moved PCM to different amplifier High AC Line Voltage AC line voltage that exceeds 264 VDC Surges o
230V FX Series Positioning Drive Reference Manual Troubleshooting Procedures 1.) Check coupling to motor shaft. (a) A flexible coupling must be used on the motor shaft to minimize mechanical stress due to radial loads, axial loads and/or misalignment. (b) Some flexible couplings have a resonant frequency and can cause an audible noise and oscillation. 2. Check indexer or gear reducers, etc. (a) Check gear oil level. Low or no gear oil can damage equipment.
Troubleshooting (b) Check continuity conformance to the cable diagram in Figure 102, “Resolver Wiring Diagram,” on page 145 to ensure no shorts or opens. Flex cable at both ends to check for intermittent operation. (c) Check for cable flexure stress as load moves. This may eventually cause cable failure. (d) Check for electrical noise or AC lines and I/O lines.
230V FX Series Positioning Drive Reference Manual (b) Reduce the torque required by the load. 8. Check for high frequency motor noise, or motor oscillation (dither). (a) High frequency noise is commonly caused by a resonating (vibrating) coupling. (b) Check inertia of the load versus the inertia of motor. This should not exceed a 10 to 1 ratio. 9. Measure motor case temperature.
Troubleshooting (a) Single point ground should be used for chassis, power supplies, etc., with each having an individual ground wire of the appropriate size (gauge). Single point ground must be proper earth ground. (b) All coils in system should be properly suppressed, AC coils and relays with RC networks, and DC coils and relays with diodes (see the Installation chapter). (c) Power supply used for I/O must be 10.5 to 30 VDC. DC common must be grounded to the single point earth ground.
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230V FX Series Positioning Drive Reference Manual Specifications General Specifications FX-208 through FX-455, 90-264 VAC, 47/63 Hz, Single Phase only, Nominal Voltage = 230 VAC AC Input Voltage (Both Logic and Bridge) FX-490 through FX-6120 90-264 VAC, 47/63 Hz, Three Phase, Nominal Voltage = 230 VAC (if single phase power is used de-rate by 20 percent) FX-6200 through FX-8400 196-264 VAC, 47/63 Hz, Three Phase only, Nominal Voltage = 230 VAC Control Modes Position Control Mode: Drive Parameters System
230V FX Series Positioning Drive Reference Manual Performance Position Accuracy: Cable Feedback LengthAccuracy _________________________________________ 15 feet±15 arc. Minutes 50 feet±25 arc. Minutes 100 feet±40 arc. Minutes Velocity Accuracy: ±0.01% of set speed Amplifier Thermal Shutdown as Detected in Power Stage All FX drives: 80° to 90° C (176° to 194° F) Motor Thermal Shutdown Wire ambient, in rear of motor, 80° C. Defeatable except DXM-8200, 8300 and 8400 motors.
Specifications Amplifier/Motor Performance Specifications Drive Model Motor Model Torque Cont/Peak (lb-in) Maximu m RPM (230VAC Input) Shunt Fuse KT KE (SloBlo®) (lb-in/ amp) (Vrms/ Krpm) Amplifier Continuous Current (RMS/ Continuous) (Amps) Amplifier Output Current (Continuous) (Amps) Amplifier Output Current (Peak) (Amps) 5.6 FX-208 DXM/E-208 8 16 5000 5A 3.2 28.3 3.0 2.8 FX-316 DXM/E-316 16 32 4000 5A 4.2 37.6 4.0 4 8 FX-340 DXM-340 40 80 3000 5A 6.4 57.0 6.
230V FX Series Positioning Drive Reference Manual Figure 1: Motor Shaft Information Motor Shaft Load Specifications Maximum Radial Load (lbs) Maximum Axial Load (lbs) DXM/E-208 20 15 DXM/E-316 40 25 DXM-340 40 25 DXM/E-455 100 50 DXM/E-490 100 50 DXM/E-4120 100 50 DXM-6120 150 50 DXM-6200 150 50 DXM-6300 150 50 DXM-8200 150 50 DXM-8300 150 50 DXM-8400 150 50 Motor Model 160
Specifications Holding Brake Specifications Holding Torque Voltage (lb-in) (V) DXM/E-208 10 24 .34 ±10% 25ms MAX DXM/E-316 60 24 .52 ±10% 100ms MAX DXM-340 60 24 .52 ±10% 100ms MAX Motor Model Minimum Mechanical Current Engagement Time (ms) (A) Rotor Inertia Feedback Inertia Brake Inertia (lb-insec2) (lb-insec2) 40ms MAX 0.00016 250ms MAX 0.0005 250ms MAX 0.
230V FX Series Positioning Drive Reference Manual Drive Speed vs.
Specifications 163
230V FX Series Positioning Drive Reference Manual Amplifier Mounting Information FX-208 through FX-455 Specifications 164
Specifications FX-490 through FX-6120 Specifications 165
230V FX Series Positioning Drive Reference Manual FX-6200 through FX-8400 Specifications 166
Specifications Motor Mechanical/Electrical Information DXE-208 Motor Specifications Kg-cm2 0.207 Rotor Inertia lb-in-sec2 0.000183 Maximum Operating Speed RPM 5000 Back EMF (Ke) Vrms/Krpm 28.3 Torque Constant (Kt) lb-in/A 3.2 Maximum Continuous Torque lb-in 8 Peak Torque lb-in 16 HP 0.47 kW 0.
230V FX Series Positioning Drive Reference Manual DXM-208 Motor Specifications Kg-cm2 0.181 Rotor Inertia lb-in-sec2 0.00016 Maximum Operating Speed RPM 5000 Back EMF (Ke) Vrms/Krpm 28.3 Torque Constant (Kt) lb-in/A 3.2 Maximum Continuous Torque lb-in 8 Peak Torque lb-in 16 HP 0.47 kW 0.
Specifications DXE-316 Motor Specifications Kg-cm2 0.565 Rotor Inertia lb-in-sec2 0.00050 Maximum Operating Speed RPM 4000 Back EMF (Ke) Vrms/Krpm 37.6 Torque Constant (Kt) lb-in/A 4.2 Maximum Continuous Torque lb-in 16 Peak Torque lb-in 32 HP 0.76 kW 0.
230V FX Series Positioning Drive Reference Manual DXM-316 and DXM-340 Motor Specifications DMX-316 DMX-340 Kg-cm2 0.565 1.581 Rotor Inertia lb-in-sec2 0.00050 0.00140 Maximum Operating Speed RPM 4000 3000 Back EMF (Ke) Vrms/Krpm 37.6 57 Torque Constant (Kt) lb-in/A 4.2 6.4 Maximum Continuous Torque lb-in 16 40 Peak Torque lb-in 32 80 HP 0.76 1.42 kW 0.57 1.
Specifications DXE-455 Motor Specifications Kg-cm2 2.935 Rotor Inertia lb-in-sec2 0.00260 Maximum Operating Speed RPM 3000 Back EMF (Ke) Vrms/Krpm 60 Torque Constant (Kt) lb-in/A 6.8 Maximum Continuous Torque lb-in 55 Peak Torque lb-in 110 HP 1.95 kW 1.
230V FX Series Positioning Drive Reference Manual DXM-455 Motor Specifications Kg-cm2 2.935 2 Rotor Inertia lb-in-sec Maximum Operating Speed RPM 3000 Back EMF (Ke) Vrms/Krpm 60 Torque Constant (Kt) lb-in/A 6.8 Maximum Continuous Torque lb-in 55 Peak Torque lb-in 110 HP 1.95 kW 1.45 Rated Power (Continuous) 172 0.
Specifications DXE-490 and DXE-4120 Motor Specifications DXE-490 DXE-4120 Kg-cm2 5.758 8.355 Rotor Inertia lb-in-sec2 0.00510 0.00740 Maximum Operating Speed RPM 3000 3000 Back EMF (Ke) Vrms/Krpm 58.9 71.8 Torque Constant (Kt) lb-in/A 6.7 7.9 Maximum Continuous Torque lb-in 90.0 120 Peak Torque lb-in 180 240 HP 3.19 4.25 kW 2.38 3.
230V FX Series Positioning Drive Reference Manual DXM-490 and DXM-4120 Motor Specifications DXM-490 2 DXM-4120 Kg-cm 5.758 8.355 Rotor Inertia lb-in-sec2 0.00510 0.00740 Maximum Operating Speed RPM 3000 3000 Back EMF (Ke) Vrms/Krpm 58.9 71.8 Torque Constant (Kt) lb-in/A 6.7 7.9 Maximum Continuous Torque lb-in 90.0 120 Peak Torque lb-in 180 240 HP 3.19 4.25 kW 2.38 3.
Specifications DXM-6120, DXM-6200 and DXM-6300 Motor Specifications DXM-6120 DXM-6200 DXM-6300 Kg-cm2 10.838 21.677 32.515 Rotor Inertia lb-in-sec2 0.00960 0.01920 0.02880 Maximum Operating Speed RPM 3000 3000 3000 Back EMF (Ke) Vrms/Krpm 70 70 70 Torque Constant (Kt) lb-in/A 8.1 7.9 7.9 Maximum Continuous Torque lb-in 120 160 265 Peak Torque lb-in 240 400 600 Rated Power (Continuous) HP 4.25 5.60 8.30 kW 3.17 4.18 6.
230V FX Series Positioning Drive Reference Manual DXM-8200, DXM-8300 and DXM-8400 Motor Specifications DXM-8200 DXM-8300 DXM-8400 Kg-cm2 45.160 90.320 135.480 Rotor Inertia lb-in-sec 2 0.04 0.08 0.12 Maximum Operating Speed RPM 3000 3000 3000 Back EMF (Ke) Vrms/Krpm 68 68 68 Torque Constant (Kt) lb-in/A 8.1 8.1 8.1 Maximum Continuous Torque lb-in 200 300 400 Peak Torque lb-in 300 450 600 HP 5.95 8.57 11.42 kW 4.44 6.39 8.
230V FX Series Positioning Drive Reference Manual Glossary Absolute Position Position referenced to a fixed mechanical or electronic zero position. Absolute Position Feedback Position feedback devices that can maintain position data referenced to a given mechanical location even with power off. Usually an absolute encoder or multi-stage resolvers. Absolute Programming A positioning coordinate reference wherein all positions are specified relative to a single reference, or “home” position.
230V FX Series Positioning Drive Reference Manual ASCII (American Standard Code for Information Interchange) This code assigns a number to each numeral and letter of the alphabet. In this manner, information can be transmitted between machines as a series of binary numbers. Bandwidth The frequency range in which the magnitude of the system gain is no lower than 3 dB (1/2 the output RMS voltage) below the highest gain point.
Glossary Closed Loop A broadly applied term relating to any system where the output is measured and compared to the input. The output is then adjusted to reach the desired condition. In motion control the term is used to describe a system wherein the actual velocity or position (or both) is used to generate correction signals by comparison with the command to achieve the desired results.
230V FX Series Positioning Drive Reference Manual Compensation, Proportional A control action which is directly proportional to the error signal of a feedback loop. It is used to improve system accuracy and response time. Compliance The amount of displacement per unit of applied force. Opposite of stiffness. Computer Numerical Control A computer-based motion control device programmable in a numerical word address format.
Glossary Dead Band A range of input signal levels for which there is no system response. Demag Current The amount of current at which the motor magnets will be demagnetized. This is an irreversible effect which will alter the motor characteristics and degrade performance. Dielectric Test A high voltage breakdown test of an insulation’s ability to withstand an AC voltage. Test criterion limits the leakage current to a specified magnitude and frequency, applied between the specified test points.
230V FX Series Positioning Drive Reference Manual Duty Cycle For a repetitive cycle, the ratio of on time to total cycle time; Duty Cycle = On Time / (On Time + Off Time) * 100% Dynamic Braking A passive technique for stopping a permanent magnet brush or brushless motor. The motor windings are shorted together through a resistor which results in motor braking with an effectiveness of velocity/resistor value. Efficiency The ratio of output power to input power.
Glossary Encoder Marker A once-per-revolution signal provided by some incremental encoders to specify a reference point within that revolution. Also known as Zero Reference signal or index pulse. Encoder Resolution A measure of the smallest positional change which can be detected by the encoder. Explosion-proof A enclosure classification that indicates an enclosure is capable of withstanding internal explosions without bursting or allowing ignition to reach beyond the confines of the enclosure itself.
230V FX Series Positioning Drive Reference Manual Full Load Speed The speed of a motor operated with rated voltage and full load torque. Gain The ratio of system output signal to system input signal. The control loop parameter that determines system performance characteristics. Hall-Effect Sensor Commutation method used in some brushless servo amplifiers to electronically commutate the motor.
Glossary Incremental Programming A coordinate system where positions or distances are specified relative to the current position. Inertia The property of an object to resist changes in velocity unless acted upon by an outside force. Higher inertia objects require larger torque to accelerate and decelerate. Inertia is dependent upon the mass and shape of the object.
230V FX Series Positioning Drive Reference Manual Loop, Feedback Control A control method that compares the input from a measurement device, such as an encoder or tachometer, to a desired parameter, such as a position or velocity and causes action to correct any detected error. Several types of loops can be used in combination (i.e., velocity and position together) for high performance requirements. Loop Gain, Open The product of the forward path and feedback path gains.
Glossary Motor, DC Brushless A type of direct current motor that utilizes electronic commutation rather than brushes to transfer current. Usually refers to a motor commutated with hall effect sensors which results in trapezoidal commutation current signals. Motor, DC Permanent Magnet A DC motor utilizing permanent magnets to produce a magnetic field and a commutator on the stator. Has linear torque speed characteristics.
230V FX Series Positioning Drive Reference Manual Optically Isolated A system or circuit that transmits signals with no direct electrical connection. Used to protectively isolate electrically noisy machine signals from low level control logic. Oscillation An effect that varies periodically between two values. Usually refers to a variation frequency of 5 Hz or higher. Overshoot The amount that the parameter being controlled exceeds the desired value.
Glossary Process Control A term used to describe the control of machine or manufacturing processes, especially in continuous production environments. Pulse Rate The frequency of the step pulses applied to a motor driver. The pulse rate multiplied by the resolution of the motor/drive combination (in steps per revolution) yields the rotational speed in revolutions per second. PWM Pulse width modulation.
230V FX Series Positioning Drive Reference Manual Ringing Oscillation of a system following sudden change in state. Rise Time The time required for a signal to rise from 10 percent of its final value to 90 percent of its final value with a step input applied. RMS Current Root Mean Squared current. In an intermittent duty cycle application, the RMS current is equal to the value of steady state current which would produce the equivalent heating over a long period of time.
Glossary Speed Used to describe the linear or rotational velocity of a motor or other object in motion. (see Velocity.) Speed Regulation For a speed control system, speed regulation is the variation in actual speed expressed as a percentage of set speed. Stall Torque The torque available from a motor at stall or zero rpm. Static Torque The maximum torque available at zero speed. Stator The non-rotating part of a magnetic structure.
230V FX Series Positioning Drive Reference Manual Transducer Any device that translates a physical parameter into an electrical parameter. Tachometers and encoders are examples of transducers. Trapezoidal Profile A motion profile in which the velocity vs. time profile resembles a trapezoid. Characterized by constant acceleration, constant velocity and constant deceleration. TTL Transistor-Transistor Logic. Describes a common digital logic device family that is used in most modern digital electronics.
230V FX Series Positioning Drive Reference Manual Index A C Abort Suspend, 100 Absolute Index, 117 Absolute Indexes, 120 Absolute Rotary Position Limits, 88 Accel Time, 122 Accel Time and Decel Time, 110 Accel/Decel Shape, 84 Actuator Polarity, 82 All Values, 140 Amplifier Bridge Temperature Fault, 149 Amplifier/Motor Performance Specifications, 159 Amplifier/Motor Weights, 159 Analog and Pulse Inputs, 2 Analog Mode, 146 Analog Modes, 32 Analog Torque, 3, 32 Analog Velocity, 3, 32 Analog Wiring, 33 Appli
230V FX Series Positioning Drive Reference Manual 131 Diagnostics, 140 DIP Switch Settings, 39 Disk File Operations, 143 Distance Limit + and Distance Limit -, 87 Distance User Units, 83 Distance/Position, 121 Download Data File to Drive, 139 Drive Configuration, 81 Drive Parameters, 82 Drive Setup, 78 Drive Speed vs.
Index H Hardware Fault, 104 Hardware Requirements, 67 High AC Line Voltage, 149 High DC Bus, 149 High Speed Inputs, 92 Hold, 94 Holding Brake Control Circuit, 57 Holding Brake Option, 57 Holding Brake Specifications, 161 Holding Brake Wiring Diagrams, 58 Home (0) Initiate, 94 Home (1) Initiate, 101 Home Completed, 104 Home Cycle Example, 111 Home Limit Distance, 110 Home Sensor (0), 97 Home Types, 112 Homes, 109 Homing, 146 I In Motion, 103 In Suspend, 105 Incremental Index, 116 Index Direction, 101 Index
230V FX Series Positioning Drive Reference Manual Maximum Torque Output, 87 Mechanical Installation, 61 Memory and Communication, 67 Menu System, 71 Minimum Accel and Decel Times, 86 Mode Select, 40 Mode Selection, 31 Modes of Operation, 2 Monitor Types, 67 Motion Values, 140 Motor Cabling, 7 Motor Connections, 48 Motor Shaft Load Specifications, 160 Motor Temperature, 148 Motor Wiring Requirements, 49 Multi-Drop Configuration, 38 Power Considerations, 20 Power Dissipation, 28 Power Line Requirements, 17 P
Index Serial B, 38 Serial Cable Wiring Diagrams, 45 Serial Communications, 4 Serial Control Mode, 146 Serial Interface, 38 Serial, Fast and Slow Velocities, 108 Set Maximum Following Error, 134 Set Maximum Torque Output (%), 135 Set Outputs Lines or PGOs, 134 Setting Other Modes, 31 Shorts Fault, 148 Shunt Regulation Losses, 30 Site Requirements, 16 Software Requirements, 67 Software Setup and Operation, 67 Stand-by Losses, 29 Stator Cables, 7 Stator Connections, 54 Status Indicator Codes, 146 Stop Motion,
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Since 1979, EMERSON Motion Control, a subsidiary of the Emerson Electric Company, has been a leader in the development and manufacturing of motion control equipment and software. EMERSON Motion Control continues to lead the industry in supplying motion control devices designed to improve production efficiency. For more information about EMERSON Motion Control products and services, call 1 (800) 39-SERVO or contact our website at www.emersondrivesolutions.com.
