DIP Switch Settings
for APEX Series Motors
see page 7-9
D A N G E R
HIGH VOLTAGE
L1
L2
L3
Earth
Earth
Control L1
Control L2
12345678
12345678
12345678
Off
1
SW1
8
1
SW2
81
SW3
8
AC INPUT
202 – 252 VAC
47 – 66 Hz
3-ph or 1-ph
(Use L1 & L2
MT
±
Color Code:
APEX
Resolver
Cable
Short MT+ and MT- if motor
has no temperature sensor
pg 41
Resolver:
Resolution is 4096 counts/rev
Flt Relay
±
Relay type: Normally Open
Max Current: 5A at 24VDC or
5A at 120VAC
see page 42 for more info
see Motor Braking on pg 42-44
Shield
Stator 3
Stator 1
Stator 2
Stator 4
Rotor 1
Rotor 2
Motor Temp+
Motor Temp–
------
Red
Black
Green
Blue
Brown
White
Yellow
Orange
Connector Wire Color
RESOLVER CONNECTOR
DRIVE AUXILIARY CONNECTOR
1024 counts, pre-quadrature
Ch A leads Ch B
Ch Z pulse width is 90
°
pg 37, 38
for 1-ph)
pg 5, 23
4096 counts, post-quadrature
Counts/Rev:
CW Rotation:
Ch Z:
ENCODER OUTPUT
Enable
Indicates drive is enabled.
Disable
Indicates drive is disabled.
Over Voltage
Bus voltage exceeded 420VDC.
Regen Fault
Drive faulted–excess regen.
Regen Active
Regen resistor on, and
dissipating excess power.
I2T Limit
I2t Limit exceeded. Drive is in
foldback. Output limited to
continuous current setting.
Drive Fault
Motor short circuit.
Control board overtemp.
Undervoltage (brownout).
Motor Fault
Resolver not connected.
Motor overtemperature.
Motor thermostat not
connected.
Bridge Fault
Power stage overtemp.
Power stage overcurrent.
Name
Description/Problem
pg 60
LEDs
PROGRAMMABLE I / O
I/O Number
Input #16
Input #15
Input #14
Input #13
Input #12
Input #11
Input #10
Input #9
Output #8
Output #7
Output #6
Output #5
Pin
1
3
5
7
9
11
13
15
17
19
21
23
I/O Number
Pin
Input #8
Input #7
Input #6
Input #5
Output #4
Output #3
Output #2
Output #1
Input #4
Input #3
Input #2
Input #1
25
27
29
31
33
35
37
39
41
43
45
47
49
+5VDC
Even numbered pins connect to ISO GND.
I/O are; optically isolated; HCMOS compat-
ible.* Plug is compatible with OPTO-22.
INPUTS: Connect internal 6.8K
Ω
pull-ups
through In-P to +5V or 0 – 24V supply.
OUTPUTS: Open-collector outputs. Con-
nect internal 4.7K
Ω
pull-ups through Out-P
to +5V or 0 – 24V supply.
COM 1
Set-up: 9600 baud, 8 data bits,1 stop bit,
no parity, full duplex.
see page 25
AUXILIARY
Name
Description
ANI+
Analog Input. Not applicable.
ANI–
TRG-A
Input #17. Optically isolated. In-
ternal 6.8 K
Ω
pull-ups through
AUX-P to 5V or external 0–24V.
see pg 28. Use for position
capture input (
INFNC
).
TRG-B
General purpose input #18.
Otherwise same as Trg-A.
OUT-A
Output #9. Use for output on
position (
OUTFNC
). Circuit iden-
tical to prog. outputs.
pg 28, 29
+5V
Connect to OUT-P, IN-P, and/or
AUX-P to power I/O. 100mA
limit.
see pg 27, 28, 30, 31
OUT-P
Pull-up resistors for prog. outputs
and OUT-A.
pg 29,31
IN-P
Pull-up resistors for programma-
ble inputs.
pg 29, 31
AUX-P
Pull-up resistors for Home, Neg,
Pos, Trg-A, Trg-B
pg 27, 28, 30
Connect V_I/O, Out-P, In-P, Aux-P to +5V for
HCMOS compatability.* Connect to 0 – 24V
supply for other compatibility.
pg 5, 6, 27-31
ISO GND
Isolated ground.
see pg 18, 19
EXTERNAL ENCODER INPUT
Optically isolated. Encoder must be: Incre-
mental; 2-ph. quadrature;differential (recom-
mended) or single-ended; HCMOS com-
patible*; Max. freq.=1.2MHz; Min. between
transitions = 833 ns.
see page 26
COM 2
Connections – see pages 25 & 32
Configuring for RS-485 – see page 10
LIMITS
Home, Pos, Neg: V_I/O sets switching volt-
age levels; internal 6.8 K
Ω
pull-ups through
AUX-P to 5V or ext. 0–24V supp.
see pg 27
See I/O Device Interface – pages 29-31
*HCMOS-compatibility: Low
≤
1.0V, High
≥
3.25V
**Optical isolation between I/O GND and internal
microprocessor ground, but not between inputs and outputs.
49 50
Programmable Inputs/Outputs
1
2
CHA+
CHA -
CHB+
CHB -
CHZ+
CHZ -
Gnd
Encoder Output
Shield
Red
Blk
Grn
Blu
Brn
Wht
Yel
Org
Flt Relay+
Flt Relay -
NC
NC
Reset
Gnd
NC
Enable In
Fault Out
Gnd
NC
NC
Tach Out
Gnd
+15 V
Gnd
-15 V
Enable
Disable
Bridge Fault
Drive Fault
Motor Fault
Over Voltage
I
2
T Limit
Regen Fault
Regen Active
Torque Cmd
Test Point
Offset
Balance
Tach Output
Calibration
Shield
Iso Gnd
Z -
Z+
B -
B+
A -
A+
+5V
Iso Gnd
Home
Neg
Pos
ANI+
ANI–
Trg-A
Trg-B
Out-A
Iso Gnd
+5V
Out-P
In-P
Aux-P
V_I/O
Auxiliary
Limits
External Encoder Input
+5V
Gnd
Rx
Tx
Shld
Rx+
Rx-
Tx+
Tx-
Iso Gnd
COM 2
COM 1
Rx
Tx
Iso Gnd
Compumotor
RESET
ENABLE IN
FAULT OUT
±
15V
GND
TACH OUT
Active Low,
≤
1.0V
pg 34, 62
Active Low,
≤
1.0V
page 35, 63
Active HIGH (floats if faulted)
(Output is held low if no fault)
page 35
10 mA at
±
15V
page 36
Internally isolated from EARTH
terminal.
see page 18, 19
1V/1000 rpm for 1-speed re-
solver. Scale by DIP SW3-#5
page 36, 70
OFF
APEX
604
APEX
610
APEX
620
APEX
630
APEX
635
APEX
640
APEX
605
APEX
606
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
SW 1
1
8
SW 3
1
8
SW 2
1
8
SW 1
1
8
SW 3
1
8
SW 2
1
8
SW 1
1
8
SW 3
1
8
SW 2
1
8
SW 1
1
8
SW 3
1
8
SW 2
1
8
SW 1
1
8
SW 3
1
8
SW 2
1
8
OFF
OFF
OFF
OFF
APEX6152
APEX6154
D A N G E R
HIGH VOLTAGE
V Bus +
Regen Resistor
V Bus –
Phase A
Phase B
Phase C
Motor Ground
Shield
V Bus +
Regen Res / N C
V Bus -
Phase A
Phase B
Phase C
Motor Ground
Shield
MOTOR CONNECTOR
(Underneath unit)
page 45
Orange
Blue
Gray
Green &
Shield
Color
Code
APEX
Motor
Cable
TROUBLESHOOTING TIPS
TO ALLOW MOTION:
– Power must be on. (Is at least one LED on?)
– ENABLE IN must be grounded.
– Connect (or disable) limits.
LH
(
LHØ
) command.
– Set (or disable) position error.
SMPER
(
SMPERØ
)
– Set reasonable gains for system. (
see Tuning)
– Check encoder (
TPE
); increments for CW move?
– Check
A
,
V
,
D
. (If
D
= Ø, no motion will occur.)
PROBLEM REPORT:
TAS
command reports prob-
lems.
TFS
command reports Following status.
INPUTS or OUTPUTS not working:
Programmable input (
INFNC
) functions and drive
fault detection will not operate until you enable
input functions with the
INFEN1
command.
EXAMINE LEDs for indication of problem.
pg 60
•
•
•
•
Programmable output (
OUTFNC
) functions will not
operate unless enabled with
OUTFEN1
command.
see page 69
1 volt = 3 amps cmd. torque
1 volt = 5 amps cmd. torque
TEST POINT
APEX6152
APEX6154
Sin
Ref
Cos
Iso
Sin
Ref
Cos
L1
L2
L3
Earth
Earth
Control L1
Control L2
APEX6152 &APEX6154 Servo Controller/Drive Quick Reference
See Reverse for APEX6151 Quick Reference
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