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2 Installing the 5630 Stepper

Motor Drive

In this Chapter

This Chapter explains how to install the 5630 Stepper Motor

Drive. Topics covered are:

•

Unpacking and inspecting the 5630

•

Selecting other system components

•

5630 safety

•

Mounting the 5630 in your installation

•

Connecting input/output cabling

•

Selecting switch functions

2.1 Unpacking and Inspecting the 5630

Unpacking

procedure

1. Remove the 5630 from the shipping carton. Make sure all

packing materials are removed from the unit.

2. Check the items against the packing list. A label located

on the side of the unit identifies the unit by model

number, serial number, and date code.

Inspection

procedure

Inspect the unit for any physical damage that may have been

sustained during shipment.
If you find damage, either concealed or obvious, contact your

buyer to make a claim with the shipper. Do this as soon as

possible after receipt of the unit.

Storing the unit

Store the 5630 in a clean, dry place. The storage temperature

must be between -25 degrees C and 85 degrees C. To prevent

damage during storage, store the unit in the original shipping

carton after completing the inspection for damage.

Rev E

5630 Installation and Hardware Reference Manual

2 - 1

Содержание 5630

Страница 1: ... 3 0 D r i v e Installation Hardware Reference Manual 110 Fordham Road Wilmington MA 01887 978 988 9800 Fax 978 988 9940 Part 903 563040 01 List Price 25 U S April 2000 Rev E HIGH PERFORMANCE MOTORS DRIVES ...

Страница 2: ...en permission of Pacific Scientific Company Pacific Scientific Company has attempted to insure that the information contained in this manual was correct and accurate at the time of printing Pacific Scientific Company cannot be responsible for any typographical errors or mistakes contained in this manual The information in this manual is subject to change without notice Copyright 1989 1990 1995 199...

Страница 3: ...rd voltage is required Refer to Section 2 3 Safety Guidelines for a summary of the safety guidelines As the user or person applying this unit you are responsible for determining suitability of this product for any application you intend In no event will Pacific Scientific Company be responsible or liable for indirect or consequential damage resulting from the use of this product ...

Страница 4: ...5 3 J3 Signal Interface Connection 2 16 2 6 Setting Up Functions Using Switch SW1 2 20 2 6 1 Step Set Up 2 21 2 6 2 Mid Range Instability Control Set Up 2 22 2 6 3 Idle Current Reduction Set Up 2 23 2 6 4 Current Set Up 2 24 3 Powering Up the 5630 Stepper Motor Drive 3 1 3 1 Testing the Installation 3 1 3 2 Troubleshooting 3 4 3 2 1 POWER LED Not On 5630 Does Not Power Up 3 5 3 2 2 ENABLED LED Not...

Страница 5: ...lacing the 5630 3 11 Appendix A Specifications A 1 Appendix B Order Number and Ordering Information B 1 Appendix C Connections Summary C 1 Appendix D Switch Summary D 1 5630 Installation and Hardware Reference Manual Rev E ...

Страница 6: ...e RMS 7 1 to 11 3 amps peak with a 160 volt nominal dc bus The 5630 leaves the factory set at 5 0 amps phase RMS Standard features Bipolar chopper drive controls motor current at 20 kHz chopper frequency Internal power supplies operate from the 115 volt ac input The main motor supply consists of a full wave bridge rectifier into a capacitive input filter with in rush current limiting Shunt regulat...

Страница 7: ...ping motor system The enabled function damps mid range oscillations by advancing or delaying the switching of the output transistors relative to the incoming pulse train Step size sets the amount of shaft rotation per step The five settings range from full step to fractions of a full step microsteps The microstep settings range from 1 2 to 1 125 for up to 25 000 steps revolution with a standard 1 ...

Страница 8: ...ponents are described in Chapter 2 Installing the 5630 Stepper Motor Drive System diagram The following diagram shows an installation of the drive in a typical system Your installation may vary from this configuration Rev E 5630 Installation and Hardware Reference Manual 1 3 STEP STEP A 3 3 4 5 J1 J3 115 VAC 60 HZ POWER J2 1 1 1 2 14 15 25 13 16 17 21 9 2 2 A B B 2 PHASE STEPPING MOTOR MOTOR CASE ...

Страница 9: ...Drive The most effective way to use the manual is to follow the instructions in Chapter 2 Installing the 5630 Stepper Motor Drive and Chapter 3 Powering Up the 5630 Stepper Motor Drive For quick reference during installation use Appendix C Connections Summary and Appendix D Switch Summary 1 4 5630 Installation and Hardware Reference Manual Rev E ...

Страница 10: ...ems against the packing list A label located on the side of the unit identifies the unit by model number serial number and date code Inspection procedure Inspect the unit for any physical damage that may have been sustained during shipment If you find damage either concealed or obvious contact your buyer to make a claim with the shipper Do this as soon as possible after receipt of the unit Storing...

Страница 11: ...anced high performance line of stepper motors The motor winding current rating must be compatible with the output current of the drive package 5 0 6 0 7 5 or 8 0 amps RMS 7 1 8 5 10 6 or 11 3 amps peak The electrical and magnetic losses of the motor must not exceed the motor power dissipation rating This is a concern at higher speeds and with low inductance motors less than 4 inch frame size The m...

Страница 12: ... Do not power up the drive without the cover on and the chassis tied to earth ground Do not operate the drive without the motor case tied to earth ground Do not make any connections to the internal circuitry The optically isolated input and output signals are the only safe connection points Always remove power before making or removing connections from the unit Before removing the cover of the uni...

Страница 13: ...tion of dust and dirt on the unit s electronic components The air should also be free of corrosive or electrically conductive contaminants Mounting dimensions Prepare the cabinet for the 5630 using the dimensions in inches or millimeters as shown in the following figures Mounting dimensions in inches 2 4 5630 Installation and Hardware Reference Manual Rev E 4 75 1 50 6 00 0 30 1 24 Mtg 0 281 Typ 1...

Страница 14: ... fan input on the unit bottom and the exhaust on the unit top Operating temperature of 0 to 50 degrees C at full rated current 0 to 60 degrees C at 5 0 to 6 0 amp current setting with idle current reduction enabled Rev E 5630 Installation and Hardware Reference Manual 2 5 120 65 38 1 152 4 7 62 31 50 Mtg 7 14 Typ M6 Ground Stud 44 70 J2 J3 J1 43 18 Min for J3 25 40 Min for J1 J2 Mating Connector C...

Страница 15: ...0 is shipped with current set at 5 amps phase and with idle current reduction enabled For an estimate of the power dissipation for use in calculating cabinet cooling requirements use the values shown For an RMS current of amps Use a value of watts 8 0 90 7 5 80 6 0 50 5 0 35 2 5 Connecting the Three Input Output Cables Introduction The three input output I O connectors are J1 Motor J2 115 Vac powe...

Страница 16: ...odes special operating conditions and system configuration wiring needs take precedence over the information included here Therefore you may need to wire the drive differently than described here Noise pickup reduction Use shielded and twisted cabling for the signal and power cables This precaution reduces electrical noise Shock hazard reduction Refer to section 2 3 for safety information that mus...

Страница 17: ... mating connector The mating connector supplied with the unit is type ELFH05110 Making your own cable If you need to build the cable refer to the appropriate subsection as follows To build the cable for motor type Refer to Section 4 lead 2 5 1 1 8 lead series 2 5 1 2 8 lead parallel 2 5 1 3 Pacific Scientific cable If the motor cable is purchased from Pacific Scientific install as follows The Paci...

Страница 18: ...nnections to the unit The motor terminals have high voltage present when the 5630 is On 2 Plug the mating connector firmly into the 5630 3 Plug the other mating connector into the motor and screw down the retaining collar 4 Reconnect power to the 5630 Rev E 5630 Installation and Hardware Reference Manual 2 9 5 1 5 Pin PCD ELFH05100 SPC XXX J1 5 Pin MS Connector MOTOR JACKET MOTOR PHASES A B CASE G...

Страница 19: ...rns per centimeter Make sure the cable contains a lead for grounding As an option the cable may be shielded to reduce radiated noise If a shield is used connect as shown for Pacific Scientific cables Cabling diagram The colors referenced in the diagram follow the Pacific Scientific stepper motor color code 2 10 5630 Installation and Hardware Reference Manual Rev E 1 2 3 4 5 To Drive To Motor A Bla...

Страница 20: ...he 5630 is On 4 Plug the mating connector firmly into the 5630 5 Connect the cable shield to 5630 ground if applicable 6 Plug the other mating connector into the motor 7 Switch On the 5630 2 5 1 2 8 Lead Motor Series Connected Introduction For an 8 lead motor to be wired in series build and install the cable as follows Cable requirements Use 16 to 14 gauge stranded wire for the cabling Obtain cabl...

Страница 21: ... the PCD connector are tightened down firmly on the wiring CAUTION Do not pre tin solder the tips of the cables going into the PCD connector This can result in a loose connection 3 Remove power from the 5630 2 12 5630 Installation and Hardware Reference Manual Rev E 1 2 3 4 5 To Drive To Motor A Black A Orange B Red B Yellow Motor Case Gnd Green In addition make the following connections at the mo...

Страница 22: ...cable as follows Cable requirements Use 16 to 14 gauge stranded wire for the cabling Obtain cable with each winding pair see diagram twisted at about 3 to 4 turns per inch 1 to 1 5 turns per centimeter Make sure the cable contains a lead for grounding As an option the cable may be shielded to reduce radiated noise Cabling diagram The colors referenced in the diagram follow the Pacific Scientific s...

Страница 23: ...r before making or removing connections to the unit The motor terminals have high voltage present when the 5630 is On 4 Plug the mating connector firmly into the 5630 5 Connect the cable shield to 5630 ground if applicable 6 Switch On the 5630 2 5 2 J2 115 Vac Power Connection Introduction The J2 115 Vac power cable connects voltage to the logic and the motor power supplies Mating Connector The J2...

Страница 24: ...wiring CAUTION Do not pre tin solder the tips of the cables going into the PCD connector This can result in a loose connection WARNING The chassis ground must be tied to earth ground Failure to do this leaves the potential for severe hazard Make sure the ground is connected via the ground stud on the front of the 5630 3 Plug the mating connector firmly into the 5630 Rev E 5630 Installation and Har...

Страница 25: ...sted at about 3 to 4 turns per inch 1 to 1 5 turns per centimeter As an option the cable may be shielded to reduce noise pickup CAUTION To avoid ground loops connect ground shield to indexer ground only Procedure 1 Solder the leads to the connector as shown 2 Assemble the connector housing 3 Plug the connector into the input and affix the connector to the unit with screws 4 For non Pacific Scienti...

Страница 26: ...otor The step occurs on the low to high transition of the step pulse J3 1 J3 14 13 mA to 20 mA for a minimum of 0 75 us Note The direction input must not change for a minimum of 1 ms before or after the current step input goes high Rev E 5630 Installation and Hardware Reference Manual 2 17 PIN 1 3 5V PIN 14 681 221 13 mA 0 75 s min µ 1 ms 1 ms High or Low State Step Input Direction Input Disallowe...

Страница 27: ...t Note You may reverse the effect of this input by reversing the connections of one of the stepper motor phase windings Enable Function Pins Required Indexer Circuitry Conditions Enables the drive A signal is required at the input for operation J3 13 J3 25 10 mA to 20 mA 2 18 5630 Installation and Hardware Reference Manual Rev E PIN 2 1 3V PIN 15 221 10 mA to 20 mA PIN 13 1 3V PIN 25 221 10 mA to ...

Страница 28: ...J3 21 10 mA to 20 mA Outputs Fault Function Pins Required Indexer Circuitry Conditions When the drive is enabled the output is on When fault occurs output is off J3 9 J3 21 Output is capable of sinking 5 mA and is rated for 40 Vdc Von 5mA 0 4V Rev E 5630 Installation and Hardware Reference Manual 2 19 PIN 16 1 3V PIN 17 221 10 mA to 20 mA PIN 9 40V max PIN 21 5 mA max ...

Страница 29: ...uction Current setting Groups of individual switches on switch SW1 enable or disable these functions In this section To understand and set up function Refer to section Step Size 2 6 1 Mid range instability control 2 6 2 Idle current reduction 2 6 3 Current 2 6 4 2 20 5630 Installation and Hardware Reference Manual Rev E FRONT Switch SW1 TOP VIEW ...

Страница 30: ...low speed resonance region Procedure With the power Off select the step size you desire by setting the switches as follows Rev E 5630 Installation and Hardware Reference Manual 2 21 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 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 To set step size as Move switch SW1 settings to full 200 steps motor rev Default factory setting 1 2 400 steps motor rev 1 5 1 000 steps m...

Страница 31: ...pect to the incoming pulse train to eliminate the instability Note Mid range instability control changes the pulse timing and so will affect any pulse placement techniques you may be using Disable instability control if using pulse placement Benefit Mid range instability control eliminates loss of torque at mid range speeds Procedure With the power Off enable or disable mid range instability by mo...

Страница 32: ...he step occurs Note 1 When ICR is enabled the holding torque generated by the motor is reduced by 50 Note 2 If you select a microstep setting and a current of 7 5 or 8 0 amps ICR is automatically enabled even if the switch is not set to enable Benefits The ICR function Allows the motor to cool during standstill for higher duty cycle applications Reduces 5630 power dissipation Procedure With the po...

Страница 33: ...ure With the power Off select from among the four current values by setting the switches as follows 2 24 5630 Installation and Hardware Reference Manual Rev E 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 To set RMS current to Move switch SW1 settings to 5 0 amps 7 1 amps peak Default factory setting 6 0 amps 8 5 amps peak 7 5 amps 10 6 amps peak 8 0 amps 11 3 amps peaK ...

Страница 34: ...ation The installation test power up procedure requires a motor and indexer or step and direction source to test the functionality of the 5630 Procedure After performing the installation per the guidelines given in Chapter 2 Installing the 5630 Stepper Motor Drive test your installation using the procedures on the following pages Warning Perform this initial power up with the motor shaft disconnec...

Страница 35: ...select a motor current of 5 A RMS Warning Make sure the 115 volt ac power is removed before proceeding 3 Unplug the J1 motor connector 4 Switch On the 115 volt ac power Check that the POWER LED is the only LED On If the POWER FAULT LED is On output is faulted Refer to section 3 2 4 to solve the problem 5 Again switch the power Off 6 Connect the J1 motor connector 7 Switch On the 115 volt ac power ...

Страница 36: ...5630 is enabled 3 Input a step command and verify that the motor moves Note Do not change the direction input within 1 millisecond before or after the step input goes high 4 Input a direction signal and step the motor The direction of rotation should change 5 Continue exercising the unit testing it in your application Getting help If you need further help with your installation contact Pacific Sci...

Страница 37: ...ction to 115 Vac power and logic supply is within operational levels 3 2 1 Enabled Drive has received a valid Enable command All internal circuits are enabled and the drive is not faulted If the drive is faulted this LED is off 3 2 2 Step active The Drive has received a step command 3 2 3 Power fault Either an external or internal short or internal power supply problem 3 2 4 Over temp Heatsink tem...

Страница 38: ... 5630 POWER LED will not light when power is applied Rev E 5630 Installation and Hardware Reference Manual 3 5 Connect 115 Vac section 2 5 2 Apply correct voltage Is 115 Vac applied Is 115 Vac within operational range 98 to132 V Internal failure Contact Pacific Scientific Yes No No Yes ...

Страница 39: ...ardware Reference Manual Rev E Refer to section 3 2 1 Refer to section 3 2 4 or section 3 2 5 Is POWER LED On Set valid step size Refer to section 2 6 1 Are POWER FAULT LED and OVERTEMP LED Off Internal failure Contact Pacific Scientific Is an enable signal applied correctly No Yes No Yes No Yes Apply enable signal refer to section 2 5 3 to check connection No Yes Is step size setting valid ...

Страница 40: ...with power applied holding torque then disconnect the motor from power and rotate the motor shaft detent torque Rev E 5630 Installation and Hardware Reference Manual 3 7 Refer to section 3 2 2 Apply step signal of at least 0 75 µs duration Refer to section 2 5 3 to check connection Is ENABLE LED On Motor does not have holding torque Refer to section 2 5 1 to check wiring connection Is a step signa...

Страница 41: ...ove 115 Vac and then the motor connector J1 Warning Do not disconnect the motor connector with power still connected The motor terminals contain hazardous voltage when power is connected Reapply power POWER FAULT LED goes off Cable or internal failure Contact Pacific Scientific 5630 power fault fixed No Yes No Yes Check cables for shorts Check connections per sections 2 5 1 and 2 5 2 Reconnect cab...

Страница 42: ... drive will heat a sealed enclosure Measure drive temperature under operational conditions Rev E 5630 Installation and Hardware Reference Manual 3 9 Lower ambient temperature to below 50 degrees C Check ambient temperature with 5630 On Is the 5630 environment below 50 degrees C 60 degrees derated Internal failure Contact Pacific Scientific Yes Yes No No Is fan On ...

Страница 43: ...ble for damage resulting from improper packaging or shipment Ship the 5630 to Pacific Scientific 110 Fordham Road Wilmington MA 01887 Attn Repair Department RMA ______ Note Do not ship Pacific Scientific motors to the above address The correct address for motor returns is Pacific Scientific 4301 Kishwaukee Street Rockford IL 61105 Attn Stepper Repair Department RMA _____ Shipment of your 5630 or m...

Страница 44: ...ve circuit Two phase bipolar chopper current regulated Bus voltage 160 volt dc nominal at 115 volt ac input Rated current Switch selectable 8 0 A RMS 11 3 A peak microstepping nominal 7 5 A RMS 10 6 A peak microstepping nominal 6 0 A RMS 8 5 A peak microstepping nominal 5 0 A RMS 7 1 A peak microstepping nominal Rev E 5630 Installation and Hardware Reference Manual A 1 ...

Страница 45: ...full steps per second input to output lag is less than 500 microseconds At step frequencies greater than 500 full steps per second input to output lag is less than 270 degrees of the input step pulse period 2 With mid range instability control disabled input to output lag is less than 10 microseconds for all step frequencies Chopper frequency 20 kHz nominal A 2 5630 Installation and Hardware Refer...

Страница 46: ...ity control enabled 50 milliseconds to 20 000 full steps sec 2 With mid range instability control disabled no minimum Environmental Operating temperature 0 to 50 degrees C at full rated current 0 to 60 degrees C at 5 0 or 6 0 Amp RMS with idle current reduction enabled Storage temperature 25 degrees to 85 degrees C Humidity 0 to 95 noncondensing Altitude 5 000 feet 1500 meters Rev E 5630 Installat...

Страница 47: ...dissipation for use in cabinet cooling requirements use the values shown For an RMS current of amps Use a value of watts 8 0 90 7 5 80 6 0 50 5 0 35 Dimensions Refer to section 2 4 Weight 9 pounds 4 kg A 4 5630 Installation and Hardware Reference Manual Rev E ...

Страница 48: ...Hardware Reference Manual 903 563040 01 Revision E Motor Cable SPC xxx 5630 xxx represents length in feet for example SPC 005 5630 is a cable 5 feet long For lengths over 50 feet contact Pacific Scientific The connectors are MS on the motor end and PCD on the drive end to connect to Pacific Scientific motors How to order Contact Pacific Scientific to order these parts Call 815 226 3100 from 8 am t...

Страница 49: ... follows 8 lead series For eight lead series winding to the 5 pin connector wire as follows Rev E 5630 Installation and Hardware Reference Manual C 1 1 2 3 4 5 To Drive To Motor A Black A Orange B Red B Yellow Motor Case Gnd Green 27 in 27 in 27 in 27 in 27 in 7 mm 7 mm 7 mm 7 mm 7 mm 1 2 3 4 5 To Drive To Motor A Black A Orange B Red B Yellow Motor Case Gnd Green In addition make the following co...

Страница 50: ...s to the 3 pin connector as follows C 2 5630 Installation and Hardware Reference Manual Rev E TO DRIVE TO MOTOR A BLACK ORG WHT 1 27 in 7 mm 27 in 7 mm 27 in 7 mm 27 in 7 mm 27 in 7 mm 2 3 4 5 B RED YEL WHT B YELLOW RED WHT GND GREEN A ORANGE BLK WHT 1 2 3 Green Chassis Ground White 115 Vac neutral NOT fused Black 115 Vac HOT fused ...

Страница 51: ...rface Wire the 10 leads to the 25 pin connector as follows Connect lead To pin Step 1 Step 14 Direction 2 Direction 15 Fault out 9 Fault out 21 Enable 13 Enable 25 Rev E 5630 Installation and Hardware Reference Manual C 3 ...

Страница 52: ...numbering on the switch The character X signifies that the switch setting does not need to be specified can be in either position Step Set Up For step size Move switch settings to 1 2 3 4 5 6 7 8 full X X X X X 1 2 X X X X X 1 5 X X X X X 1 25 X X X X X 1 125 X X X X X Mid range Instability Control Set Up Mid range Instability Control Set up Move switch settings to 1 2 3 4 5 6 7 8 Enable X X X X X...

Страница 53: ...ch settings to 1 2 3 4 5 6 7 8 Enable X X X X X X X Disable X X X X X X X Current Set Up For RMS current amps Move switch settings to 1 2 3 4 5 6 7 8 5 0 X X X X X 6 0 X X X X X 7 5 X X X X X X 8 0 X X X X X X X D 2 5630 Installation and Hardware Reference Manual Rev E ...

Страница 54: ...ling cabinet 2 6 Cover removal 2 3 Current full temperature 2 5 icr temperature 2 5 Current reduction see idle current reduction Current set up benefits 2 24 description 2 24 settings 1 2 D Dimensions 2 4 DIP switch SW1 2 20 Direct off line conditions 2 23 Direction inputs 2 17 Discharging capacitors 2 3 E Earth ground see grounding 8 lead parallel cable see motor 8 lead parallel cable 8 lead seri...

Страница 55: ...n 2 17 circuitry table 2 17 introduction 1 3 requirements 2 2 Input output cables 2 6 Inputs direction 2 18 enable 2 18 reset 2 19 step 2 17 Inspection 2 1 Installation 2 1 Installation help 3 3 Internal circuitry connections disallowed 2 3 Internal drive circuitry 2 3 Internal power supplies 1 1 Isolation 1 2 Isolation transformer 2 3 J J1 connector 2 8 J2 connector 2 14 J3 connector 2 16 L LEDs ...

Страница 56: ...winding current reduction see Idle current reduction Mounting dimensions inches 2 4 dimensions millimeters 2 5 guidelines 2 5 introduction 2 4 procedure 2 6 N National Electrical Manufacturer Assoc NEMA 2 4 Noise pickup reduction 2 7 O 115 Vac power cable connection 2 14 connection ground stud 2 15 diagram 2 15 fusing 2 15 grounding 2 15 requirement 2 14 Operating temperature 2 5 Optical isolation...

Страница 57: ...gram 2 16 fusing 2 15 indexer adaptation 2 17 requirements 2 16 Signals test 3 3 Soldering cables 2 11 2 12 2 14 2 15 Specifications Appendix A STEP ACTIVE LED description 3 4 troubleshooting 3 7 Step inputs 2 17 Step set up settings 2 21 step rate valid 3 7 switch valid settings 2 21 3 7 Step signal duration 2 17 3 7 Step size 1 2 Step source 1 2 Storage 2 1 Striped motor leads 2 11 2 12 Switch s...

Страница 58: ...U Unpacking 2 1 V Ventilation 2 4 Vibration 2 5 Voltage excessive 1 1 hazardous 2 3 W Weight 2 5 Wiring specific 2 7 Wiring general see cables Rev E 5630 Installation and Hardware Reference Manual I 5 ...

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