404 Westridge Dr. • Watsonville, CA 95076 831/761-6555 • 800/525-1609 • FAX 831/761-6544 www.appliedmotionproducts.com 1 INTRODUCTION PPLIED MOTION PRODUCTS, founded in 1978 specializes in high-precision, cost effective, motors and motion control products. We offer a full complement of step and BLDC motors, motion control electronics and gearheads to serve a diverse industrial and OEM customer base. Applied’s standard “off-the-shelf” products most often can provide the solu- tion to your motor, motion control and gearing requirements. However, if your application is unusual and/or demanding we will engineer a design to optimize your product’s performance. Many times this results in increasing our customer’s productivity and product reliability while reducing costs. We believe the key to a successful business relationship is our commitment to fully understanding the customer’s product and the operating environment in which it must function. This is achieved by working closely with both the customer’s engineering and manufacturing groups. In many cases we participate from initial concept to finished product providing needed motor and control expertise. Our engineering experience allows us to offer customers a valuable service in the design of their products and selection of a motion control solution. Applied Motion’s products are available nationwide through a professional network of highly trained sales representatives and local distributors. Product literature, samples, technical assistance and off the shelf product delivery can be provided by contacting your nearest sales representative or distributor. Please call Applied Motion Products at (800) 525-1609 or FAX (831) 761-6544 for the location and phone number of the sales office nearest you or visit our website at: www.appliedmotionproducts.com A Introduction
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1
INTRODUCTION
PPLIED MOTION PRODUCTS, founded in 1978 specializes in high-precision, costeffective, motors and motion control products. We offer a full complement of stepand BLDC motors, motion control electronics and gearheads to serve a diverseindustrial and OEM customer base.
Applied’s standard “off-the-shelf” products most often can provide the solu-tion to your motor, motion control and gearing requirements. However, if yourapplication is unusual and/or demanding we will engineer a design to optimize yourproduct’s performance. Many times this results in increasing our customer’sproductivity and product reliability while reducing costs.
We believe the key to a successful business relationship is our commitmentto fully understanding the customer’s product and the operating environment inwhich it must function. This is achieved by working closely with both thecustomer’s engineering and manufacturing groups. In many cases we participatefrom initial concept to finished product providing needed motor and controlexpertise. Our engineering experience allows us to offer customers a valuableservice in the design of their products and selection of a motion control solution.
Applied Motion’s products are available nationwide through a professionalnetwork of highly trained sales representatives and local distributors. Productliterature, samples, technical assistance and off the shelf product delivery can beprovided by contacting your nearest sales representative or distributor. Please callApplied Motion Products at (800) 525-1609 or FAX (831) 761-6544 for the locationand phone number of the sales office nearest you or visit our website at:www.appliedmotionproducts.com
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SOFTWARE
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Softw
are
Sect
ion Applied Motion Products produces three classes of step and servo drives with integrated
motion controller. Each class is available as a complete motion System or componentlevel open frame unit. A System includes drive/controller/power supply in a packaged
unit, matched motor, software and, for servos, cables. Open frame component drives consistof an integrated drive/controller and software. Matching motors and power supplies for openframe units are offered separately.
Drives with Integrated Motion Controller Classifications:• Drives with Si™ programming• Drives with X configurator• Drives with on board oscillator
Si™ Drives
Si™ controls provide two unique modes of operation, Si™ (simple indexing) and SCL (Si™Command Language). Both operating modes are supported by the standard Si™ product andare user selectable. Si™ and SCL were designed for very different control environments.
Intended for use in stand alone applications Si™ provides quick, out of the box use with anextremely friendly, point and click graphical interface that does not require any softwareprogramming experience.
SCL is used where a PC or PLC will supply motion instructions in real time (host mode). SCL isbest suited for experienced software developers.
Si™ Drives in Si™ Mode
Si™ (Simple Indexer) mode is used in applications requiring stand-alone operation in eithersingle or multi-axes environments. Programs are constructed then stored in the drive and canbe executed upon power up or upon a trigger signal. Programming is accomplished throughthe use of graphical motion commands selected in a point and click manner. Once aninstruction is selected, a “fill-in the blanks” format is used to input motor and motionparameters.
Constructing a Si™ program requires no prior programming experience nor does it requirelearning a programming language. Si™, based upon user input, generates the actual motionprogram, thereby eliminating syntax errors. Once completed, programs are easily stored,edited and recalled.
An optional operator interface (MMI) provides an easy to use, inexpensive method forinputting machine operating instructions like input of variables or, for more advancedoperations, functions like selecting a program branch and decision making. Si™ also providesthe capability to control digital inputs and outputs as well as their associated logic. Si™ easilyinterfaces with devices like PLCs in applications where additional I/O and/or different types ofcontrol are required. Si™ can be implemented by a wide variety of users with varying degreesof experience and in numerous applications. Si™ has found success in all types of applicationsfrom simple linear actuator movements to complete machine control requiring operator
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inputs. Si™ software is available on both stepper and servo drives. Our servo version includesQuick Tuner™ software, which simplifies tuning and set-up, with features like a built insampling oscilloscope.
Multiple axis stand-alone applications are handled in Si™ by either the SiNet™ Hub or SiNet™Hub 444.
• The SiNet™ Hub provides the ability to control up to 8 Si™ drives, either stepper orservo from a single hub. Programs are constructed then stored in the SiNet™ Hub andcan be executed upon power up or upon a trigger signal. Not only can you coordinate upto eight motors, the hub also has access to all inputs and outputs of all the drivesconnected to it, providing your program with a potential of up to 64 inputs and 24outputs. You can also use an Applied Motion MMI with the hub, thus allowing themachine operator to enter specific motion parameters. The SiNet™ Hub can commandmotion to occur independently or simultaneously in absolute, incremental or “sensorseeking” modes. SiNet™ Hub programs can access up to 50 MMI variables.
• The SiNet™ Hub 444 controls up to four Si™ drives, either stepper or servo from asingle hub. It also includes four programmable inputs and four programmable outputs,in addition to the I/O of the drives. Programs are constructed then stored in the SiNet™Hub 444 and can be executed upon power up or upon a trigger signal. You can also usean Applied Motion MMI with the hub, thus allowing the machine operator to enterspecific motion parameters. The SiNet™ Hub 444 can command motion to occurindependently or simultaneously in absolute, incremental or “sensor seeking” modes.SiNet™ Hub 444 programs can access up to 50 MMI variables.
Si™ Drives in SCL Mode
SCL mode (Si™ Control Language) is used for applications requiring control of motion on areal time basis from a host PC or PLC. SCL allows the host computer to direct the drive toperform a variety of motion and I/O tasks while retrieving system status information. SCLrequires a high level of software programming experience and the ability to construct aprogram using ASCII characters over a serial port. SCL is a versatile and powerful tool for anexperienced system developer. The drive is connected directly to a PC or PLC’s serial port forsingle axis applications. In the SCL mode, as in Si™ mode, the user can address their multi-axis applications with either the SiNet™ Hub or SiNet™ Hub 444, up to 8 drives can beconnected to a host’s serial port through one Hub.
In SCL mode, the Hub functions as a router relaying SCL commands to the appropriate driveor drives. This permits real time control from a host PC or PLC for up to 8 axes from a singleserial port. You can also use an Applied Motion MMI, which allows the machine operator toenter specific motion commands. Both Hub products can move motors independently orsimultaneously in absolute, incremental or “sensor seeking” modes. All Hub programs canaccess up to 50 MMI variables.
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X Drives
X drives can be selected to operate in the following modes:• Step and direction/pulse input, receiving pulses from a separate stand alone controller or
master encoder.• Oscillator/velocity drive, using an on board pulse generator• Indexing drive, in conjunction with the eXposition configuration software
The eXposition configuration software is used to program the drive’s six digital inputs. Eachinput can be configured to perform one of four functions: Move, Pulse or Quadrature, Move toSensor or Run/Stop.
Indexing ability of the X drives provides a level of functionality that was previously limited tofull scale controllers. For a number of applications, in industries like packaging, materialhandling and labeling, the X drive will provide all the position control needed. All X drives comewith eXposition configuration software. Servo X drives also come with our Quick Tuner™ servotuning software.
O Drives
O drives, which are designated by an “O” in a part number, include an on-board pulsegenerator (oscillator). The oscillator makes these drives capable of “on/off” motion initiated byexternal trigger and can be used for velocity control or “basic” position control (based on on/off time intervals). On board potentiometers control accel/decel ramps. The O drives providefor motor control where the most basic motion function is required.
Summary of Drives by Control Type
Si™ TypeStepper DrivesPackaged Open FrameSi3540 1240iSi5580 3540i
7080iServo DrivesPackaged Open FrameBLSi7080 BL7080i
X TypeStepper DrivesPackaged Open Frame
2035XDServo DrivesPackaged Open FrameBLX7080 BL7080X
O TypeStepper DrivesPackaged Open FramePDO2035 2035OPDO3540 3535OPDO5580 3540MO
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Si Programming Screens
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Si P
rogr
amm
ing INDEXER PROGRAMMING:
Programmable by RS-232 connection toIBM compatible PC running Windows 95,98, 2000, NT, XP or ME. Programming soft-ware and cable included. Programming isvery easy to learn and requires no previousprogramming experience.
Programs can be up to 100 lines long.Instructions are powerful, so 100 lines canprovide the user with a sophisticated pro-gram. For example, in one program line themotor can be moved until a sensor changesstate, then fed a precise distance to a stop,delayed and returned to the starting point.Distances, delays, feed and return speeds,acceleration and deceleration parameters areall included in the single program line. Thesame move can take 10 program lines ormore on other indexers.
There are a total of 20 different instruc-tions, including input/output, branches,loops and motion commands. These in-structions can be combined to make anearly infinite variety of programs, meetingthe demands of a wide range of applications.
As you compose your program, you cantest it by downloading to a drive and execut-ing. A sophisticated control panel allows youto observe the status input and output ter-
Si Software Specifications
minals in real time, highlights the instructionthat’s executing, and allows you to pauseand single step the program.
You can even emulate the optional ManMachine Interface on-screen. This allowsyou to try out the MMI before buying one,and eliminates the need to swap cables be-tween the PC and MMI while you’re testingyour program.
You can also write programs without adrive connected to your PC and save themto your hard disk.
Once programmed, the cable can be re-moved and the indexer-drive will run standalone. Programs and parameters are storedinternally in nonvolatile memory. Uponpower up, the drive automatically senses theconnection to the Windows programmingsoftware. If no connection is detected, theprogram is automatically executed startingon line 1.
All Si products support an optionalNEMA 4X operator interface (MMI) that al-lows the operator to enter variables such asspeeds, distances and repeat counts. TheMMI attaches to the RS-232 programmingport, leaving all inputs and outputs free.
Typical Dialog Box(for MMI prompt instructions)
Main Programming Screen
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Features of the Main Programming Screen
Features of the Program Control Panel
Microstep resolution2000-50800 steps/rev
Motor Current& Idle Current
Jog Input Settings(speed, accel rate)
Jog inputs can be assigned to other uses
CommunicationPort Setting
Limit Switch Options: normally open, normally closed, or not used & available for other uses
user defined units(inches, mm, degrees, etc)
Program WindowIndexer-Drive Type
Button to accesssupport information
Indexer-DriveFirmware Level
Indexer-Drive Control Buttons
Virtual MMI
Program Control
Status of Inputs
Status of Outputs
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Feed to LengthA point to point move. Parameters are dis-tance, direction, speed, accel and decel.Can also change speeds at a specified dis-tance within the move.
Feed & ReturnA point to point move that returns to thestarting point after specified delay. Param-eters include distance, feed speed, returnspeed, direction, accel, decel, and return de-lay time.
Feed to PositionA move to an absolute position. Parametersare position, speed, accel and decel.
Feed & Set OutputA point to point move. An output terminalcan be turned on or off during the move, orcan be turned on, off or pulsed at the end ofthe move.
Feed to SensorMoves the motor until an input (to which asensor is connected) changes state, thenstops at a specified distance beyond thesensor. Useful for applications like dispens-ing labels or moving objects on a conveyer.A safety distance can be given; if the motormoves beyond that distance without reach-ing the sensor, the motor stops and the pro-gram branches to a specified line.
Feed to Sensor & ReturnSame as Feed to Sensor, but returns to theoriginal starting point. Additional parametersare return speed and return delay time.
Set Abs PositionAssign a value, such as 0 inches, or 10 mm,to the present motor position.
Save Abs PositionStores the present absolute position to anMMI variable so that it can be “learned”and returned to later by a feed to positioninstruction.
Si Program Instructions
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Seek HomePositions the motor at a home sensor (wiredto one of the general purpose inputs)“bouncing off” the limits if necessary.
Wait TimeDelays a specified amount of time. Range is.01 to 300 seconds. Adding a loop aroundthis instruction can extend the delay time toas much as 18 hours.
Wait InputPauses the program until an input, or set ofinputs, reaches a given condition. The joginputs are functional during this instruction.The Wait Input instruction can also display aprompt on the optional MMI and pause untilthe operator presses the ENTER key.
Hand WheelAllows the operator to precisely position themotor and load using an optional CNC handwheel.
MMI PromptDisplays a prompt on the optional man-ma-chine interface (MMI) panel and accepts aparameter from the operator. This param-eter is saved in nonvolatile memory and canbe used as a move speed, move distance orrepeat loop count. Speeds and distancescan be entered in user defined units such asinches or gallons. The MMI Prompt instruc-tion also allows the operator to choose asub program from a menu of up to 8 subprograms.
Go ToForces program to jump to a specific in-struction. At the least, you’ll need one ofthese at the end of your program to returnexecution to the beginning.
If InputCauses the program to branch to a givenline number if an input, or set of inputs,meets a specified condition. The If Input in-struction can also display a prompt on theoptional MMI and branch if the operatorpresses the YES key.
Set OutputSet a given output to a high or low voltagestate, or can emit a high or low pulse of 2 to500 milliseconds. This instruction is usefulfor triggering other motor controllers, relaysor cut-off knives. It can also be used to sig-nal events to another indexer or PLC.
CommentAllows the user to document the program byadding comments. Comments stay with theprogram even when downloaded to the drive.
RepeatThe beginning of a loop. Repeat a block ofinstructions a fixed number of times (up to65,535 times). Loops can be extended bynesting loops around each other (two nestedloops allow you to repeat the instructionswithin them more than 4 billion times).
End RepeatMarks the end of a repeat loop. The pro-gramming software matches these up foryou automatically. You don’t have to specifya line number. Connections are showngraphically on the screen.
Reset Repeat LoopResets a repeat loop counter to 0. Usefulfor resetting a loop that has been prema-turely terminated by an If Input instruction.
Change CurrentAllows the program to turn off the motorcurrent, resume the previous current level,or change the current setting anytime.
Si Program Instructions
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X Pr
ogra
mm
ing The X Drive technology is a cross between a step and direction
drive, oscillator/velocity control drive and an indexing drive.The X drives have four digital inputs and one analog input. A
separate function can be assigned to each input by our easy-to-useWindows-based set up software. Input functions include step pulse,direction signal, run/stop (jogging) and triggering of point-to-pointand sensor-seeking moves. Speed and acceleration are independentlyprogrammable for each input. The speed can even be set according tothe voltage on the analog input. In pulse mode, a scaling feature al-lows the resolution of the command pulses to differ from the actualencoder resolution. You might, for example, want to command thedrive at 3600 steps/rev even though the encoder provides 8000counts/rev.
The X drives also have a single output that can provide an in posi-tion or in motion signal to other devices.
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X Drive Program Instructions
The Feed to Sensor function moves the motoruntil a sensor detects an object. Its great fordispensing labels and moving objects into po-sition on a conveyor. The Feed to Sensor dia-log includes adjustable speed, acceleration,distance beyond sensor and direction. You canalso decide the trigger and sensor conditions.
The Pulse function lets you control the XDrive from a pulse source, such as a PLC,motion controller, or master encoder. Youchoose the step resolution and the direction.Direction can be clockwise, counter-clock-wise or an external signal applied to the DIRinput. Input signals can be Pulse & Direction,CW Pulse/CCW Pulse or AB quadrature.
The Run/Stop function allows you to com-mand a motor to start and stop with a digitalsignal. The X Drive can be configured forone preset speed, or up to 8 speeds selectedby the digital inputs. The speed can even bedetermined, on the fly, by the voltage on theanalog input. Anytime you start, stop orchange speeds, the X Drive smoothly rampsup or down according to the acceleration rateyou’ve chosen. A Run/Stop move can alsorun for a preset amount of time, then stop.
The main screen lets you assign a functionto each input. You then proceed to an indi-vidual dialog for each function. That wayyou focus on only the parameters that arerelevant to your application.
For a Feed to Length (point to point) move,you can set the distance, direction, speedand acceleration. Built-in analytical toolsprovide you with information such as howlong a move takes and what the velocity pro-file looks like. You also specify how themove is triggered.
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STEPPERSYSTEMS
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Step
Mot
or S
yste
ms
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STEPPERSYSTEMS
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PACKAGED STEPPER SYSTEMS SELECTION GUIDE
FEATURES PDO2035 PDO3540 Si3540 PDO5580 Si5580
Motor Current (A/phase) 0.125–2.0 0.2–3.5 0.4–3.5 0.5–5.5 0.5–5.5
Input Voltage 110/220 AC 110/220 AC 110/220 AC 110/220 AC 110/220 AC
switching at 20–30 KHz• Ideal for 4, 6 or 8 leaded step motors NEMA sizes
11, 14, 17 and 23
Description
The PDO2035 is stepper drive packaged in a rug-ged steel case painted black with white epoxy silkscreen. Integral heat sink, mounting brackets,switch covers and connectors are included witheach drive. The drive has been matched with ninerecommended NEMA 11, 14, 17 & 23 motors in or-der to create a complete stepper motion solution.
The PDO2035 provides the user with two modes ofoperation to choose from, Pulse & Direction or Os-cillator. The specific operation mode desired is se-lected during set up via DIP switch. DIP switchesare also provided for setting the drive’s step reso-lution as well as the motor current.
Pulse & Direction Mode allows the PDO2035 to re-ceive step pulses from an indexer such as the Ap-plied Motion’s Si-100 or Si-1 or from a PLC or anyother external controller.
Oscillator Mode can control speed by an onboard
potentiometer and/or by an external analog volt-age. STEP input starts and stops the motor. DIR in-put controls direction of rotation.
The PDO2035 also provides a Tach Output and En-able Input.
A Tach Out signal is provided for measuring themotor speed. It generates 1 pulse per motor step.
ENABLE allows the user to turn off the current witha signal. The logic circuitry continues to operate,the drive “remembers” the step position even whenthe amplifier is disabled.
Factory set to operate at 110 volt input; thePDO2035 can be reset by the user to operate at 220volt input by a simple switch selection.
Pluggable screw terminal blocks are provided forthe motor, AC input as well as a 4 and 5 positionsignal input/output. Mating connectors are pro-vided with the drive.
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STEPPERSYSTEMS
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POWER AMPLIFIER:
AMPLIFIER TYPE ....................................... Bipolar Darlington dual H-Bridge.CURRENT CONTROL .................................. Recirculating, pulse width modulated, switching at 20–30 KHz.OUTPUT CURRENT .................................... 0.125–2.0 amps, dip switch selectable.DC BUS VOLTAGE ...................................... 35 VDC.AC INPUT VOLTAGE ................................... 110 or 220 VAC (switch selectable) 50/60 Hz.MAXIMUM OUTPUT POWER ..................... 70 Watts.IDLE CURRENT REDUCTION...................... Automatic 50% idle current reduction, defeatable.MOTOR RESOLUTION ................................ Full or half step switch selectableSTATUS LED’S ............................................ AC power (red).
CONTROLLER SECTION:
DIGITAL OSCILLATOR ................................ Precise speed control with automatic ramps between speeds. Theaccel/decel rates are set by an on board potentiometer, and are ad-justable from 10 to 12,000 steps/sec/sec.
SPEED SETTINGS AND RANGE .................. On-Board: Speed potentiometer. High speed: 100–12,000 steps/sec/sec. Low speed: 10–1,200 steps/sec/sec.External: External potentiometer capable.
MODES OF OPERATION ............................. Two modes dip switch selectable:Pulse and Direction: works with pulse and direction controllersOscillator: on-board potentiometers and/or an external 0–5 V ana-log voltage, control speed.
STEP AND DIRECTION INPUTS ................. Optically isolated: 5–24 VDC. Steps requires a 10 microsecondminimum pulse width. The direction signal setup time is 50 micro-second minimum.
SYSTEM SPECIFICATIONS:
OVERALL SIZE ........................................... 1.75˝ x 4.00˝ x 6.80˝.CHASSIS MATERIAL .................................. Aluminum, black anodized with integral heat sink.CASE .......................................................... Steel with black paint and white epoxy silk screen. Includes switch
covers.WEIGHT ...................................................... 3 lbs.AMBIENT TEMPERATURE .......................... 0˚ to 50˚C (32˚ to 122˚F).HUMIDITY .................................................. Maximum of 90% non-condensing.CONNECTORS ............................................ Screw terminal connectors for input power and motor, and input/
output signals.MOTORS .................................................... Can drive 4, 6 or 8 lead motors, NEMA sizes 11– 23.
PDO 2035 Technical Specifications
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STEPPERSYSTEMS
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connectorenable, direction, step
dip switchesfull/half stepcurrent setting
power LED
motor connector
AC power connector
PDO 2035 Connectors and Switches
INPUTS (4 pin)
position no.1 en2 dir3 com4 step
MOTOR
position no.1 B–2 B+3 A–4 B+
AC POWER
position no.1 G2 N3 L
connectorexterior speed
trimpotsspeed, accel, decel
dip switchesoscillator set up
INPUTS (5 pin)
position no.1 tach–2 tach+3 wpr4 ccw5 cw
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STEPPERSYSTEMS
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A+A–B+B–
step
direction
110/220
enable
tachout
OpticalIsolators
external speed pot
common
StepSequencer
Oscillator
current setting
full step/half step
step
dir
acceldecel
speed adj
tomotor
PowerSupplyVAC
Amplifier
oscoptions
1
12
3
23
45
PDO 2035 Technical Drawings
BLOCK DIAGRAM
MECHANICAL OUTLINE
DIREN
COMSTEP
TACH+TACH-
WPRCCW
CW
12
3
12
34
5
PDO 2035Step Motor Driver
POWER
HALFSTEP
B–B+
A–A+
GND
N
L
HILOBYPASS
INTEXT FULLSTEP
SPEED
DECEL
ACCEL
MO
TOR
AC
PO
WER
1000500250125
CURR
ENT
(BAS
E =
125m
A)
6.80"
.245"
4.00"
.273"1.75"
.19"
6.00"
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lated amplifier switching at 20–30 KHz• Ideal for 4, 6 or 8 leaded step motors NEMA sizes
11, 14, 17 and 23• CE and TUV compliant
Description
The PDO 3540 is a stepper drive packaged in a ruggedsteel case painted black with white epoxy silkscreen.Integral heat sink, mounting brackets, switch coversand connectors are included with each drive. Thedrive has been matched with twelve recommendedNEMA 11, 14, 17 & 23 motors in order to create acomplete stepper motion solution.
The PDO 3540 provides the user with four modes ofoperation to choose from, Self test, Pulse & Direction,Joystick or Oscillator. The specific operation mode de-sired is selected during set up via DIP switch. DIPswitches are also provided for setting the drive’s stepresolution as well as the motor current.
Self Test Mode is used for troubleshooting. If you areunsure about the motor or signal connections to thedrive you can use the self-test.
Pulse & Direction Mode allows the PDO 3540 to re-ceive step pulses from an indexer such as the AppliedMotion’s Si-100 or Si-1 or from a PLC or any otherexternal controller.
Joystick Mode allows speed and direction to be deter-mined by an external analog voltage. STEP and DIRinputs can be used for limit switches. SPEED inputselects speed range. LO SPEED and HI SPEED potsadjust the 2 speed ranges.
Oscillator Mode can control speed by onboard poten-tiometers and/or by an external analog voltage. STEPinput starts and stops the motor. DIR input controlsdirection of rotation. SPEED input selects the speedrange.
The PDO 3540 also provides a Tach Output and En-able Input.
A Tach Out signal is provided for measuring the mo-tor speed. It generates 100 pulses per revolution. Ifconnected to a frequency counter, speed reads out inrevs/second with two decimal places.
ENABLE allows the user to turn off the current to themotor by setting this signal to logic 0. The logic circuitrycontinues to operate, the drive “remembers” the stepposition even when the amplifier is disabled.
Factory set to operate at 110-volt input; the PDO 3540can be reset by the user to operate at 220-volt inputby a simple switch selection.
Pluggable screw terminal blocks are provided for themotor, AC input and 8-position signal input/output.Mating connectors are provided with the drive.
The PDO 3540 is both CE and TUV compliant.
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POWER AMPLIFIER:
AMPLIFIER TYPE ....................................... MOSFET, dual H-Bridge.CURRENT CONTROL .................................. 3 state, pulse width modulated, switching at 20–30 KHz.OUTPUT CURRENT .................................... 0.4–3.5 amps, dip switch selectable in 0.1 increments.POWER SUPPLY ........................................ Linear, toroidal transformer based for high reliability and low
noise. 110 or 220 VAC input, switch selectable. 50/60 Hz.DC BUS VOLTAGE ...................................... DC voltage at nominal line voltage: 35 VDC full load, 40 VDC no
load.AC INPUT VOLTAGE ................................... 110 or 220 VAC (switch selectable) 50/60 Hz.MAXIMUM OUTPUT POWER ..................... 140 Watts.IDLE CURRENT REDUCTION...................... 0% or 50% dip switch selectable.MOTOR RESOLUTION ................................ 16 resolutions. 200, 400, 1000, 2000, 5000, 10000, 12800,
MODE OF OPERATION ............................... Self Test: Used for trouble shooting to test motor and/or signalconnections.Pulse & Direction: Allows amplifier to receive step pulses from acontroller such as Applied’s Si-100 or Si-1, or any other pulsesource PLC or controller.Joystick: allows speed and direction to be determined by an exter-nal analog voltage. Step and Dir inputs can be used for limitswitches. Speed input selects speed range. LO SPEED and HISPEED pots adjust the 2 speed ranges.Digital Oscillator: allows for precise speed control with automaticramps between speeds. Accel/Decel rates are set by on board po-tentiometer and/or external analog voltage.
STEP AND DIRECTION INPUT .................... Optically isolated: 5-12 VDCSPEED RANGE ........................................... LO speed range: 0-5 rev/sec.
HIGH speed range: 0-25 rev/secAccel/decel range: 1-250 rev/sec/sec
OVERALL SIZE ........................................... 2.25˝ x 7.8˝ x 5.40˝.CHASSIS MATERIAL .................................. Aluminum, black anodized with integral heat sink.CASE .......................................................... Steel with black paint and white epoxy silk screen. Includes switch
covers.WEIGHT ...................................................... 5 lbs.AMBIENT TEMPERATURE .......................... 0˚ to 50˚C (32˚ to 122˚F).HUMIDITY .................................................. Maximum of 90% non-condensing.CONNECTORS ............................................ Screw terminal connectors for input power and motor, and input/
output signals.MOTORS .................................................... Can drive 4, 6 or 8 lead motors, NEMA sizes 11– 23.AGENCY APPROVAL .................................. CE & TUV.
PDO 3540 Technical Specifications
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STEPPERSYSTEMS
30
BLOCK DIAGRAM
PDO 3540 Technical Drawingsm
otor phase Am
otor phase B
EXTSPEEDINPUT
current0.4 to 3.5A/phase
ext speedjoystick
50% idle
accelLOspeed
HIspeed
MicrostepSequencer
Digital Oscillator&
Joystick Interface
110 or220 VAC
InternalPowerSupply
power LED
MOSFET3 StatePWM Power
Amplifier
DIRECTION
HI/LO SPEEDENABLE
TACH
STEP
OpticalIsolation
fuse
steps/revosc bypass
self test
MECHANICAL OUTLINE
7.80"
2.25"1.125" 0.750" 0.750"
5.00"5.40"
0.200" (x6)
0.200"(x6)
12
34
56
12
34
56
78
MOT
OR
A+A-B+B-PD
O 35
40St
ep M
otor
Driv
er
50% IDLE
JOYSTICK
OSC BYPASS
STEPS/REV
SELF TEST
ACCEL
EXT SPEED
0.10.20.40.81.6CU
RREN
T
HIGH SPEED
LOW SPEED
(BAS
E =
0.4
A)
POWER
DIR+DIR–
STEP+STEP–
EN+EN–
SPEED+SPEED-TACH+TACH–
CWWPRCCW
AC P
OWER
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
Drive Type Motor System Number Step Motor Description
PDO 3540 11012 NEMA 11 high torque one stack
Si3540 11013 NEMA 11 high torque two stack
14842 NEMA 14 two stack
17068 NEMA 17 high torque one stack
17071 NEMA 17 high torque two stack
17075 NEMA 17 high torque three stack
23122 NEMA 23 one stack
23123 NEMA 23 two stack
23124 NEMA 23 three stack
23394 NEMA 23 high torque one stack
23397 NEMA 23 high torque two stack
23400 NEMA 23 high torque three stack
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STEPPERSYSTEMS
37
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STEPPERSYSTEMS
38
Si35
40 P
rogr
amm
able
Ste
p M
otor
Driv
e
Features
• Si™, Si Command Language (SCL) or SiNet Hub pro-gramming languages included with drive
• AC input 110 V or 220 V switch selectable, 50-60 Hz• DC bus voltage 35 VDC full load, 40 VDC nominal• Software selectable motor current from 0.2 – 3.5
amps/phase• Software selectable motor resolution from 2,000 to
50,800 steps per revolution• Software selectable idle current reduction 0, 25%,
lated amplifier switching at 20 – 30 KHz• Ideal for 4, 6 or 8 leaded step motors NEMA sizes 11,
14, 17 and 23• Optional Man Machine Interface (MMI) allows ma-
chine operator to enter specific motion parameters• CE and TUV compliant
Description
The Si3540 is a programmable stepper drive/indexerpackaged in a rugged steel case painted black with whiteepoxy silkscreen. Integral heat sink, mounting brackets,switch covers and connectors are included with eachSi3540. The drive/indexer has been matched with twelverecommended NEMA 11, 14, 17 & 23 motors and comes
with all operating software necessary to create a com-plete stepper motion solution.
The Si3540 includes Applied Motion Products’, Win-dows based, Si™ software language for quick set upand ease of use. The Si™ is ideal for stand-alone opera-tion. For more experienced users, with software devel-opment expertise, the Si3540 also comes withApplied’s Si™ Command Language (SCL) program-ming instruction set. SCL allows for control of the Si™drive from a host PC or PLC thus permitting the user toperform a variety of motion, I/O tasks and system sta-tus retrieval via the host.
Multiple axis applications are handled by our SiNet™Hub Programmer, which gives you the ability to controlup to 8 Si™ drives, either stepper or servo on the samehub. Not only can you coordinate up to eight motors, thehub also has access to the inputs and outputs of all thedrives, providing your program with up to 64 inputs and24 outputs. You can also use Applied’s MMI to interfacethe drives with the machine operator.
Factory set to operate at 110-volt input; the Si3540 canbe set by the user to operate at 220-volt input by asimple switch selection.
Pluggable screw terminal blocks are provided for the I/O, motor and AC power input. Mating connectors, pro-gramming cable with computer interface connector aswell as all operating software are provided with each Si™drive.
The Si3540 is both CE and TUV compliant.
Si3540 Programmable Step Motor Drive
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STEPPERSYSTEMS
39
POWER AMPLIFIER:AMPLIFIER TYPE .............................................. MOSFET, dual H-Bridge.CURRENT CONTROL ......................................... 3 state, pulse width modulated, switching at 20–30 KHz.OUTPUT CURRENT ........................................... 0.2–3.5 amps, software selectable.POWER SUPPLY ............................................... Linear, toroidal transformer based for high reliability and low noise. 110
or 220 VAC input, switch selectable. 50/60 Hz.DC BUS VOLTAGE ............................................. DC voltage at nominal line voltage: 35 VDC full load, 40 VDC no load.AC INPUT VOLTAGE .......................................... 110 or 220 VAC (switch selectable) 50/60 Hz.MAXIMUM OUTPUT POWER ............................ 140 watts.IDLE CURRENT REDUCTION ............................ 0%, 25%, 50%, or 100% software selectable.MOTOR RESOLUTION ....................................... 13 resolutions. Steps per revolution with 1.8° motor: 2000, 5000,
STATUS LED'S .................................................. AC power (red).
CONTROLLER (INDEXER) SECTION Si3540:SERIAL COMMUNICATION ............................... RS-232 programming port.MOTION UPDATE .............................................. 12800 Hz.INPUTS ............................................................. 8 user programmable inputs. Can be used for triggering, sensing, hom-
ing, branching, jogging or limits. 5-24 VDC optically isolated.OUTPUTS .......................................................... 3 general purpose, optically isolated 12–24 VDC outputs for interfacing
to other equipment. Open collector and emitter. 100 mA max.PARAMETER RANGES ...................................... Distance: 1 to 16,000,000 steps. Speed: .025 to 50 revolutions per sec-
ond (in any microstep resolution). Acceleration: 1 to 3,000 rev/sec/sec.Deceleration: 1 to 3,000 rev/sec/sec (set independently from accelera-tion). Time Delays: 0.01 to 300 seconds. Output Pulse Widths: 2 to 500milliseconds. Iterations per repeat loop: 1 to 65,535.
OPTIONAL OPERATOR INTERFACE (MMI) ....... NEMA 4/12 rated (splash proof & dust proof). 4 x 20 characters liquidcrystal display (LCD), standard or backlit. 20 key membrane keypad.Overall size: 4.9 x 4.9 x 1.42 inches.
SYSTEM SPECIFICATIONS:OVERALL SIZE .................................................. 2.25 x 7.8 x 5.40 inches.CHASSIS MATERIAL ......................................... Aluminum, black anodized with integral heat sink.WEIGHT ............................................................. 4 lbs.AMBIENT TEMPERATURE ................................. 0˚ to 50˚C (32˚ to 122˚F).HUMIDITY ......................................................... Maximum of 90% non-condensing.CONNECTORS ................................................... Screw terminal connectors for input power and motor, and I/O signals.MOTORS ........................................................... Can drive 4, 6 or 8 lead motors, NEMA sizes 11, 14, 17 & 23.CASE ................................................................. Steel with black paint and white epoxy silk screen. Includes switch covers.AGENCY APPROVAL ......................................... CE & TUV.
Si3540 Technical Specifications
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STEPPERSYSTEMS
40
Si3540 Technical Specifications
MOSFET3 StatePWM Power
Amplifier
motor phase A
motor phase B
110 or220 VAC
INPUT1INPUT2INPUT3INPUT4
CW JOG/IN5CCW JOG/IN6
to PC/MMI
CW LIMITCCW LIMIT
OUT1OUT2OUT3
RS232Optical
Isolation
Si™Microstepping
IndexerSequencer
eeprom
OpticalIsolation
OpticalIsolation
InternalPowerSupply
power LEDfuse
7.80"
2.25"1.125" 0.750" 0.750"
5.00"5.40"
0.200" (x6)
0.200"(x6)
POWER
MOT
ORAC
POW
ER
A+A-B+B-
G
L
N
PC /
MM
IINPUT 1INPUT 2INPUT 3INPUT 4
IN 5 / JOG CWIN 6 / JOG CCW
IN / JOG COMIN / JOG COM
CCW -CCW +
CW +CW -
OUT 1 +OUT 1 -OUT 2 +OUT 2 -OUT 3 +OUT 3 -
LIM
ITS
Si35
40Pr
ogra
mm
able
Ste
p M
otor
Driv
er
BLOCK DIAGRAM
MECHANICAL OUTLINE
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STEPPERSYSTEMS
41
Si3540 Connectors and Switches
inputs connector
inputs/limits connector
outputs connector
power LED
AC power connector
motor connector
I/O
position no.1 in/jog com2 in/jog com3 input 14 input 25 input 36 input 47 in 5/jog cw8 in 6/jog ccw9 cw+10 cw–11 ccw+12 ccw–13 out 1+14 out 1–15 out 2+16 out 2–17 out 3+18 out 3–
AC POWER
position no.1 G2 N3 L
MOTOR
position no.1 B–2 B+3 A–4 B+
LIMITS
RS232 connectorpc
mmi
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
Drive Type Motor System Number Step Motor Description
PDO 3540 11012 NEMA 11 high torque one stack
Si3540 11013 NEMA 11 high torque two stack
14842 NEMA 14 two stack
17068 NEMA 17 high torque one stack
17071 NEMA 17 high torque two stack
17075 NEMA 17 high torque three stack
23122 NEMA 23 one stack
23123 NEMA 23 two stack
23124 NEMA 23 three stack
23394 NEMA 23 high torque one stack
23397 NEMA 23 high torque two stack
23400 NEMA 23 high torque three stack
OPTIONAL ACCESSORIES
Type Description
MMI-01 Standard man-machine interface.
MMI-02 Man-machine interface with backlit display.
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STEPPERSYSTEMS
47
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STEPPERSYSTEMS
48
PDO
5580
Ste
pper
Driv
e w
ith D
igita
l Osc
illat
or
PDO 5580 Packaged Pulse and Direction Step Motor Drivewih Digital Oscillator
Features• AC input 110V or 220V switch selectable, 50-60 Hz• DC bus voltage 75 VDC full load, 80 VDC nominal• Switch selectable motor current from 0.5–5.5 amps/
phase• Microstepping:
• Pulse and Direction mode: switch selectable 200 to50,800 steps/rev
• Oscillator/Joystick mode: 12,800 steps/rev• Switch selectable idle current reduction, 0 or 50%• Optically isolated inputs/outputs
lated amplifier switching at 20–30 KHz• Ideal for 4, 6 or 8 leaded step motors NEMA sizes 23
or 34• CE and TUV compliant
Description
The PDO5580 is stepper drive packaged in a ruggedsteel case painted black with white epoxy silkscreen. In-tegral heat sink, mounting brackets, switch covers andconnectors are included with each drive. The drive hasbeen matched with twelve recommended NEMA 23 and34 motors in order to create a complete stepper motionsolution.
The PDO5580 provides the user with four modes of op-eration to choose from, Self test, Pulse & Direction, Joy-stick or Oscillator. The specific operation mode desiredis selected during set up via DIP switch. DIP switchs arealso provided for setting the drive’s step resolution aswell as the motor current.
Self Test Mode is used for troubleshooting. If you areunsure about the motor or signal connections to thedrive you can use the self-test.
Pulse & Direction Mode allows the PDO5580 to receivestep pulses from an indexer such as the AppliedMotion’s Si-100 or Si-1, or from a PLC or any other ex-ternal controller.
Joystick Mode allows speed and direction to be deter-mined by an external analog voltage. STEP and DIR in-puts can be used for limit switches. SPEED input selectsspeed range. LO SPEED and HI SPEED pots adjust the 2speed ranges.
Oscillator Mode can control speed by onboard potenti-ometers and/or by an external analog voltage. STEP in-put starts and stops the motor. DIR input controls direc-tion of rotation. SPEED input selects the speed range.
The PDO5580 also provides a Tach Output and EnableInput.
A Tach Out signal is provided for measuring the motorspeed. It generates 100 pulses per revolution. If con-nected to a frequency counter, speed reads out in revs/second with two decimal places.
ENABLE allows the user to turn off the current to themotor by setting this signal to logic 0. The logic circuitrycontinues to operate, the drive “remembers” the stepposition even when the amplifier is disabled.
Factory set to operate at 110-volt input; the PDO5580can be reset by the user to operate at 220-volt input by asimple switch selection.
Pluggable screw terminal blocks are provided for themotor, AC input and 8-position signal input/output. Mat-ing connectors are provided with the drive.
The PDO5580 is both CE and TUV compliant.
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STEPPERSYSTEMS
49
POWER AMPLIFIER:
AMPLIFIER TYPE ....................................... MOSFET, dual H-Bridge, all parts rated for 100 volts.CURRENT CONTROL .................................. 3 state, pulse width modulated, switching at 20–30 KHz.OUTPUT CURRENT .................................... 0.5 to 5.5 amps/phase output current, switch selectable in 0.2
increments.POWER SUPPLY ........................................ Linear, toroidal transformer for high reliability and low noise. 110
or 220 VAC input, switch selectable. 50–60 Hz.DC BUS VOLTAGE ...................................... DC voltage at nominal line voltage: 75 VDC full load, 90 VDC no
load.AC INPUT VOLTAGE ................................... 110 or 220 VAC (switch selectable) 50–60 Hz.MAXIMUM OUTPUT POWER ..................... 440 Watts.PROTECTION CIRCUITS ............................. Short circuit and over temperature.IDLE CURRENT REDUCTION...................... 0% or 50% dip switch selectable.MOTOR RESOLUTION ................................ Oscillator/joystick modes: 1/64 step (12,800 s/r) with 1.8˚ motor.
MODE OF OPERATION ............................... Self Test: Used for trouble shooting to test motor and/or signalconnections.Pulse & Direction: Allows amplifier to receive step pulses from acontroller such as Applied’s Si-100 or Si-1, or any other pulsesource PLC or controller.Joystick: allows speed and direction to be determined by an exter-nal analog voltage. Step and Dir inputs can be used for limitswitches. Speed input selects speed range. LO SPEED and HISPEED pots adjust the 2 speed ranges.Digital Oscillator: allows for precise speed control with automaticramps between speeds. Accel/Decel rates are set by on board po-tentiometer and/or external analog voltage.
STEP AND DIRECTION INPUT .................... Optically isolated: 5-12 VDCSPEED RANGE ........................................... LO speed range: 0-5 rev/sec.
HIGH speed range: 0-25 rev/secAccel/decel range: 1-250 rev/sec/sec
OVERALL SIZE ........................................... 3 x 5.3 x 8 inches. See mechanical outline.CHASSIS MATERIAL .................................. Aluminum, black anodized with integral heat sink.WEIGHT ...................................................... 7.8 lbs.AMBIENT TEMPERATURE .......................... 0˚ to 70˚C.HUMIDITY .................................................. Maximum of 90% non-condensing.CONNECTORS ............................................ Screw terminal connectors for input power and motor, and I/O sig-
nals.MOTORS .................................................... Can drive 4, 6 or 8 lead motors, NEMA sizes 23 & 34.CASE .......................................................... Steel with black paint and white epoxy silk screen. Integral heat
VDC. 2,200 ohms internal resistance. Can be config-ured for sinking (NPN) or sourcing (PNP) signals.
• Three optically isolated programmable outputs 12 –24 VDC, 100mA maximum
• One optically isolated output 5 VDC dedicated to faultout
• RS-232 for PC/MMI communications• Over current and over temperature protection• 440 watts of usable power• Screw terminal connectors• Dual, MOSFET H-bridge, 3 state, pulse width modu-
lated amplifier switching at 20 – 30 KHz• Ideal for 4, 6 or 8 leaded step motors NEMA sizes 23
& 34• Optional Man Machine Interface (MMI) allows ma-
chine operator to enter specific motion parameters• CE and TUV compliant
Description
The Si5580 is a programmable stepper drive/indexerpackaged in a rugged steel case painted black with whiteepoxy silkscreen. Integral heat sink, mounting brackets,switch covers and connectors are included with eachSi5580. The drive/indexer has been matched with twelverecommended NEMA 23 & 34 motors and comes with alloperating software necessary to create a complete step-per motion solution.
The Si5580 includes Applied Motion Products’,Microsoft Windows based, Si™ software language forquick set up and ease of use. The Si™ is ideal for stand-alone operation. For more experienced users, with soft-ware development expertise, the Si5580 also comes withApplied’s Si Command Language (SCL) programminginstruction set. SCL allows for control of the Si™ drivefrom a host PC or PLC thus permitting the user to per-form a variety of motion, I/O tasks and system status re-trieval via the host.
Multiple axis applications are handled by our SiNet™ HubProgrammer, which gives you the ability to control up to 8Si™ drives, either stepper or servo on the same hub. Notonly can you coordinate up to eight motors, the hub alsohas access to the inputs and outputs of all the drives, pro-viding your program with up to 64 inputs and 24 outputs.You can also use Applied’s MMI which allows the machineoperator to enter specific motion commands.
Factory set to operate at 110-volt input; the Si5580 can beset by the user to operate at 220-volt input by a simplyswitch selection.
Pluggable screw terminal blocks are provided for theI/O, motor and AC power inputs. Mating connectors,programming cable with computer interface connectoras well as all operating software are provided with eachSi™ drive.
The Si5580 is both CE and TUV compliant.
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
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STEPPERSYSTEMS
59
POWER AMPLIFIER (MOTOR DRIVE):AMPLIFIER TYPE .............................................. MOSFET, dual H-Bridge.CURRENT CONTROL ......................................... 3 state, pulse width modulated, switching at 20–30 KHz.OUTPUT CURRENT ........................................... 0.5–5.5 amps, software selectable.POWER SUPPLY ............................................... Linear, toroidal transformer based for high reliability and low noise. 110
or 220 VAC input, switch selectable. 50/60 Hz.DC BUS VOLTAGE ............................................. DC voltage at nominal line voltage: 75 VDC full load, 90 VDC no load.AC INPUT VOLTAGE .......................................... 110 or 220 VAC (switch selectable) 50/60 Hz.MAXIMUM OUTPUT POWER ............................ 440 watts.IDLE CURRENT REDUCTION ............................ 0%, 25%, 50%, or 100% software selectable.MOTOR RESOLUTION ....................................... 13 resolutions. Steps per revolution with 1.8° motor: 2000, 5000,
STATUS LED'S .................................................. AC power (red)Over Temperature (yellow)Over Current (yellow)
CONTROLLER (INDEXER) SECTION:SERIAL COMMUNICATION ............................... RS-232 programming port.INPUTS ............................................................. 8 user programmable inputs. Can be used for triggering, sensing, hom-
ing, branching, jogging or limits, optically isolated 5-24 VDC.OUTPUTS .......................................................... 3 general purpose, optically isolated 12–24 VDC outputs for interfacing
to other equipment. Open collector and emitter. 100 mA max.PARAMETER RANGES ...................................... Distance: 1 to 16,000,000 steps. Speed: .025 to 50 revolutions per sec-
ond (in any microstep resolution). Acceleration: 1 to 3,000 rev/sec/sec.Deceleration: 1 to 3,000 rev/sec/sec (set independently from accelera-tion). Time Delays: 0.01 to 300 seconds. Output Pulse Widths: 2 to 500milliseconds. Iterations per repeat loop: 1 to 65,535.
OPTIONAL OPERATOR INTERFACE (MMI) ....... NEMA 4/12 rated (splash proof & dust proof). 4 x 20 characters liquidcrystal display (LCD)standard or backlit. 20 key membrane keypad. Over-all size: 4.9 x 4.9 x 1.42 inches.
SYSTEM SPECIFICATIONS:
OVERALL SIZE .................................................. 3.0 x 5.3 x 8.0 inches.CHASSIS MATERIAL ......................................... Aluminum, black anodized with integral heat sink.WEIGHT ............................................................. 7.8 lbs.AMBIENT TEMPERATURE ................................. 0˚ to 50˚C (32˚ to 122˚F).HUMIDITY ......................................................... Maximum of 90% non-condensing.CONNECTORS ................................................... Screw terminal connectors for input power and motor, and I/O signals.MOTORS ........................................................... Can drive 4, 6 or 8 lead motors, NEMA sizes 11, 14, 17, 23 & 34.CASE ................................................................. Steel with black paint and white epoxy silk screen. Includes switch covers.AGENCY APPROVAL ......................................... CE & TUV.
Si5580 Technical Specifications
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STEPPERSYSTEMS
61
Si5580 Connectors and Switches
I/O
position no.1 in 12 in 23 in 34 in 45 jog cw6 jog ccw7 in/jog com8 in /jog ccw9 cw+10 cw–11 ccw+12 ccw–13 out 1+14 out 1–15 out 2+16 out 2–17 out 3+18 out 3–19 fault+20 fault–
AC POWER
position no.1 G2 N3 L
MOTOR
position no.1 B–2 B+3 A–4 B+
LIMITS
LEDspowerovertempovercurrent
RS232 connectorpcmmi
motor connector
AC power connector
input connector
input/limits connector
output connector
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
Drive Type Motor System Number Step Motor Description
PDO 5580 23122 NEMA 23 one stack
Si5580 23123 NEMA 23 two stack
23124 NEMA 23 three stack
23395 NEMA 23 high torque one stack
23398 NEMA 23 high torque two stack
23401 NEMA 23 high torque three stack
34348 NEMA 34 one stack
34349 NEMA 34 two stack
34350 NEMA 34 three stack
34474 NEMA 34 high torque one stack
34476 NEMA 34 high torque two stack
34478 NEMA 34 high torque three stack
OPTIONAL ACCESSORIES
Type Description
MMI-01 Standard man-machine interface.
MMI-02 Man-machine interface with backlit display.
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STEPPERSYSTEMS
67
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68
STEPPERDRIVES
Open
Fra
me
Driv
es
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69
STEPPERDRIVES
STEP MOTORS require electronic circuits to provide them with appropriate amounts ofpower and to accept and/or generate motion command signals. Circuits that provideonly power to the motor are called drives. Circuits capable of generating high-level
motion profile command signals are called indexers. Circuits that accept lower level run/stopsignals, and generate acceleration/deceleration signals are know as a drive with oscillator.Power and lower level command signal circuits can be combined into a single unit most oftenreferred to as a drive with oscillator and with higher-level command abilities as drive/indexer.
Applied Motion offers compact open frame step motor drives, open frame drives with on boarddigital oscillators as well as open frame drives with indexer featuring our Si™ programming. Allopen frame drives require a DC power source. Applied Motion also offers matching powerssupplies for all its open frame drives. Please see the power supply section of this catalog fortechnical specifications.
Full and half step drives include:1030, drive only2035, drive only2035 O, drive with oscillator3535, drive only3535 O, drive with oscillator1035D, dual motor drive only
Microstepping drives include;1240i, drive with indexer and Si programming2035XD, drive with programmable oscillator3540M, drive only3540MO, drive with oscillator3540i, drive with indexer and Si programming5560, drive only7080, drive only7080i, drive with indexer and Si programming
Each drive has been matched with appropriate sized NEMA step motors in order to providemaximum performance of both motor and drive. You can find a listing of recommendedmotors on each catalog drive specification page.
All of Applied’s open frame units are designed and manufactured at our facilities in California.All drives are thoroughly tested for function, mechanical/electrical specifications, performanceranges and are extensively burned-in under load before being approved for shipment.
Please refer to the selection guides on the next few pages for help in choosing an appropriateproduct for your application. Detailed specifications for each open frame drive can be found inthis section of the catalog. If you require assistance in your selection or additional technicaldata please contact us 800-525-1609 or go to our web site at:www.appliedmotionproducts.com.
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switching at 20 – 30 KHz.• Drives 4, 6 or 8 lead size 11, 14, 17, 23 step
motors• CE compliant• The following factory settings can be changed for
volume orders:• Motor current• Set resolution• Idle current reduction• Horizontal header can replace vertical headers
Description
The 1030 step motor driver is a full, half or one-quarter step per phase sequencer with MOSFETthree state switching amplifiers and optoisolatedcircuits. The drive also includes an automatic fea-ture to lower motor current anytime the motor isleft at rest for more than one second.
The amplifier regulates motor current by choppingat a constant, inaudible frequency. The 1030’s mo-tor current, step resolution and idle current reduc-tion are all factory configured. Standard configura-tions for each are stated in the features sectionabove.
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73
STEPPERDRIVES
1030 Torque Curves
HT11-012 MOTORMotor Connection: 4 Lead BipolarDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
2
4
6
8
10
24 V12 V
HT11-013 MOTORMotor Connection: 4 Lead BipolarDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
3
6
9
12
15
24 V12 V
5014-842 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
15
20
25
24 V12 V
HT17-068 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
15
20
25
24 V12 V
HT17-071 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
15
20
25
24 V12 V
HT17-075 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
15
20
25
30
24 V12 V
HT23-393 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
10
20
30
40
50
24 V12 V
HT23-396 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
30
60
90
120
24 V12 V
HT23-399 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
30
60
90
120
150
24 V12 V
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
www.appliedmotionproducts.com
74
STEPPERDRIVES
2.70
3.70
0.150
3.00
4.00
4x Ø.156
.70max
.062
Features
• Programmable for stand alone operation with AppliedMotion’s easy to use Si Programmer™ Windows soft-ware (software and programming cable included)
• Can be operated in real time from a host PC or PLC us-ing Applied Motion’s Si Command Language™ (SCL)
• Can be networked with all other Si™ products via Ap-plied Motion’s SiNet™ Hub
• DC bus voltage 12-42 VDC motor supply (includingripple)
• Software selectable motor current from 0.2 - 1.2amps/phase
• Software selectable Step resolutions from 2,000 to50,800 steps per revolution
• Software selectable idle current reduction 0%, 25%,50% or 100%
• 8 user programmable inputs• 3 optically isolated 5–24 VDC outputs• Communication via RS232 or optional RS485• 48 watts of usable power• Screw terminal connector blocks for power, motor and
I/O. RJ11 for RS232 port• MOSFET, dual H-Bridge, inaudible PWM amplifier• 3 state, pulse width modulated current control,
switching at 20–30 kHz• Optional operator terminal (MMI) either standard or
backlit• Drives 4, 6 or 8 lead size 11, 14, 17 or 23 step motors• CE compliant
Description
The 1240i is a programmable step motor driver suitedfor a wide range of motion control applications. It in-cludes a sophisticated controller integrated with a 48-watt microstepping amplifier.
The 1240i includes Applied Motion’s easy to use Si Pro-grammer™ Windows software for the rapid developmentof stand-alone motion control programs. The 1240i canalso be commanded in real time from a host PC or PLC,using the Si Command Language™.
For multi-axis applications, up to eight Applied MotionSi™ drives (stepper or Servo) can be networked using asingle SiNet™ Hub.
The 1240i includes 8 optically isolated programmable in-puts for triggering, branching, position sensing and endof travel detection. 3 optically isolated programmableoutputs can send signals to other electronic devices andactivate relays.12
40i P
rogr
amm
able
Ste
p M
otor
Driv
e1240i Programmable Step Motor DriveMicrostepping1.2 amps, 40 VDC
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
www.appliedmotionproducts.com
76
STEPPERDRIVES
2035 Step Motor DriveFull & Half Stepping2.0 amps, 35 VDC
Features
• DC bus voltage 12-35 VDC motor supply (includ-ing ripple)
• Switch selectable motor current from 0.125–2.0amps/phase
• Switch selectable full or half step• Switch selectable idle current reduction, 0 or
50%• Optically isolated 5–24 VDC inputs for step, di-
rection and enable• Enable input to turn off current to the motor• 70 watts of usable power• Screw terminal connectors• Dual H-bridge, inaudible PWM amplifier• 3 state, pulse width modulated current control,
switching at 20–30 KHz• Drives 4, 6 or 8 lead size 11, 14, 17 or 23 step
motors• CE compliant
Description
The 2035 step motor driver is a full or half drive, stepphase sequencer with three state switching amplifi-ers and optoisolated circuits. The drive also includesan automatic feature to lower motor current by 50%anytime the motor is left at rest for more than onesecond. This feature can be disabled.
The amplifier regulates motor current by choppingat a constant, inaudible frequency. Phase current isselected from 16 levels by a DIP switch. Full or halfresolution is switch selectable.
switching at 20–30 KHz• Drives 4, 6 or 8 lead size 11, 14, 17 or 23 step
motors• CE compliant
Description
The 2035O step motor driver is a full or half stepdrive, step phase sequencer with three stateswitching amplifiers and optoisolated circuits.This drive has a built in ramping pulse generator(oscillator) with adjustable speed, accelerationand deceleration. Oscillator speed range is 0–5,000 Hz. Speed can be set from on-board trimpotor external pot.
A jumper allows you to select the internal oscillator.In oscillator mode, the pulse input becomes a run/stop signal: when this signal is set high, the motoraccelerates to a preset speed and slews. Loweringthe input signal causes the drive to decelerate torest.
The amplifier regulates motor current by choppingat a constant, inaudible frequency. Phase current isselected from 16 levels by a DIP switch.
• Automatic idle current reduction• Four optically isolated digital inputs: step/run 1,
step/run 2, direction 1, direction 2• Two analog inputs, 10 bit resolution, 0 - 5VDC• On-board oscillator generates step pulses and
accel/decel ramps• Fixed speed or proportional to analog input• Optically isolated 5–24 VDC Tach output for
monitoring speed• 70 watts of usable power per axis• Screw terminal connectors• Dual H-bridge, inaudible PWM amplifier• 3 state, pulse width modulated current control,
switching at 20–30 KHz• Drives 4, 6 or 8 lead size 11, 14, 17 or 23 step
motors
Description
The 2035XD step motor driver is a two axis, soft-ware configured step/direction or oscillator drive.Drives can be quickly and precisely configured us-ing our eXposition™ software and a Windows PC.
When configured for pulse/direction mode, the twodrives can be commanded by the step and directionsignals available from many PLCs and step motorindexers.
In oscillator mode, the two drives generate theirown acceleration and deceleration profiles and arecommanded by digital run/stop signals. These sig-nals can be supplied by PLCs, mechanicalswitches, single board computers or other motioncontrol devices. Speeds may be fixed or can be set“on the fly” by 0 to 5 volt analog signals.
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
www.appliedmotionproducts.com
81
STEPPERDRIVES
2035XD Torque Curves
HT11-012 MOTORMotor Connection: 4 Lead BipolarDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
35 V24 V
HT11-013 MOTORMotor Connection: 4 Lead BipolarDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
15
35 V24 V
5014-842 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
15
20
25
35 V24 V
HT17-068 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.34 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5101520253035
35 V24 V
HT17-071 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.7 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
10
20
30
40
50
60
35 V24 V
HT17-075 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.7 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
10
20
30
40
50
60
35 V24 V
HT23-394 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 2.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
10
20
30
40
35 V24 V
HT23-397 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 2.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
20
40
60
80
100
35 V24 V
HT23-400 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 2.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
50
100
150
200
35 V24 V
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
www.appliedmotionproducts.com
82
STEPPERDRIVES
3535 Step Motor DriveFull & Half Stepping3.5 amps, 35 VDC
Features
• DC bus voltage 12-35 VDC motor supply (includ-ing ripple)
• Switch selectable motor current from 0.4–3.5amps/phase
• Switch selectable full or half step• Automatic 50% idle current reduction• Optically isolated 5 VDC inputs for step, direction
and enable• Enable input to turn off current to the motor• 122 watts of usable power• Screw terminal connectors• MOSFET, dual H-bridge, inaudible PWM amplifier• 3 state, pulse width modulated current control,
switching at 20–30 KHz• Drives 4, 6 or 8 lead size 11, 14, 17 or 23 step
motors• CE compliant
Description
The 3535 step motor driver is a full or half drive,step phase sequencer with MOSFET three stateswitching amplifiers and optoisolated circuits. Thedrive also includes an automatic feature to lowermotor current by 50% anytime the motor is left atrest for more than one second.
The amplifier regulates motor current by choppingat a constant, inaudible frequency. Phase current isselected from 32 levels by a DIP switch. Full or halfresolution is DIP switch selected.
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
www.appliedmotionproducts.com
83
STEPPERDRIVES
3535 Torque Curves
HT11-012 MOTORMotor Connection: 4 Lead BipolarDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
35 V
HT11-013 MOTORMotor Connection: 4 Lead BipolarDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
15
35 V
5014-842 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
15
20
25
35 V24 V
HT17-068 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.3 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
15
20
25
30
35 V24 V
HT17-071 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.7 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
10
20
30
40
50
60
35 V24 V
HT17-075 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.7 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
10
20
30
40
50
60
35 V24 V
HT23-394 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 2.8 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
10
20
30
40
50
60
35 V24 V
HT23-397 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 2.8 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
30
60
90
120
150
35 V24 V
HT23-400 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 2.8 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
50
100
150
200
250
35 V24 V
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
www.appliedmotionproducts.com
84
STEPPERDRIVES
3535 O Step Motor Drive with OscillatorFull & Half Step3.5 amps, 35 VDC
Features
• DC bus voltage 12-35 VDC motor supply (includ-ing ripple)
• Switch selectable motor current from 0.4–3.5amps/phase
• Switch selectable full or half step• Automatic 50% idle current reduction• Optically isolated 5 VDC inputs, step, direction
and enable• Enable input to turn off current to the motor.• On-board oscillator generates step pulses and
accel/decel ramps• On-board trimpot or external speed adjustment• 122 watts of usable power• Screw terminal connectors• MOSFET, dual H-bridge, inaudible PWM amplifier• 3 state, pulse width modulated current control,
switching at 20–30 KHz.• Drives 4, 6 or 8 lead size 11, 14, 17 or 23 step
motors• CE compliant
Description
The 3535O step motor driver is a full or half stepdrive, step phase sequencer with MOSFET threestate switching amplifiers and optoisolated circuits.This drive has a built in ramping pulse generator(oscillator) with adjustable speed, acceleration anddeceleration. Oscillator speed range is 400–5,000Hz. Speed can be set from on-board trimpot or ex-ternal pot.
A jumper allows you to select the internal oscillator.In oscillator mode, the pulse input becomes a run/stop signal: when this signal is set high, the motoraccelerates to a preset speed and slews. Loweringthe input signal causes the drive to decelerate torest.
The amplifier regulates motor current by choppingat a constant, inaudible frequency. Phase current isselected from 32 levels by a DIP switch.
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
www.appliedmotionproducts.com
85
STEPPERDRIVES
3535 O Torque Curves
HT11-012 MOTORMotor Connection: 4 Lead BipolarDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
35 V
HT11-013 MOTORMotor Connection: 4 Lead BipolarDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
15
35 V
5014-842 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.0 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
15
20
25
35 V24 V
HT17-068 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.3 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
5
10
15
20
25
30
35 V24 V
HT17-071 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.7 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
10
20
30
40
50
60
35 V24 V
HT17-075 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.7 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
10
20
30
40
50
60
35 V24 V
HT23-394 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 2.8 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
10
20
30
40
50
60
35 V24 V
HT23-397 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 2.8 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
30
60
90
120
150
35 V24 V
HT23-400 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 2.8 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
50
100
150
200
250
35 V24 V
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
www.appliedmotionproducts.com
86
STEPPERDRIVES
MECHANICAL OUTLINE
BLOCK DIAGRAM
MOSFETAmplifier
step
direction
+5 MicrostepSequencer
current0.4 to 3.5A/phase
stepresolution1/2, 1/5,
1/10 or 1/64
50% idlecurrent
reductionon/off
dir
A+A–B+B–
tomotor
enable OpticalIsolator
self teston/off
step
12-42 VDC
OpticalIsolator
OpticalIsolator
4.00"3.75"
2.50"0.125"
3.00"0.25" 0.15"
4 x Ø.125
3.70"
1.50"
0.25"
.875"
2x Ø.125
3540
M S
tep
Mot
or D
rive
Features
• DC bus voltage 12-42 VDC motor supply (includ-ing ripple)
• Switch selectable currents from 0.4–3.5 amps/phase motor current
• Switch selectable Step resolutions: 400, 1000,2000, 12800 steps/rev. Other resolutions areavailable upon request
• Switch selectable idle current reduction, 0 or 50%• Optically isolated 5 VDC inputs for step, direction
and enable• Enable input to turn off current to the motor• Self test, switch selectable• 140 watts of usable power• Screw terminal connectors. Pin headers available
upon request• MOSFET, dual H-bridge, inaudible PWM amplifier• 3 state, pulse width modulated current control,
switching at 20–30 KHz.• Drives 4, 6 or 8 lead size 11, 14, 17, 23 or 34 step
motors• CE compliant
Description
The 3540M step motor driver is a microsteppingdrive from 400 to 12,800 steps per revolution, withcustom resolutions available upon request, stepphase sequencer with MOSFET three state switch-ing amplifiers and optoisolated circuits. The drivealso includes an automatic feature to lower motorcurrent by 50% anytime the motor is left at rest formore than one second. This feature can be dis-abled. Additional there is a switch selectable self-test which rotates the motor 1/2 revolution in eachdirection at 100 steps/second.
The amplifier regulates motor current by chopping ata constant, inaudible frequency. Phase current is se-lected from 32 levels by a DIP switch. Microsteppingresolution is also selected by DIP switch.
switching at 20–30 KHz• Drives 4, 6 or 8 lead size 11, 14, 17, 23 or 34 step
motors• CE compliant
Description
The 3540MO step motor driver is a microsteppingdrive at 12,800 steps per revolution, step phase se-quencer with MOSFET three state switching ampli-fiers and optoisolated circuits. This drive includes 5optically isolated inputs, external speed control,tach output, and internal pots for accel/decel ratealong with high/low speed range selection.
The amplifier regulates motor current by chopping ata constant, inaudible frequency. Phase current is se-lected from 32 levels by a DIP switch. Microsteppingresolution is also selected by DIP switch.
3540MO Step Motor Drive with Digital OscillatorMicrostepping3.5 amps, 40 VDC
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
www.appliedmotionproducts.com
90
STEPPERDRIVES
MECHANICAL OUTLINE
BLOCK DIAGRAM
MOSFETAmplifier
motor phase A
motor phase B
12 - 42 VDC
INPUT1INPUT2INPUT3INPUT4
CW JOG/IN5CCW JOG/IN6
to PC/MMI
CW LIMITCCW LIMIT
OUT1OUT2OUT3
RS232Optical
Isolation
Si™Microstepping
IndexerSequencer
eeprom
OpticalIsolation
OpticalIsolation
InternalLogic
Supply
2.45"
4.70
0.150"
3.000.25
5.00
0.15
4.70
1.50
0.25
.875
6 x Ø.170
3540
i Pro
gram
mab
le S
tep
Mot
or D
rive
Features
• Programmable for stand alone operation with AppliedMotion’s easy to use Si Programmer™ Windows soft-ware (software and programming cable included)
• Can be operated in real time form a host PC or PLC usingApplied Motion’s Si Command Language™ (SCL).
• Can be networked with all other Si™ products via AppliedMotion’s SiNet™ Hub
• DC bus voltage 12-42 VDC motor supply (includingripple)
• Software selectable from 0.2–3.5 amps/phase motorcurrent
• Software selectable Step resolutions from 2,000 to50,800 steps per revolution
• Software selectable idle current reduction 0%, 25%,50% or 100%
• 8 user programmable inputs• 3 optically isolated 5–24 VDC outputs• Communication via RS232 or optional encoder/RS485
daughter board• 140 watts of usable power• Screw terminal connector blocks for power, motor and
I/O. RJ11 for RS232 port• MOSFET, dual H-Bridge, inaudible PWM amplifier• 3 state, pulse width modulated current control, switching
at 20–30 kHz• Optional RS485 and encoder input board• Optional operator terminal (MMI) either standard or
backlit• Drives 4, 6 or 8 lead size 11, 14, 17, 23 or 34 step motors• CE and TUV compliant
Description
The 3540i is a programming step motor driver suitable fora wide range of motion control applications. It includes asophisticated controller integrated with a 140 watt micro-stepping amplifier.
The 3540i includes Applied Motion’s easy to use Si Pro-grammer™ Windows software for the rapid development ofstand-alone motion control programs. The 3540i can alsobe commanded in real time from a host PC or PLC, usingthe Si Command Language™ .
For multi-axis applications, up to eight Applied Motion Si™drives (stepper or Servo) can be networked using a singleSiNet™ Hub.
The 3540i includes 8 optically isolated programmable inputsfor triggering, branching, position sensing and end of traveldetection. 3 optically isolated programmable outputs cansend signals to other electronic devices and activate relays.
3540i Programmable Step Motor Indexer/DriveMicrostepping3.5 amps, 40 VDC
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
www.appliedmotionproducts.com
92
STEPPERDRIVES
Features
• DC bus voltage 24-60 VDC motor supply (includ-ing ripple)
• Switch selectable motor current from 1.0–5.5amps/phase
• Switch selectable idle current reduction, 0% or50%
• Switch selectable Step resolutions from 200 to12,800 steps/rev.
• Optically isolated 5 VDC inputs for step, directionand enable
• Enable input to turn off current to the motor• 330 watts of usable power• Thermal, overvoltage and overcurrent protection• Screw terminal connectors for power and motor• MOSFET, dual H-bridge, inaudible PWM amplifier• 3 state, pulse width modulated current control,
switching at 20–30 KHz• Drives 4, 6 or 8 lead size 11, 14, 17, 23, or 34
step motors
Description
The 5560 step motor driver is a microstepping drivefrom 200 to 12,800 steps per revolution, step phasesequencer with MOSFET three state switching am-plifiers and optoisolated circuits. The drive also in-cludes an automatic feature to lower motor currentby 50% anytime the motor is left at rest for morethan one second. This feature can be disabled.
The amplifier regulates motor current by choppingat a constant, inaudible frequency. Phase current isselected from 16 levels by a DIP switch.Microstepping resolution is also selected by DIPswitch.
5560 Step Motor DriveMicrostepping5.5 amps, 60 VDC
5560
Ste
p M
otor
Driv
e
MECHANICAL OUTLINE
2.45"
5.70"
0.150"
3.00"0.25"
6.00"
0.15"
5.70"
2.00"
.720"
1.345"
6x Ø.170
BLOCK DIAGRAM
fault
motor phase A
motor phase B
24-60VDC
5A fuse
OvervoltageMonitor
stepdirectionenable
+5
currentselector
PWM PowerAmplifier
PWM Clock20 kHz
PWM PowerAmplifier
VoltageRegulator
VoltageRegulator
OpticalIsolation
MicrostepSequencer
resolutionselector
FaultMonitor
overcurrentovertemp
98
76
1
idlereducer
54
32
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
www.appliedmotionproducts.com
93
STEPPERDRIVES
5560 Torque Curves
HT17-071 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.6 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
10
20
30
40
50
60 V48 V
HT17-075 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 1.6 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
10
20
30
40
50
60
60 V48 V
HT23-395 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 4.3 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
20
40
60
80
60 V48 V
HT23-398 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 4.3 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
30
60
90
120
150
60 V48 V
HT23-401 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 5.5 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
50
100
150
200
250
60 V48 V
HT34-474 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 5.5 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
50100150200250300350
60 V48 V
HT34-476 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 5.5 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
100
200
300
400
500
600
60 V48 V
HT34-478 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 5.5 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
200
400
600
800
1000
60 V48 V
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
www.appliedmotionproducts.com
94
STEPPERDRIVES
2.45"
5.70"
0.150"
3.00"0.25"
6.00"
0.15"
5.70"
2.00"
.720"
1.345"
6x Ø.170
motor phase A
motor phase B
24-80VDC
6.3A fuse
stepdirectionenable
powerlight
overcurrentlight
overtemplight
fault output
OpticalIsolation
FaultMonitor
PWM Clock25 kHz
PWM PowerAmplifier
PWM PowerAmplifier
VoltageRegulator
idlecurrent
reduction
currentselector
MicrostepSequencer
resolutionselector
Self Test
1
23
45
67
43
21
Features
• DC bus voltage 24-80 VDC motor supply (includ-ing ripple)
• Switch selectable currents from 0.8–7.0 amps/phase motor current
• Switch selectable Step resolutions from 200 to50,800 steps/rev
• Switch selectable idle current reduction, 0% or50%
• Optically isolated 5–24 VDC inputs for step, di-rection and enable
• Enable input to turn off current to the motor• 560 watts of usable power• Short circuit and thermal protection• Screw terminal connectors for power and motor• MOSFET, dual H-bridge, inaudible PWM amplifier• 3 state, pulse width modulated current control,
switching at 20–30 KHz• Drives 4, 6 or 8 lead size 11, 14, 17, 23, or 34
step motors• CE compliant
Description
The 7080 step motor driver is a microstepping drivefrom 200 to 50,800 steps per revolution, step phasesequencer with MOSFET three state switching am-plifiers and optoisolated circuits. The drive also in-cludes an automatic feature to lower motor currentby 50% anytime the motor is left at rest for morethan one second. This feature can be disabled.
The amplifier regulates motor current by choppingat a constant, inaudible frequency. Phase current isselected by a DIP switch. Microstepping resolutionis also selected by DIP switch.
HT34-478 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 5.6 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
200
400
600
800
1000
80 V48 V
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98
STEPPERDRIVES
2.45"
5.70"
0.150"
3.00"0.25"
6.00"
0.15"
5.70"
2.00"
.720"
1.345"
6x Ø.170
overtemp LEDovercurrent LED
motor phase A
motor phase B
24-80VDCfuse
INPUT1INPUT2INPUT3INPUT4CW JOG
CCW JOG
to PCor MMI
CW LIMITCCW LIMIT
FAULT OUT
OUT1OUT2OUT3
FaultMonitor
MOSFET3 StatePWM Power
Amplifier
InternalVoltage
Regulatoreeprom
OpticalIsolation
Si™Microstepping
IndexerSequencer
RS232
OpticalIsolation
OpticalIsolation
Filters
Features• Programmable for stand alone operation with Applied
Motion’s easy to use Si Programmer™ Windows software(software and programming cable included)
• Can be operated in real time from a host PC or PLC using Ap-plied Motion’s Si Command Language™ (SCL)
• Can be networked with all other Si™ products via AppliedMotion’s SiNet™ Hub
• DC bus voltage 24-80 VDC motor supply (including ripple)• Software selectable from 0.8–7.0 amps/phase motor current• Software selectable Step resolutions from 2,000 to 50,800
steps per revolution• Software selectable idle current reduction 0%, 25%, 50%
or 100%• 8 user programmable inputs• 3 optically isolated 24 VDC outputs• Short circuit and over temperature protection• Communication via RS232• 560 watts of usable power• Screw terminal connector blocks for power and motor,
Wago cage clamp connector for I/O. RJ11 for RS232 port• MOSFET, dual H-bridge, inaudible PWM amplifier• 3 state, pulse width modulated current control, switching at
20–30 kHz• Optional operator terminal (MMI) either standard or backlit• Drives 4, 6 or 8 lead size 11, 14, 17, 23 and 34 step motors• CE compliant
DescriptionThe 7080i is a programming step motor driver suitable for a widerange of motion control applications. It includes a sophisticatedcontroller integrated with a 560-watt microstepping amplifier.
The 7080i includes Applied Motion’s easy to use Si Program-mer™ Windows software for the rapid development of standalone motion control programs. The 7080i can also be com-manded in real time from a host PC or PLC, using the Si Com-mand Language™.
For multi-axis applications, up to eight Applied Motion Si™drives (stepper or Servo) can be networked using a singleSiNet™ Hub.
The 7080i includes 8 programmable inputs for triggering,branching, position sensing and end of travel detection. 3 opti-cally isolated programmable outputs can send signals to otherelectronic devices and activate relays.
The 7080i is a PC board mounted on an aluminum angle heattransfer chassis. Drive dimensions are 2˝ by 3˝ by 6˝.
HT34-478 MOTORMotor Connection: ParallelDrive Setting: Full Resolution • 5.6 A/Phase
DynamicTorque(oz-in)
rev/sec0 5 10 15 20 25 30 35 400
200
400
600
800
1000
80 V48 V
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102
STEPPERDRIVES
Features
• Accepts 12 – 35 VDC power supply (includingripple)
• Adjustable motor current: 0 to 1.0 amps/phase.• Full or half step (jumper selectable), quarter
stepping available for OEM• Compact size (1.0 x 2.4 x 3.55 inches)• Mounts on DIN rail• Optically isolated 5 – 24V step and direction in-
puts can be configured for sinking or sourcinglogic
• Automatic idle current reduction.• Drives 4, 6 or 8 lead step motors, sizes 11 – 23• Compatible step motors available from stock• Lightweight, rugged molded case• Pluggable, screw terminal connectors• CE compliant
Description
The 1035D consists of two stepper drives that canoperate in full or half step mode. Each driver can beindividually controlled via its step and direction in-puts. Each driver includes an automatic feature tolower motor current anytime the motor is left atrest for more than one-half second.
The amplifiers regulate motor current by choppingat a constant, inaudible frequency. Phase currentfor each axis is independently adjustable by frontpanel potentiometers.
Design Tips• Series connect lead wires for best torque at low speeds.• Center tap to end or parallel connect lead wires for best torque at higher speeds.• Keep motor case temperature below 100˚ C. This can be achieved by lowering the motor
current or limiting the duty cycle.• Allow sufficient time to accelerate load.• Size motor with 100% safety factor for required torque @ speed.• Do not disassemble motors. A significant reduction in motor performance will result.• Do not machine shafts without consulting Applied Motion Products.• Do not disconnect motor from drive while in operation.• Do not use holding torque/detent torque of motor as fail safe brake.
Motion Installation Tips• Mount the motor securely against a surface with good thermal conductivity such as steel or
aluminum.• Properly align the motor with the load using a flexible coupling.• Protect the motor shaft from excessive thrust, overhung and shock loads.
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STEP MOTORS
107
CW FACINGMOUNTING ENDSTEP TABLE
STEP RED BLUE YELLOW WHITE
0 + – + –
1 – + + –
2 – + – +
3 + – – +
4 + – + –
WIRING DIAGRAM
Red
Blue
4LEAD
MOTOR
Yellow
WhiteB–
B+
A–
A+
Step
Tabl
es &
Wiri
ng D
iagr
ams4 Lead Wire Configuration–Bipolar Drive
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STEP MOTORS
108
CW FACINGMOUNTING END
CW FACINGMOUNTING END
CW FACINGMOUNTING END
STEP TABLE
STEP RED RED/WHT GRN GRN/WHT
0 ON OFF ON OFF
1 OFF ON ON OFF
2 OFF ON OFF ON
3 ON OFF OFF ON
4 ON OFF ON OFF
Connect center taps (white & black) to plus (+) voltage. UNIPOLAR DRIVE ONLY!
STEP TABLE
STEP RED BLACK GREEN WHITE
0 + – + –
1 – + + –
2 – + – +
3 + – – +
4 + – + –
STEP TABLE
STEP RED RED/WHT GREEN GRN/WHT
0 + – + –
1 – + + –
2 – + – +
3 + – – +
4 + – + –
* NC denotes lead wires are not connected and areindividually taped off.
Grn/Wht
Green
White6
LEADMOTOR
Red
Red/Wht
Black
WIRING DIAGRAM
Grn/Wht
Green
White
Red
Red/Wht
Black
*N/C
B–
A+
*N/C
A–
B+
6LEAD
MOTOR
WIRING DIAGRAM
WIRING DIAGRAM
Grn/Wht
Green
White
Red
Red/Wht
Black
B+
B–
A+
A–
*N/C
*N/C
6LEAD
MOTOR
6 Lead Wire Configuration–Unipolar Drive
6 Lead Wire Configuration–Bipolar Drive/Center Tap to End
6 Lead Wire Configuration–Bipolar Drive/End to End
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STEP MOTORS
109
STEP TABLE
STEP ORANGE BLACK RED YELLOW
0 + – + –
1 – + + –
2 – + – +
3 + – – +
4 + – + –
STEP TABLE
STEP A+ A– B+ B–
0 + – + –
1 – + + –
2 – + – +
3 + – – +
4 + – + –
STEP TABLE
STEP ORANGE BLACK RED YELLOW
0 ON OFF ON OFF
1 OFF ON ON OFF
2 OFF ON OFF ON
3 ON OFF OFF ON
4 ON OFF ON OFF
Connect orange/white, black/white, red/white, and yellow/white to plus (+) voltage.UNIPOLAR DRIVE ONLY!
WIRING DIAGRAM
Orange
Blk/Wht
Org/Wht
Red YellowYel/Wht
Black
Red/WhtB–
B+
A–
A+
8LEAD
MOTOR
WIRING DIAGRAM
Orange
Blk/Wht
Org/Wht
Red
Yellow
Yel/Wht
Black
Red/Wht
B–
B+
A–
A+
8LEAD
MOTOR
WIRING DIAGRAM
CW FACINGMOUNTING END
CW FACINGMOUNTING END
CW FACINGMOUNTING END
8 Lead Wire Configuration–Unipolar Drive
8 Lead Wire Configuration–Bipolar Drive/Parallel Connected
8 Lead Wire Configuration–Bipolar Drive/Series Connected
Orange
Blk/Wht
Org/Wht
Red
Yellow
Yel/Wht
Black
Red/Wht
8LEAD
MOTOR
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STEP MOTORS
110
Electrical and holding torque ratings shown in the catalog tables are based on the motorbeing connected using the following drive schemes:
Leads Drive Scheme Holding Torque
4 bipolar bipolar, 2 phase on
6 unipolar unipolar, 2 phase on
8 unipolar unipolar, 2 phase on
Step motors can be connected using a variety of drive schemes. To determine the rating of amotor using a drive scheme that is different than the standard rating method, multiply thestandard rated value by the number indicated in the chart that corresponds to the drivescheme desired.
Holding Torque Measurement
Rating Conversion
Desired Value
Known
Value
Bipolar BipolarDrive Unipolar series parallel
Scheme Rating multiplier multiplier multiplier
Unipolar volts 1 1.4 .7or
Bipolar amps 1 .7 1.4Center Tap
to End ohms 1 2 .5
mH 1 4 1
holding torque 1 1.4 1.4
Bipolar volts .7 1 .5series
amps 1.4 1 2
ohms .5 1 .25
mH .25 1 .25
holding torque .7 1 1
Bipolar volts 1.4 2 1parallel
amps .7 .5 1
ohms 2 4 1
mH 1 4 1
holding torque .7 1 1
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STEP MOTORS
111
MOTOR CONNECTION Minimum1 = series Motor Holding Rotor Motor
OTHER LENGTHS AND WINDINGS AVAILABLE UPON REQUEST• Part numbers listed are for single shaft. To order double shaft add ‘D’ to the end.• All HT17 motors are optimized for microstepping.
12" min 4 X #4 – 40.17 DEEP
2 X 1.220
2 X 1.65Ø.866 +.000
–.001
L.59 .080
.59 ± .01
Ø.1968
.79±.02
+.0000–.0004
FLAT.177±.006
.177±.006FLAT
TYP
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
OTHER LENGTHS AND WINDINGS AVAILABLE UPON REQUEST• Part numbers listed are for single shaft. To order double shaft add ‘D’ to the end.• All HT17 motors are optimized for microstepping.
MOTOR CONNECTION Minimum1 = series Motor Holding Rotor Motor
OTHER LENGTHS AND WINDINGS AVAILABLE UPON REQUEST• Part numbers listed are for single shaft. To order double shaft add ‘D’ to the end.*Optimized for microstepping and use with 160 volt drives.
.75.81 ± .03
L.190
.060
18" min
2 x Ø.2500 +.0000–.0005
Ø1.5 ± .002
2 X 2.222 X 1.856
4 X Ø.205 ± .01
MOUNTINGEND
∗
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
OTHER LENGTHS AND WINDINGS AVAILABLE UPON REQUEST• Part numbers listed are for single shaft. To order double shaft add ‘D’ to the end.*Optimized for microstepping and use with 160 volt drives.
MOTOR CONNECTION Minimum1 = series Motor Holding Rotor Motor
OTHER LENGTHS AND WINDINGS AVAILABLE UPON REQUEST• Part numbers listed are for single shaft. To order double shaft add ‘D’ to the end.• All HT23 motors are optimized for microstepping.
18.00 MIN
2 X 1.856
2 X 0.928
0.228 ± 0.006FLAT
Ø1.50 ± 0.0014 X Ø0.205 ± 0.01
2 X 2.22
+0.000–0.001
.59± 0.01
L .197.063 ± 0.008
.591 ± 0.01
Ø.250
0.630 ± .039 .787 ± .020
.228 ±.006FLAT
2 X 1.11
MOUNTINGEND
TYP
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
OTHER LENGTHS AND WINDINGS AVAILABLE UPON REQUEST• Part numbers listed are for single shaft. To order double shaft add ‘D’ to the end.• All HT23 motors are optimized for microstepping.
MOTOR CONNECTION Minimum1 = series Motor Holding Rotor Motor
OTHER LENGTHS AND WINDINGS AVAILABLE UPON REQUEST• Part numbers listed are for single shaft. To order double shaft add ‘D’ to the end.• All size 34 motors are optimized for microstepping.* Optimized for use with 160 volt drives.
∗
∗
18" min
2 X 3.26MAX
Ø2.875± .002
4 X Ø.216± .01
2 X 2.74
L
1.19 ± .04.19
.0631.19 ± .03
Ø 3.38MAX
Ø.3750+.0000–.0005TYP
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
OTHER LENGTHS AND WINDINGS AVAILABLE UPON REQUEST• Part numbers listed are for single shaft. To order double shaft add ‘D’ to the end.• All size 34 motors are optimized for microstepping.* Optimized for use with 160 volt drives.
MOTOR CONNECTION Minimum1 = series Motor Holding Rotor Motor
OTHER LENGTHS AND WINDINGS AVAILABLE UPON REQUEST• Part numbers listed are for single shaft. To order double shaft add ‘D’ to the end.• All HT34 motors are optimized for microstepping.* Optimized for use with 160 volt drives.
∗
∗
∗
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
2 X 2.74±.01MOTOR TO BE SUPPLIEDWITH 1/8 X .843 LG KEY
Ø.37501.25±.02
.875±.01
18MIN
.2–.4
1.12±0.4
3.38±.02
L MAX
.330.062
Ø.5000+.0000–.0005
.125+.000–.002
.555+.000–.017
4 X Ø.218 THRU
Ø2.875±.002
2 X 1.370 +.0000–.0005
OTHER LENGTHS AND WINDINGS AVAILABLE UPON REQUEST• Part numbers listed are for single shaft. To order double shaft add ‘D’ to the end.• All HT34 motors are optimized for microstepping.
.875±.010
Ø.625+.0000–.0005
.1875+.000–.002
.705+.000–.017
Size HT34-487 Shaft Dimensions:
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
OTHER LENGTHS AND WINDINGS AVAILABLE UPON REQUEST• Part numbers listed are for single shaft. To order double shaft add ‘D’ to the end.• All size 42 motors are optimized for microstepping and use with 160 volt drives.
2 X 4.20MAX
Ø2.186±.002
4 X Ø.28±.01
2 X 3.50Ø4.26 MAX
Ø.6248+.0000–.0006
Ø.5000+.0000–.0005
.062
1.25 ± .08
DIM L
.32
1⁄2 - 14 NPT 1.38 ± .05
SEE KEYWAY DETAIL
.063
0.1248+0.001/-0
.135+.005/-0
0.69
MOUNTINGSURFACE
Ø.509±.009
#404 WOODRUFF KEYWAYKEY SUPPLIED WITH MOTOR
SHAFT KEYWAY DETAIL
Hybr
id S
tep
Mot
ors
SIZE42 TERMINAL # WINDING WIRE COLOR
1 RED
2 BLUE
3 BLACK
4 WHITE
5 GREEN
6 YELLOW
7 BROWN
8 ORANGE
1
62
3
PM
4 5
8 7
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STEP MOTORS
125
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*Full steps/sec = Rev/sec x 200. Half steps/sec = Rev/sec x 400.
134
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SERVOSYSTEMSSTEP MOTORS
135
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SERVOSYSTEMS
Serv
o Sy
stem
s
136
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SERVOSYSTEMS
BLSi
7080
Pro
gram
mab
le S
ervo
Am
plifi
er
BLSi7080 Programmable Servo Amplifier
Features:
• BLSi7080 can be programmed for stand-alone opera-tion with the easy to use Si™ Programmer Windowssoftware (software and programming cable included).
• BLSi7080 can be operated in real time from a host PCor PLC using the Si™ Command Language (SCL), viaRS-232.
• Direct 120/240 volt, 50/60 Hz AC input. No externalPower Supply needed.
• Continuous current of 7A, peak current to 14A.• Speeds to 6,000 rpm. Motor and load dependent.• 20 kHz precision PWM amplifier.• Pluggable screw terminal connectors for AC power,
motor phases, communications and I/O.• Pluggable, industry standard D connector for encoder
and commutation signals.• Optically isolated RS-232, RS-485 or RS-422 commu-
• Five custom matched Applied Motion Alpha seriesbrushless servomotors.
• Standard or custom length extension cables.• Complete system configuration ordering.• SiNet™ Hub compatible for networking with all Ap-
plied Motion intelligent stepper and servo drives tocreate full machine control.
• Two custom configured operator interfaces are avail-able the MMI-01 and backlit MMI-02. MMI can beused to display messages or by the operator to entercommand data such as move speeds, distance or loopcounts.
Description:
The BLSi7080 programmable servo drive include a mo-tion controller, digital PID position loop, amplifier and80 volt power supply. These features make it suitable fora wide range of motion applications using either brushor brushless motors.
The BLSi7080 includes Applied Motion’s easy to useSi™ Programmer Windows software for the rapid devel-opment of stand-alone motion control programs. TheBLSi7080 can also be commanded in real time from ahost PC or PLC, using the Si™ Command Language(SCL).
For multi-axis applications, up to eight BLSi7080 drivescan be networked using the SiNet™ Hub. Up to 32 drivescan be connected using the built-in RS-485 interface.Networking also allows the BLSi7080 to be mixed withother Si™ drive models, stepper and servo.
The BLSi7080 includes 8 programmable inputs for trig-gering, branching, position sensing and end of travel de-tection. 3 programmable outputs can send signals toother electronic devices and activate relays.
Tuning the PID loop of either model is easy with ourQuick Tuner software, which features a built-in oscillo-scope. Software selection of encoder line count andcommutation sequence allows the motor to be config-ured without swapping wires.
137
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SERVOSYSTEMS
POWER AMPLIFIER SECTION:
AMPLIFIER TYPE ................................................. 3 phase MOSFET.CURRENT CONTROL ............................................ 4 quadrant, pulse width modulated, switching at 20 kHz.AC INPUT ............................................................. 90 – 130 Volts @ 4 amps maximum or 180 – 260 Volts @ 2 amps maxi-
mum. Externally switch selectable. 50/60 Hz.OUTPUT CURRENT .............................................. 7.0 amps continuous. 14 amps peak current, 2 seconds max.INTERNAL DC BUS VOLTAGE .............................. 90 VDC NO LOAD, 70 VDC @ 7 amps maximum load (with AC input at
specified values).MAXIMUM CONTINUOUS OUTPUT POWER........ 400 Watts.PROTECTION CIRCUITS ...................................... Drive over temperature. Over-voltage resulting from motor regeneration.POSITION RESOLUTION ...................................... Set via software to match encoder resolutions from a minimum of 25 lines
to a maximum of 12,500 lines per revolution producing a minimum of 100counts to a maximum of 50,000 counts per revolution in quadrature.
MOTION UPDATE ................................................. 12,800 Hz.SERVO UPDATE ................................................... 4,266 Hz.ENCODER INPUTS ............................................... Differential 5 V, A & B quadrature.COMMUTATION INPUTS ...................................... 5 V TTL level, filtered.ENCODER POWER ............................................... 5 VDC, 200 mA (maximum) provided by drive.ENCODER RESOLUTION ...................................... 100 to 50,000 counts/rev (25 to 12,500 lines).
CONTROLLER SECTION:
SERIAL COMMUNICATION .................................. RS-232 programming port. Optically isolated.STATUS LED’S ..................................................... DC power (red), Overtemp (yellow). Regeneration Clamp (yellow)NETWORK COMMUNICATION ............................. RS-485 or RS-422 programming and SCL (SiNet Command Language) se-
rial port. Optically isolated. Up to 32 devices can be connected on amultidropped network.
INPUTS ................................................................ 8 user programmable inputs:2 dedicated, optically isolated limit switch inputs, 5 – 24 VDC. 4 generalpurpose, filtered inputs. The Feed to Sensor instruction can use these in-puts for sensing needs. The Wait Input instruction can wait for one of theinputs to see a given voltage state or signal edge. The If Input instructioncan branch based on the state of an input. 2 jog inputs (cw and ccw) thatcan also be used as general purpose inputs.
OUTPUTS ............................................................. 3 general purpose, optically isolated outputs for interfacing to other equip-ment. Can be opened, closed, or programmed to send a pulse by the SetOutput instruction.
PARAMETER RANGES ......................................... Distance: 1 to 16,000,000 encoder counts (CW or CCW), absolute position2 billion.Speed: .025 to 100 revolutions per second.Acceleration: 1 to 3,000 rev/sec/sec.Deceleration: 1 to 3,000 rev/sec/sec (set independently from acceleration).Time Delays: .01 to 300 seconds.Output Pulse Widths: 2 to 500 milliseconds.Iterations per loop: 1 to 65,535.
OPTIONAL OPERATOR INTERFACE (MMI) .......... NEMA 4X rated (splash proof & dust proof).4 x 20 characters liquid crystal display (LCD) standard or backlit.20 key membrane keypad.Overall size: 4.9 x 4.9 x 1.42 inches.Optional backlit display.
SYSTEM SPECIFICATIONS:
OVERALL SIZE ..................................................... 4˝ x 8˝ x 5.3˝.CHASSIS MATERIAL ............................................ Steel, painted black with white characters. Black anodized aluminum heat
sink.WEIGHT ................................................................ 11 Lbs.AMBIENT TEMPERATURE .................................... 0 to 40C (32 to 104F) normal operating.
0 to 70C (32 to 150F) maximum.HUMIDITY ............................................................ Maximum of 90% non-condensing.CONNECTORS ...................................................... Pluggable screw terminal connectors for input power, I/O signals, Commu-
nications and motor, DB-15 for encoder/Hall signals.RECOMMENDED MOTORS .................................. Can drive 30W to 400W BLDC motor.
BLSi7080 Technical Specifications
138
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SERVOSYSTEMS
BLSi7080 Technical Drawings
9.25 " 8.97 "
1.25 "
4.12 "
8.00 "
4.00 " 5.45 "
5.30 "
2.02 "
0.25"
0.06"
2.15"
BLSi7080Programmable Servo Drive
POWERPC/MMI
G
L2/N
L1AC POWER
RX+RX–
TX–TX+
OUT3+OUT3–
JOG/IN COM
IN1
OUT2–OUT2+OUT1–OUT1+
CCW JOG/IN6
CW LIMIT+
CCW LIMIT+
CW JOG/IN5
IN4
IN3IN2
COM
COM
CW LIMIT–
CCW LIMIT–
TEMP
REGEN
PHASE APHASE BPHASE C
G
GND
RS-4
85/4
22M
OTOR
FEED
BACK
90V pk
MOT
OR
MECHANICAL OUTLINE
MOSFETPWM Power
Amplifier
120 - 240 VAC
INPUT1INPUT2INPUT3INPUT4
CW JOG/IN5CCW JOG/IN6
PC/MMI
CW LIMITCCW LIMIT
OUT1OUT2OUT3
RS232
PIDServoLoop
Si™Programmable
Controller
eeprom
OpticalIsolation
InternalLogicSupply
motor
encoder
RS485/422
80 Volt DCPower Supply
RS485/422
OpticalIsolation
RegenerationClamp Circuit
BLOCK DIAGRAM
139
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SERVOSYSTEMS
RS-232 connectorRS-485/422 connector
motor connector
motor encoder I/O connector
AC power connector
LEDs
I/O connectorinputs 1–4
I/O connectorjog cw & ccw
I/O connectoroutputs 1–3
BLSi7080 Connectors
I/O
position no.1 in 12 com3 in 24 in 35 com6 in 47 cw jog/in 58 jog/in com9 ccw jog/in 610 cw limit +11 cw limit –12 ccw limit +13 ccw limit –14 out 1+15 out 1–16 out 2+17 out 2–18 out 3+19 out 3– AC POWER
A0030-104-2-000 30 watt, 48 volt, 28 mm frame 2802
A0050-104-3-000 50 watt, 48 volt, 40 mm frame 4002
A0100-104-3-000 100 watt, 48 volt, 40 mm frame 4012
A0200-104-4-000 200 watt, 48 volt, 60 mm frame 6001
A0400-105-4-000 400 watt, 60 volt, 60 mm frame 6011
INDIVIDUAL EXTENSION MOTOR CABLE ORDERING
Motor Cable Length System Number
BLMTR-CA-04 4 feet 04
BLMTR-CA-10 10 feet 10
BLMTR-CA-20 20 feet 20
BLMTR-CA-XX Custom Length N/A
INDIVIDUAL EXTENSION ENCODER CABLE ORDERING
Encoder Cable Length System Number
BLENC-CA-04 4 feet 04
BLENC-CA-10 10 feet 10
BLENC-CA-20 20 feet 20
BLENC-CA-XX Custom Length N/A
System Ordering Example: BLSi7080-4002-10
BLSi
7080
Ord
erin
g In
form
atio
n
OPTIONAL ACCESSORIES
Type Description
MMI-01 Standard man-machine interface.
MMI-02 Man-machine interface with backlit display.
146
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SERVOSYSTEMS
BLx7
080
Serv
o Am
plifi
er
BLx7080 Servo Amplifier
Description
The BLx7080 programmable servo drives includea motion controller, digital PID position loop, am-plifier and 80 volt power supply. These featuresmakes it suitable for a wide range of motion appli-cations using either brush or brushless motors.
The BLx7080 accepts pulse and direction com-mands from any type of motion controller, and alsoincludes preset moves and jog capabilities. TheBLx has seven inputs and one output.
Tuning the PID loop is easy with our Quick Tunersoftware, which features a built-in oscilloscope.Software selection of encoder line count and com-mutation sequence allows the motor to be config-ured without swapping wires.
Features:
• BLx7080 can be used with any motion control-ler, PLC indexer or other controller that generatespulse and direction commands, or can be set toperform preset moves or jog functions.
• Direct 120/240 volt, 50/60 Hz AC input. No exter-nal Power Supply needed.
• Continuous current of 7A, peak current to 14A.• Speeds to 6,000 rpm. Motor and load dependent.• 20 kHz precision PWM amplifier.• Pluggable screw terminal connectors for AC
power, motor phases, communications and I/O.• Pluggable, industry standard D connector for en-
coder and commutation signals.• Optically isolated RS-232.• Optically isolated I/O.• Internal regeneration clamp circuit. No external
components needed.
Options
• Five custom matched Applied Motion Alpha se-ries brushless servomotors.
• Standard or custom length extension cables.• Complete system configuration ordering.
147
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SERVOSYSTEMS
POWER AMPLIFIER:
AMPLIFIER TYPE .......................................... 3 phase MOSFET.CURRENT CONTROL ..................................... 4 quadrant, pulse width modulated, switching at 20 kHz.AC INPUT ...................................................... 120 Volts @ 4 amps maximum or 240 Volts @ 2 amps maximum. Ex-
ternally switch selectable. 50/60 Hz.OUTPUT CURRENT ....................................... 7.0 amps continuous. 14 amps peak current, 2 seconds max.INTERNAL DC BUS VOLTAGE........................ 90 VDC NO LOAD, 70 VDC @ 7 amps maximum load (with AC input at
specified values).MAXIMUM CONTINUOUS OUTPUT POWER . 400 Watts.PROTECTION CIRCUITS................................ Drive over temperature. Over-voltage resulting from motor regenera-
tion.POSITION RESOLUTION ............................... Electronic gearing feature allows any resolution from 200 to 65,535
steps per rev.MOTION UPDATE .......................................... 12,800 Hz.SERVO UPDATE ............................................ 4,266 Hz.ENABLE INPUT .............................................. Programmable inputs on the logic connector (IN1 – IN6) that can be
used to disable the drive. The current to the servomotor will be turnedoff. The BLx7080 operates normally without any connections to theenable circuit. Use this feature only to disable the amplifier.
ENCODER INPUTS ........................................ Differential 5 V, A & B quadrature.COMMUTATION INPUTS ............................... 5 V TTL level, filtered.ENCODER POWER ........................................ 5 VDC, 200 mA (maximum) provided by drive.ENCODER RESOLUTION ............................... 100 to 50,000 counts/rev (25 to 12,500 lines).
CONTROL SECTION:
SERIAL COMMUNICATION............................ RS-232 programming port. Optically isolated.STATUS LED’S ............................................... DC power (red), Overtemp (yellow). Regeneration Clamp (yellow)INPUTS.......................................................... 7 dedicated/user programmable inputs:
IN1/STEP & IN2/DIR: differential, high speed, optically isolated. 5V,440 ohm, 2 mHz max step rate, 1 msec direction set up and holdtime. These inputs also accept Encoder A & B quadrature or Step-up/Step-Down signals. IN3/SPEED & IN4/SENSOR: optically isolated, 5 –24V, 2,200 ohm. IN5 & IN6: optically isolated, 5 – 24V, 2,200 ohm,General purpose inputs.ANALOG1: 0 – 5V, 10 bit resolution. Maximum impedance of drivingsignal or potentiometer: 10k ohm.
OVERALL SIZE .............................................. 4˝ x 8˝ x 5.3˝.CHASSIS MATERIAL ..................................... Steel, painted black with white characters. Black anodized aluminum
heat sink.WEIGHT ......................................................... 11 Lbs.AMBIENT TEMPERATURE ............................. 0 to 40C (32 to 104F) normal operating.
0 to 70C (32 to 150F) maximum.HUMIDITY ..................................................... Maximum of 90% non-condensing.CONNECTORS ............................................... Pluggable screw terminal connectors for input power, I/O signals,
Communications and motor, DB-15 for encoder/Hall signals.RECOMMENDED MOTORS ........................... Can drive 30W to 400W BLDC motor.
BLX7080 Technical Specifications
148
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SERVOSYSTEMS
MOSFETPWM Power
Amplifier
120 - 240 VAC
IN1/STEPIN2/DIR
IN3/SPEEDIN4/SENSOR
IN5IN6
OUT1
PC RS232
PIDServoLoop
eepromOpticalIsolation
InternalLogicSupply
motor
encoder
+5V OUTANALOG IN
GNDFilter
80 Volt DCPower Supply
RegenerationClamp Circuit
4.12 "
8.00 "
4.00 "
1.25 "
8.97 " 9.25 "
5.45 "
5.30 "
2.02 "
0.25"
0.06"
2.15"
POWERPC
G
L2/N
L1AC POWER
GND
COM
IN1/STEP
ANALOG IN+5V OUT
OUT1–OUT1+
IN6COM
IN5
IN4/SENSOR
IN3/SPEEDIN2/DIR
COM
COM
TEMP
REGEN
PHASE APHASE BPHASE C
G
MOT
ORFE
EDBA
CK
90V pk
MOT
OR
Optic
ally
Isol
ated
I/O
BLx7080 Technical Drawings
MECHANICAL OUTLINE
BLOCK DIAGRAM
149
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SERVOSYSTEMS
BLx7080 Connectors
RS-232 connector
motor connectorto motor windings
motor encoder I/O connector
AC power connector
LEDspower
overtempregeneration
I/Oinputs, outputs
I/O
position no.1 in 1/step+2 in 1/step–3 in 2/dir+4 in 2/dir–5 in 3/speed6 com7 in 4/sensor8 in 59 com10 in 611 out 1+12 out 1–
AC POWER
position no.1 L12 L2/N3 GROUND
MOTOR
position no.1 GROUND2 PHASE C3 PHASE B4 PHASE A
COMMUNICATIONSposition no.
1 RS-232
MOTOR ENCODER I/Oposition no.
1 A+2 A–3 B+4 B–5 INDEX +6 INDEX –7 SHIELD8 NO CONNECTION9 +5 VDC10 GROUND11 HALL 112 HALL 213 HALL 314 NO CONNECTION15 NO CONNECTION
Analog I/O
ANALOG I/O
position no.1 +5 out2 analog in3 GROUND
150
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A0030-104-2-000 30 watt, 48 volt, 28 mm frame 2802
A0050-104-3-000 50 watt, 48 volt, 40 mm frame 4002
A0100-104-3-000 100 watt, 48 volt, 40 mm frame 4012
A0200-104-4-000 200 watt, 48 volt, 60 mm frame 6001
A0400-105-4-000 400 watt, 60 volt, 60 mm frame 6011
INDIVIDUAL EXTENSION MOTOR CABLE ORDERING
Motor Cable Length System Number
BLMTR-CA-04 4 feet 04
BLMTR-CA-10 10 feet 10
BLMTR-CA-20 20 feet 20
BLMTR-CA-XX Custom Length N/A
INDIVIDUAL EXTENSION ENCODER CABLE ORDERING
Encoder Cable Length System Number
BLENC-CA-04 4 feet 04
BLENC-CA-10 10 feet 10
BLENC-CA-20 20 feet 20
BLENC-CA-XX Custom Length N/A
System Ordering Example: BLX7080-4002-10
BLx7
080
Orde
ring
Info
rmat
ion
OPTIONAL ACCESSORIES
Type Description
MMI-01 Standard man-machine interface.
MMI-02 Man-machine interface with backlit display.
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OPEN FRAMESERVO
AMPLIFIERS
156
SERVOSYSTEMS
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AMPLIFIERS
157
Open
Fra
me
Serv
o Am
plifi
ers
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AMPLIFIERS
158
BL70
80x
Serv
o Am
plifi
er
BL7080x Servo Amplifier
Description:
The BL7080x servo amplifier is suitable for a widerange of motion applications and is designedaround a precise, powerful and efficient PWM am-plifier. BL7080x is a servo amplifier that can acceptpulse and direction commands from any type ofmotion controller as well as providing the user withpreset programming capabilities.
Tuning the PID loop on the BL7080x is easy withour Quick Tuner™ software, featuring a built-in os-cilloscope. Software selection of encoder linecount and commutation sequence allows the motorto be configured without swapping wires.
Features:
• BL7080x can be used with any motion controller,PLC indexer or other controller that generatespulse and direction commands, or can be set toperform preset moves or jog functions.
• Requires 24-80 VDC power supply.• Continuous current of 7A, peak current to 14A• Speeds to 6000 rpm. Motor and load dependent.• 20 kHz precision PWM amplifier.• Compatible motors and extension cables avail-
able from stock.• Compact size (2 x 3 x 6 inches).• Screw terminal connectors for power, motor
phases and I/O.• Pluggable, industry standard D connector for en-
coder and commutation signals.
Options:
• Eight Applied Motion Alpha series servo motorsspecifically designed for optimized performancewith the BL7080X amplifier. These motors featurelow profile right angle strain relief, shielded motorand encoder cables and mil style connectors.
• Standard or custom length extension cables forthe motor and encoder that allow for quick, plugand play system set up.
• Regeneration clamp circuit (recommended).• Recommended power supplies: PS430, PS1050
and PS1070.
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AMPLIFIERS
159
POWER AMPLIFIER:
AMPLIFIER TYPE ....................................... 3 phase MOSFET.CURRENT CONTROL .................................. 4 quadrant, pulse width modulated, switching at 20 KHz.OUTPUT CURRENT .................................... 7.0 amps continuous. 14 amps peak current, 2 seconds max.DC BUS VOLTAGE ...................................... 24 to 80 VDC. 7 amps typical maximum load.MAXIMUM CONTINUOUS OUTPUT POWER 560 Watts.PROTECTION CIRCUITS ............................. Drive over temperature.POSITION RESOLUTION ............................ Electronic gearing feature allows any resolution from 200 to
65,535 steps per rev.MOTION UPDATE ....................................... 12800 Hz.SERVO UPDATE ......................................... 4266 Hz.ENABLE INPUT ........................................... Two terminals on the logic connector (EN+ AND EN–) that can be
used to disable the drive. The current to the servo motor will beturned off. The BL7080x operates normally without any connectionsto the enable circuit. Use this feature only to disable the amplifier.
CONTROLLER SECTION BL7080x:
INPUTS....................................................... IN1/STEP & IN2/DIR: differential, high speed, optically isolated.5V, 440 ohm, 2 MHz max step rate, 1 msec direction set up andhold time. IN3/SPEED & IN4/SENSOR: differential, optically iso-lated, 5 – 24V, 2200 ohm. ANALOG1: 0 – 5V, 10 bit resolution.Maximum impedance of driving signal or potentiometer: 10 k ohm.
ENCODER INPUTS ..................................... Differential O – 5 V, A & B quadrature.COMMUTATION INPUTS ............................ O – 5 V TTL level, filtered.ENCODER POWER ..................................... 5 VDC, 200 mA provided by drive.ENCODER RESOLUTION ............................ 100 – 50,000 counts/rev (25 – 12,500 lines).
SYSTEM SPECIFICATIONS:
OVERALL SIZE ........................................... 2 x 3 x 6 inches.CHASSIS MATERIAL .................................. Aluminum, black anodized with integral heat sink.WEIGHT ...................................................... 1 Lb.AMBIENT TEMPERATURE .......................... 0˚ to 70˚C (32˚ to 50˚F).HUMIDITY .................................................. Maximum of 90% non-condensing.CONNECTORS ............................................ Screw terminal connectors for input power, I/O signals and motor,
DB-15 for encoder/Hall signals.RECOMMENDED MOTORS ........................ Can drive 30W to 400W BLDC motor.
BL7080x Technical Specifications
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OPEN FRAMESERVO
AMPLIFIERS
160
IN1/STEPIN2/DIR
IN3/SPEEDIN4/SENSOR
OUT1
+5V OUTANALOG IN
GND
MOSFETPWM Power
Amplifier
24 - 80 VDC
PC RS232
PIDServoLoop
xController
eeprom
OpticalIsolation
Filter
InternalLogicSupply
motor
encoder
2.45"
5.70"0.150"
3.00"
0.25"
0.25"
6.00"
0.15"
0.17"
5.70"
2.00"
.720"
1.345"
2.08"6 x Ø.170
BL7080x Technical Drawings
MECHANICAL OUTLINE
BLOCK DIAGRAM
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AMPLIFIERS
161
Note: All electrical specs are phase to phase.BL7080x amplifier uses 2X peak current limit.
MOTOR TO ENCODER TOAMPLIFIER CABLES AMPLIFIER CABLESPART NUMBER LENGTH PART NUMBER LENGTH
BLMTR-CA-04 4 ft BLENC-CA-04 4 ftBLMTR-CA-10 10 ft BLENC-CA-10 10 ftBLMTR-CA-20 20 ft BLENC-CA-20 20 ftBLMTR-CA-XX custom length BLENC-CA-XX custom length
MOTOR SHAFT CAN BE LOCKED AT “O°” BY APPLYING THERATED CURRENT + TO TERMINAL “B” AND – TO TERMINAL “A”.
ENCODER RESOLUTION 2,000 LINES/REV
Motor Phase Excitation Sequence
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AMPLIFIERS
167
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AMPLIFIERS
168
BL70
80i P
rogr
amm
able
Ser
vo A
mpl
ifier
BL7080i Servo Amplifier
Description
The BL7080i programmable servo amplifier is suit-able for a wide range of motion applications and isdesigned around a precise, powerful and efficientPWM amplifier. BL7080i is an intelligent servo am-plifier that includes a sophisticated motion control-ler integrated with a PID control loop.
The BL7080i includes Applied Motion’s easy to useSi Programmer™ Windows software for the rapiddevelopment of stand-alone motion control pro-grams. BL7080i can also be commanded in realtime from a host PC or PLC, using the Si CommandLanguage™ (SCL).
Tuning the PID loop on the BL7080i is easy withour Quick Tuner™ software, featuring a built-in os-cilloscope. Software selection of encoder linecount and commutation sequence allows the motorto be configured without swapping wires.
For multi-axis applications, up to eight BL7080idrives can be networked using the SiNet Hub. Thehub also allows BL7080i to be mixed with otherSi™ drive models, stepper and servo.
The BL7080i includes 8 programmable optical iso-lated inputs for triggering, branching, positionsensing and end of travel detection. 3 program-mable optical isolated outputs can send signals toother electronic devices and activate relays.
Features:
• BL7080i can be programmed for stand-alone op-eration with the easy to use Si Programmer™Windows software (software and programmingcable included).
• BL7080i can be operated in real time from a hostPC or PLC using the Si Command Language(SCL), via RS232.
• Requires 24-80 VDC power supply.• Continuous current of 7A, peak currents to 14A• Speeds to 6000 rpm. Motor and load dependent.• 20 kHz precision PWM amplifier.• Compatible motors and extension cables avail-
able from stock.• Compact size (2 x 3 x 6 inches).• Screw terminal connectors for power, motor
phases and I/O.• Pluggable, industry standard D connector for en-
coder and commutation signals.
Options:
• Eight Applied Motion Alpha series servo motorsspecifically designed for optimized performancewith the BL7080i amplifier. These motors featurelow profile right angle strain relief, shielded mo-tor and encoder cables and mil style connectors.
• Standard or custom length extension cables forthe motor and encoder that allow for quick, plugand play system set up.
• Regeneration clamp circuit (recommended).• Recommended power supplies: PS430, PS1050
and PS1070.
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OPEN FRAMESERVO
AMPLIFIERS
169
POWER AMPLIFIER:
AMPLIFIER TYPE ....................................... 3 phase MOSFET.CURRENT CONTROL .................................. 4 quadrant, pulse width modulated, switching at 20 KHz.OUTPUT CURRENT .................................... 7.0 amps continuous. 14 amps peak current, 2 seconds max.DC BUS VOLTAGE ...................................... 24 to 80 VDC. 7 amps typical maximum load.MAXIMUM CONTINUOUS OUTPUT POWER 560 Watts.PROTECTION CIRCUITS ............................. Drive over temperature.POSITION RESOLUTION ............................ Set via software to match encoder resolutions from a minimum of
25 lines to a maximum of 12,500 lines per revolution producing aminimum of 100 counts to a maximum of 50,000 counts per revo-lution in quadrature.
MOTION UPDATE ....................................... 12800 Hz.SERVO UPDATE ......................................... 4266 Hz.
CONTROLLER SECTION:
SERIAL COMMUNICATION ......................... RS-232 programming port.STATUS LED'S ............................................ DC power (red), Overtemp (yellow).INPUTS....................................................... 8 user programmable inputs:
2 dedicated, optically isolated limit switch inputs, 5 – 24 VDC.4 general purpose, filtered inputs. The Feed to Sensor instructioncan use these inputs for homing or other sensing needs. TheWait Input instruction can wait for one of the inputs to see agiven voltage state or signal edge. The If Input instruction canbranch based on the state of an input. 2 jog inputs (cw and ccw)that can also be used as general purpose inputs.
OUTPUTS ................................................... 4 user outputs:Drive fault (activated by overcurrent or overtemperature condition).3 general purpose, optically isolated outputs for interfacing toother equipment. Can be set, opened or closed, or programmedto send a pulse by the Set Output instruction.
PARAMETER RANGES ............................... Distance: 1 to 16,000,000 (CW or CCW), absolute position ± 2 billion.Speed: .025 to 100 revolutions per second.Acceleration: 1 to 3,000 rev/sec/sec.Deceleration: 1 to 3,000 rev/sec/sec (set independently from ac-celeration).Time Delays: .01 to 300 seconds.Output Pulse Widths: 2 to 500 milliseconds.Iterations per loop: 1 to 65,535.
OPTIONAL OPERATOR INTERFACE (MMI) NEMA 4X rated (splash proof & dust proof).4 x 20 characters liquid crystal display (LCD) standard or backlit.20 key membrane keypad.Overall size: 4.9 x 4.9 x 1.42 inches.Optional backlit display.
SYSTEM SPECIFICATIONS:
OVERALL SIZE ........................................... 2 x 3 x 6 inches.CHASSIS MATERIAL .................................. Aluminum, black anodized with integral heat sink.WEIGHT ...................................................... 1 Lb.AMBIENT TEMPERATURE .......................... 0˚ to 70˚C (32˚ to 50˚F).HUMIDITY .................................................. Maximum of 90% non-condensing.CONNECTORS ............................................ Screw terminal connectors for input power, I/O signals and motor,
DB-15 for encoder/Hall signals.RECOMMENDED MOTORS ........................ Can drive 30W to 400W BLDC motor.
BL7080i Technical Specifications
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OPEN FRAMESERVO
AMPLIFIERS
170
BL7080i Technical Drawings
MECHANICAL OUTLINE
BLOCK DIAGRAM
2.45"
5.70"0.150"
3.00"
0.25"
0.25"
6.00"
0.15"
0.17"
5.70"
2.00"
.720"
1.345"
6 x Ø.170 2.08"
MOSFETPWM Power
Amplifier
24 - 80 VDC
INPUT1INPUT2INPUT3INPUT4
CW JOG/IN5CCW JOG/IN6
PC/MMI
CW LIMITCCW LIMIT
OUT1OUT2OUT3
RS232
PIDServoLoop
Si™Programmable
Controller
eeprom
OpticalIsolation
InternalLogicSupply
motor
encoder
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OPEN FRAMESERVO
AMPLIFIERS
171
Note: All electrical specs are phase to phase.BL7080i amplifier uses 2X peak current limit.
MOTOR TO ENCODER TOAMPLIFIER CABLES AMPLIFIER CABLESPART NUMBER LENGTH PART NUMBER LENGTH
BLMTR-CA-04 4 ft BLENC-CA-04 4 ftBLMTR-CA-10 10 ft BLENC-CA-10 10 ftBLMTR-CA-20 20 ft BLENC-CA-20 20 ftBLMTR-CA-XX custom length BLENC-CA-XX custom length
MOTOR SHAFT CAN BE LOCKED AT “O°” BY APPLYING THERATED CURRENT + TO TERMINAL “B” AND – TO TERMINAL “A”.
ENCODER RESOLUTION 2,000 LINES/REV
Motor Phase Excitation Sequence
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AMPLIFIERS
177
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AMPLIFIERS
178
Description
As with most servo systems a clamp circuit is re-quired to limit increase power supply buss voltagewhen the motor is decelerating under load. This iscommonly referred to as “regeneration” which iswhat happens when DC motors are driven by theirload. During regeneration the DC motor can pro-duce enough voltage to actually exceed the inputpower supply voltage. More sophisticated servoamplifiers deal with this by channeling the in-creased motor voltage back to the source powersupply. If the voltage is not clamped to a safe levelthe amplifier can be damaged or destroyed.
The BL7080i and BL7080x servo amplifier/control-lers are types that channel the increasing voltageback to the input power supply. In some cases thiscan be handled by placing a significant size capaci-tor at the input to “absorb” the voltage impulse.However, this is often not enough especially incases where a large inertial mass is being deceler-ated.
For this reason Applied Motion Products offers a“Regen Clamp” module for our servo drive prod-ucts. With this module one or more servo drivescan be protected from “Over Voltage” conditionsby placing the clamp module between the powersupply and the drive. The clamp tracks the inputpower supply and will operate from 24 to 80 volts.No adjustments are needed.
The Regen Clamp is designed to handle a widerange of conditions. The voltage input matches theneeds of the AMP servo drives by providing 24 to80 VDC capabilities. The clamps come in differentversions for moderate to high power operation. Ex-ternal power resistors can be added for evengreater continuous power requirements. The mod-ules are small and compact to minimize impact onthe system design. More than one servo drive canbe connected to the clamp module with the poten-tial to handle an entire multi-axis sytem.
Features
Two versions are available:The RC-010 is a lower cost version with an openframe design that mounts to the target systemwith nylon standoffs.The RC-050 is mounted on a heat sink and has a50 watt power resistor for more continuous cur-rent handling.
Size:RC-010 is 2.6˝ x 2.75˝ x 2˝ tall (with stand offs).RC-050 is 3˝ x 4˝ x 2.25˝ tall.
Indicators:A green LED indicates power supply voltage ispresent. A red LED indicates when the clamp isoperating. This is typically a very short time sinceit is only on when the servo is decelerating.
Protection:The power supply is internally connected to an“Input Diode” that protects it from the higher re-generation voltages. The diode protects the sys-tem from connecting the power supply inreverse. If the clamp circuit were to fail the diodewill continue to protect the power supply fromover-voltage.
Rege
nera
tion
Clam
p
Regeneration Clamp
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AMPLIFIERS
179
Technical Specifications
Circuit Diagram:
The regeneration circuit is designed to provide a widerange of voltage clamping operation with a simple andreliable design. The block diagram gives a simplifiedview of the circuit design showing the major parts.
Terminal Block:
A 6 connection terminal block provides easy connectionaccess to the clamp. The terminal are designed for wiresizes from 12 – 28 AWG.
Input Diode:
The input diode provides over-voltage and reverse volt-age protection. If the input power supply is connected inreverse this diode will prevent failure. During over-volt-age conditions the diode blocks the higher regenerationvoltage from feeding into the input power supply. The in-put is designed to handle 20 amps continuous (RC-050)with peaks greater than 100 amps.
Internal Power Resistor:
For moderate power operation this may be all that is re-quired for safe operation. This resistor is designed to“sink” up to 8 amps when using an 80 volt power sup-ply, but only 2.5 amps when using a 24 volt supply.Larger power resistors can be added to the circuit byconnecting between the “R1” and the “R2” terminals.
Filter Capacitor:
To smooth out operation and allow the “Clamp” to workat a low switching frequency a large capacitor is addedacross the voltage output.
Over-Voltage Sense Circuit:
This part of the clamp senses when on over-voltage oc-curs. When the “Vout” exceeds the “Vin” by approxi-mately 1.2 volts the clamp will turn on. When “Vout”drops to about 1 volt below “Vin” the clamp turns off.
Clamp MOSFET:
At the heart of the circuit is a power MOSFET designedfor 20 amp continuous operation (with the RC-050 ver-sion).
Indicator LEDS:
A green LED is used to indicate power supply input whilea red LED is used to indicate when the clamp is on.
External Power Resistor:
An external Power Resistor may be added to increasethe continuous and/or peak power of the clamp circuit.The internal resistor is a 10 ohm value with either 10Watt or 50 Watt ratings depending on the version. Anexternal value can be added with a value of no less then10 ohms for a combined resistance of 5 ohms (16 ampspeak). In some cases the internal resistor should be dis-connected and entirely replaced where continuous op-eration will exceed its rating.
Example 1 (using the RC-010)A single servo drive is connected to the Regen Clampmodule with no external resistor required. This design willwork in most cases where the load is primarily “Frictional”as opposed to “Inertial.”
Terminal Block
Green LEDPower Indication
Red LEDClamp Indication
Input Diode
PowerResistor
FilterCap.
Clamp MOSFET
Over-VoltageSense Circuit
VinGND1GND2
VoutR1R2
123456
24 to 80VDC
PowerSupply
RegenClamp
(RC-010)
BL7080i
+ Vin
GND 1
GND 2
Vout
–
+–
24 to 80VDC
PowerSupply
RegenClamp
(RC-050)
BL7080iDrive #2
BL7080iDrive #1
+ Vin
GND 1
GND 2
Vout
R1
R2
–
+–
+–
External PowerResistor
10 ohm 50 W
Example 2 (using the RC-050)Two servo drives are connected to the Regen Clamp mod-ule. An external power resistor is used to supplement theinternal resistor. This design will work in cases where theload has significant “Inertial” content.
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ALPHASERVO
MOTORS
180
OPEN FRAMESERVO
AMPLIFIERS
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ALPHASERVO
MOTORS
181
Alph
a Br
ushl
ess
Serv
o M
otor
s
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ALPHASERVO
MOTORS
182
FEATURES
• Compact size.• Speeds as high as 5,000 rpm.• Built-in high resolution incremental
encoder with differential outputs.• 4 frame sizes: 28 mm, 40 mm, 60 mm,
80 mm.• Power ratings range from 30 to 950
watts.
OPTIONS
• Matching planetary gearheads, stan-dard or metric output.
• Built-in fail-safe holding brake.• Built-in absolute encoder or brushless
resolver.
Alpha Brushless Servo Motors
Applied Motion’s Alpha Series Servo Motors provide approximately twice the torque per framesize as conventional servo motors. The rotor inertia has been optimally designed for typicalloads, giving the Alpha Series optimum power ratings for their size.
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• Menu driven—no programming language to learn.• Can connect to any pulse & direction step motor driver.• Ideal for use with Applied Motion Products recom-
• Eight built-in programs:- Feed to Length moves a preset distance when TRIG-
GER is pulsed low (to 0 volts).- Feed & Jog also moves a preset distance. Jogs when-
ever AUX is held low.- Feed & Return moves a preset distance, then returns
to the starting point.- Feed & Back Off moves a preset distance, then moves
a second distance in either direction.- Feed to Sensor moves until the AUX changes state
(can be set for rising or falling edge to accommodatemost sensors).
- Feed to Sensor & Return moves until AUX changesstate, then returns to the start.
- Register & Feed finds a registration mark, then movespreset distance.
- Learn Speed allows user to adjust speed “on the fly,”via the knob, then press to record new speed.
• Parameters can be entered in motor steps or customunits such as inches, revolutions or gallons.
• All programs can be executed between 1 and 255times from a single trigger. Nonstop operation canalso be specified.
Input/Output
• Two 5-24 volt optically isolated limit switch inputs,also used for power up homing feature.
• TRIGGER input to initiate motion.• AUXILIARY input for sensor or jog control.• Optically isolated MOTION output can signal “in mo-
tion” or “in position.” “In position” pulse width is pro-grammable, 0.1 - 25.5 msec.
• STEP and DIRECTION outputs to motor driver, opencollector, 5-24 volts, 10 microsecond STEP pulsewidth.
• +5V output for motor driver optoisolators, filtered &fused.
Description
The Si-1 Indexer is reliable, versatile and easy to use.The programming terminal is built-in to simplify wiringand set up. All configuration is menu driven—the usersimply picks a program and the Si-1 will request the pa-rameters it needs. The Si-1 is CE compliant.
Once configured, the Si-1 waits for a trigger pulse to be-gin the program. This pulse can come from a momen-tary contact switch or from a logic source like a com-puter, PLC or another Si-1.
The Si-1 can be programmed to seek a home positionupon power up. Limit switches can be attached to preventunwanted travel beyond designated limits. A built in stopbutton allows the operator to halt the motor at anytime.
Options
• 10 volt AC wall transformerP/N: WT-1
System Features
• Up to 255 moves per trigger can be selected by settingthe Moves/Trigger parameter. Nonstop can also beselected.
• The SI-1 can seek a home position upon power up bysetting the Home on Power Up parameter to clockwiseor counterclockwise.
• User Units allow the user to work in units other thanmotor steps. Simply enter the number of motor stepsper unit and name the unit (up to three characters.)
• Timing is adjustable on all programs. Delay can beadded between the trigger pulse and the start of mo-tion for system syncronization. On multiple movesper trigger, the delay between moves can be set. Onmoves that return (Feed & Return, Feed to Sensor &Return and Feed & Back Off) the delay between feed-ing and returning is adjustable.
• The MOTION output can be programmed to provide asignal edge at the start and finish of each move (“inmotion”), or it can provide a pulse at the end of eachmove (“in position”). This allows maximum flexibilitywhen coordinating the SI-1 with other equipment.
• Can be programmed to search for rising or fallingedge of sensor, allowing many types of sensors to beeasily configured.
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207
MOTORCONTROLS
Si-1 Menu Tree
Set Return Delay0-25.5 sec
Set Repeat Delay0-25.5 sec
Set Jog Accel1000-255000 steps/s/s
Set Accel1000-255000 steps/s/s
Set Decel1000-255000 steps/s/s
Set Feed Distance1-8000000 steps
Running
Select Program
Select Menu
Program Menu
System Menu
Timing Menu
Applied MotionProducts V2.1
Feed & Return
Feed to Sensor& Return
Feed to Sensor
Feed & Back OffFeed & Jog
Set Pulse Width0.1-25.5 msec
User Units?
Set Accel1000-255000 steps/s/s
Set Accel1000-255000 steps/s/s
Set Accel1000-255000 steps/s/s
Set Accel1000-255000 steps/s/s
Set Accel1000-255000 steps/s/s
Set Decel1000-255000 steps/s/s
Set Decel1000-255000 steps/s/s
Set Decel1000-255000 steps/s/s
Set Decel1000-255000 steps/s/s
Set Decel1000-255000 steps/s/s
Set Feed Speed100-25000 steps/sec
Set Feed Speed100-25000 steps/sec
Set Feed Speed100-25000 steps/sec
Set Feed Speed100-25000 steps/sec
Set Feed Speed100-25000 steps/sec
Set Feed Speed100-25000 steps/sec
Set Feed Dircw - ccw - aux
Set Feed Dircw - ccw - aux
Set Jog Speed100-25000 steps/sec
Set Return Speed100-25000 steps/sec
Set Back Speed100-25000 steps/sec
Set Jog Dircw - ccw
Set Feed Dircw - ccw
Set Feed Dircw - ccw - aux
Set Feed Dircw - ccw
Set Feed Dircw - ccw
Set Feed Distance1-8000000 steps
Set Feed Distance1-8000000 steps
Set Feed Distance1-8000000 steps
Set Feed Distance1-8000000 steps
Set Back Distance1-8000000 steps
Home On Pwr Up?cw - ccw - no
Set Sensor Edgerising - falling
Feed To Length
In MotionIn Positionout - back - both
Set Motion Signal
Steps/Unit?1-65535
Enter Unit Name(3 chars)
Set Back Dircw - ccw
Set Return Speed100-25000 steps/sec
Register & Feed
Set Accel1000-255000 steps/s/s
Set Decel1000-255000 steps/s/s
Set Feed Speed100-25000 steps/sec
Set Feed Dircw - ccw
Set Accel1000-255000 steps/s/s
Set Feed Speed100-25000 steps/sec
Set Feed Dircw - ccw - aux
Learn Speed
NoYes
Moves/Trigger?1-255 or nonstop
Set Trigger Delay0-512 msec
SO
FTWARE
V E R S I O N
2.1
START
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208
MOTORCONTROLS
Si-1
00 M
otor
Con
trol Si-100 Motor Control
Features
• Programmable for stand alone operation withApplied Motion’s easy to use Si Programmer™Windows software (software and programmingcable included)
• Can be operated in real time from a host PC orPLC using Applied Motion’s Si Command Lan-guage™ (SCL)
• Can be networked with all other Si™ products viaApplied Motion’s SiNet™ Hub
• 110 or 220 AC input, switch selectable• 25 VDC and 5 VDC output voltages• 8 optically isolated, 5–24 VDC, user program-
mable inputs• 3 optically isolated, 24 VDC, outputs• High speed, differential step & direction outputs
interface easily to step and servo motor drives• Communication via RS232• Screw terminal connector blocks for power and I/O
RJ11 for RS232 port• Optional operator terminal (MMI) either standard
or backlit• Eight Applied Motion recommended pulse and
direction Stepper drives and two pulse and direc-tion Servo amplifiers
• CE and TUV compliant
Description
The Si-100 is a programmable motor control suit-able for a wide range of motion control applica-tions. It includes Applied Motion’s easy to use
Si Programmer™ Windows software for the rapiddevelopment of stand-alone motion control pro-grams. The Si-100 can also be commanded in realtime from a host PC or PLC, using the Si CommandLanguage™ (SCL).
For multi-axis applications, up to eight Applied Mo-tion Si™ products (Stepper or Servo) can be net-worked using the SiNet™ Hub, fulfilling the exactrequirements of your application.
The Si-100 includes 8 optically isolated program-mable inputs for triggering, branching, positionsensing and end of travel detection. 3 optically iso-lated programmable outputs can send signals toother electronic devices and activate relays. Highspeed, differential step & direction outputs are pro-vided for easy interfacing to industry popular stepand servo motor drives.
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209
MOTORCONTROLS
AC INPUT POWER ...................................... 110 or 220 VAC (switch selectable), 50–60 Hz.MOTOR RESOLUTION ................................ 16 resolutions. Steps per revolution with 1.8˚ motor: 200, 400,
STEP AND DIRECTION OUTPUTS .............. 2 sourcing outputs (step+ and dir+) and 2 sinking outputs (step–and dir–). Step+ and dir+ are 2.5min., 3.4V typ. with a 20na load.Step– and dir– are 8.5V max., 0.3V typ. with a 20ma load. Thestep frequency is 50Hz to 2.54MHz. The step duty cycle is 50%and the step rate is updated at 12,800Hz.
POWER SUPPLY OUTPUTS........................ 5 and 24 VDC., 100ma max. The 24 VDC supply is isolated fromthe internal circuitry. The 5 VDC supply is not. Each supply is pro-tected by a self resetting fuse.
SERIAL COMMUNICATION ......................... RS-232 programming port.STATUS LED'S ............................................ Two color, normal (green), limit (red).INPUTS....................................................... 8 inputs, 5–24 VDC, bidirectional, optically isolated.
2 dedicated limit switch inputs.4 dedicated general purpose inputs (for triggering, sensing & pro-gram branching).2 JOG inputs (cw and ccw) can be also used as general purposeinputs.
OUTPUTS ................................................... 3 general purpose, optically isolated outputs for interfacing toother equipment. Can be set to a high or low voltage or pro-grammed to send a pulse by the Set Output instruction.
PARAMETER RANGES ............................... Distance: 1 to 16,000,000 steps. Speed: .025 to 50 revolutions persecond (in any microstep resolution). Acceleration: 1 to 3,000 rev/sec/sec. Deceleration: 1 to 3,000 rev/sec/sec (set independentlyfrom acceleration). Time Delays: .01 to 300 seconds. Output PulseWidths: 2 to 500 milliseconds. Iterations per loop: 1 to 65,535.
OPTIONAL OPERATOR INTERFACE (MMI) NEMA 4X rated (splash proof & dust proof). 4 x 20 characters liq-uid crystal display (LCD). 20 key membrane keypad. Overall size:4.9 x 4.9 x 1.42 inches.
SYSTEM SPECIFICATIONS:
OVERALL SIZE ........................................... 1.25 x 3.86 x 8 inches. See mechanical outline.CASE MATERIAL ........................................ Steel, finished with black textured paint and white silk screen.WEIGHT ...................................................... 2 lbs.AMBIENT TEMPERATURE .......................... 0˚ to 50˚C (32˚ to 122˚F).HUMIDITY .................................................. Maximum of 90% non-condensing.CONNECTORS ............................................ Screw terminal connectors for input power and I/O signals.DRIVES ....................................................... Indexer for step and direction compatible stepper and brushless
DC drives.
Si-100 Technical Specifications
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210
MOTORCONTROLS
BLOCK DIAGRAM:
MECHANICAL OUTLINE:
power/status LED
110/220 VACfuse
INPUT1INPUT2INPUT3INPUT4CW JOG
CCW JOG
to PCor MMI
24VDC OUT
CW LIMITCCW LIMIT
OUT1OUT2OUT3
STEP+STEP-DIR+DIR-
OpticalIsolation
InternalPowerSupply
eeprom
linedrivers
Si™High
SpeedIndexer
RS232
OpticalIsolation
OpticalIsolation
1.25"
7.17"
0.20" .625"
7.625" 8.00"
3.86"
0.06"
Si-100Motion Controller
POWER
PC/M
MI
G
L2/N
L1
AC POWER
STOP
STEP+STEP–
DIR+DIR–
GND+5 VDC
24V GND+24 VDC
OUT3+OUT3–
IN/JOG COMIN1
OUT2–OUT2+OUT1–OUT1+
CCWJOG/IN6LIMIT COM
CW LIMITCCW LIMIT
CWJOG/IN5IN4IN3IN2
Si-100 Technical Drawings
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211
MOTORCONTROLS
Si-100 Connectors and Switches
user power supply outputs
input connector
inputs/limits connector
power LED
AC power
RS232 connector
USER POWER OUTPUTS
position no.1 +24 VDC2 24 V GND3 +5 VDC4 GND
I/O
position no.1 step+2 step–3 dir+4 dir–5 out 1+6 out 1–7 out 2+8 out 2–9 out 3+
10 out 3–11 in/jog com12 in 113 in 214 in 315 in 416 cw jog/in 517 ccw jog/in 618 limit com19 cw limit20 ccw limit
AC POWER
position no.1 G2 L2/N3 L1
output connector
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212
MOTORCONTROLS
SiNe
t™ H
ub SiNet™ HubMulti-Axis Motion Hub
Features
• Networks all Applied Motion Stepper or Servo Si™products for multi-axis motion applications
• For real time execution of commands down-loaded from a host PC or PLC using AppliedMotion’s Si Command Language™ (SCL)
• Programmable for stand alone single or multi-axis operations with Applied Motion’s easy to useSiNet Programmer™ Windows software (soft-ware and programming cable included)
• Communication via RS232
Description
The SiNet™ Hub allows up to 8 Stepper or ServoSi™ drives to be controlled in host mode from asingle PC or PLC’s RS-232 serial port or will run instand-alone mode.
Each indexer-drive acquires its unique address fromthe port to which it is connected. This simple ad-dressing scheme minimizes the cost of the drives,and more importantly, the cost of configuring and/orreplacing drives in your system. Connections aremade with low cost, reliable telephone cabling.
Any of our popular, cost effective programmableStepper or Servo Si™ drives or Si™ motor controlscan be used with the SiNet™ Hub. By choosing thepower level and features you need for each axis ofyour application, SiNet™ can provide a cost effec-tive single or multi-axis motion solution.
The SiNet™ Hub is powered by the drive that’s con-nected to port #1, saving you the cost and installa-tion expense of using a separate power supply. OurSi™ Command Language (SCL) allows a host PC orPLC to execute relative, absolute and homingmoves, make status inquires, sample inputs, setoutputs, and more.
If your application requires a single axes to operatein “host mode”, you can connect any of our pro-grammable Si™ drives directly to your PC via theSiNet Hub and invoke the Si™ Command Language(SCL).
Our SiNet Programmer™ Windows software allowsthe user to create and store multi-axis motion con-trol programs in the SiNet™ Hub and run themwithout a PC. Thus allowing the user to create acomplex multi-axis motion system controlled froman operator interface or trigger.
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213
MOTORCONTROLS
Power ......................................................... Power is provided by Si™ indexer-drive on Port 1. Provides up to50 mA for MMI via PC/MMI port.
Communication .......................................... Ports 1 - 8: RS232, 9600 bps, 8 data bits, one stop bit, no parity.MMI: same.PC in router mode: same.PC when running SiNet Programmer software: 19200 bps.Max cable length, any port: 50 feet.
Physical ...................................................... Molded plastic case. RJ11 connectors. 1.35 x 3.8 x 6.5 inches(34.3 x 96.5 x 165.1 mm). Weighs 9 ounces (250 grams). Two redLEDs. Operating temperature range: 0 - 70° C.
Program. .................................................... Move distances: +/- 16,000,000 stepsMove speeds: .025 to 50 rev/secAccel/Decel range: 1 to 3000 rev/sec/secTime delays: .01 to 300 secondsLoops counts: 1 to 65,535Number of nested loops: unlimitedNumber of subroutines: unlimitedSubroutine stack depth: 5 calls maximumNumber of comments: limited only by 200 line program lengthMMI variables for storing speeds, distances and loop counts en-tered by operator: 50Maximum size of messages displayed by an MMI Prompt: 60characters (80 for an MMI Menu instruction)Maximum total size of all MMI Prompt messages: 1500 charactersSteps/revolution: 2,000 - 50,800 (200 - 50,800 with Si-100 in-dexer)
SiNet Hub Technical Specifications
1
3
5
7
2
4
6
8
PC/MMISiNet™Hub-8
COMM POWER
5.54"
6.50"
3.79"
6.00"
2X Ø 0.19"
1.35"
0.125"
SiNet™
Hub-8
drive #1
drive #2
drive #8
HostPCor
PLC
MECHANICAL OUTLINE: BLOCK DIAGRAM:
SiNet Hub Technical Drawings
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214
MOTORCONTROLS
SiNe
t™ H
ub 4
44 SiNet™ Hub 444Multi-Axis Motion Hub with I/O
Features
• Networks all Applied Motion Stepper or Servo Si™products for multi-axis motion applications
• For real time execution of commands down-loaded from a host PC or PLC using AppliedMotion’s Si Command Language™ (SCL)
• Programmable for stand alone single or multi-axis operations with Applied Motion’s easy to useSiNet Hub Programmer™ Windows software(software and programming cable included)
• Communication via RS232• Four optically isolated programmable inputs• Four optically isolated programmable outputs• Optional DIN rail mounting kit
Description
The SiNet™ Hub 444 allows up to 4 Stepper orServo Si™ drives to be controlled in host modefrom a single PC or PLC’s RS-232 serial port or willrun in stand-alone mode.
Each indexer-drive acquires its unique address fromthe port to which it is connected. This simple ad-dressing scheme minimizes the cost of the drives,and more importantly, the cost of configuring and/orreplacing drives in your system. Connections aremade with low cost, reliable telephone cabling.
Any of our popular, cost effective programmableStepper or Servo Si™ drives or Si™ motor controlscan be used with the SiNet™ Hub 444. By choosingthe power level and features you need for each axisof your application, SiNet™ can provide a cost ef-fective single or multi-axis motion solution.
The SiNet™ Hub 444 is powered by the drive that’sconnected to port #1, saving you the cost and in-stallation expense of using a separate power sup-ply. Our Si™ Command Language (SCL) allows ahost PC or PLC to execute relative, absolute andhoming moves, make status inquiries, sample in-puts, set outputs, and more.
If your application requires a single axis to operatein “host mode”, you can connect any of our pro-grammable Si™ drives directly to your PC via theSiNet Hub 444 and invoke the Si™ Command Lan-guage (SCL).
Our SiNet Programmer™ Windows software allowsthe user to create and store multi-axis motion con-trol programs in the SiNet™ Hub 444 and run themwithout a PC. Thus allowing the user to create acomplex multi-axis motion system controlled froman operator interface or trigger.
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215
MOTORCONTROLS
Power ......................................................... Power is provided by Si™ indexer-drive on Port 1. Provides up to50 mA for MMI via PC/MMI port.
Communication .......................................... Ports 1 - 4: RS232, 9600 bps, 8 data bits, one stop bit, no parity.MMI: same.PC in router mode: same.PC when running SiNet Programmer software: 19200 bps.Max cable length, any port: 50 feet.
Physical ...................................................... Constructed on .062˝ fiberglass printed circuit board with 4 .156˝mounting holes (nylon spacers included).4.2˝ x 2.85˝ x 0.72˝.Two red LEDs.Operating temperature range: 0 - 70° C.Optional DIN rail mounting kit (fits ENS0022 35 mm rail).
Program. .................................................... Move distances: +/- 16,000,000 stepsMove speeds: .025 to 50 rev/secAccel/Decel range: 1 to 3000 rev/sec/secTime delays: .01 to 300 secondsLoop counts: 1 to 65,535Number of nested loops: unlimitedNumber of subroutines: unlimitedSubroutine stack depth: 5 calls maximumNumber of comments: limited only by 200 line program lengthMMI variables for storing speeds, distances and loop counts en-tered by operator: 50Maximum size of messages displayed by an MMI Prompt: 60characters (80 for an MMI Menu instruction)Maximum total size of all MMI Prompt messages: 1500 charactersSteps/revolution: 2,000 - 50,800 (200 - 50,800 with Si-100 indexer)
Connectors ................................................. RJ11 for drives and PC/MMI. Screw terminals for programmableinputs and outputs. Accept AWG 16-28 wire.
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216
POWERSUPPLIES
Oper
ator
Inte
rface
The MMI-01 is an easy to use, flexible device thatallows an operator to enter move speeds, movedistances or repeat loop counts. Messages canalso be displayed and the program can be pauseduntil the user presses a key, such as ENTER, YESor NO. Program branching can be accomplishedbased on the response of YES or NO.
The MMI-01 is compact, easy to install and carriesa NEMA 4/12 rating. (The 4 x 20 character displayand 20 key membrane keypad are sealed.)
Connection to any of our “Si” or “i” indexer drivesis accomplished by the standard programmingcable that is supplied with every drive. This cablealso supplies power to the MMI-01 so that no addi-tional power supply or wiring is needed.
Setup and programming of the MMI-01 is fast andeasy. Our programmable “Si” or “i” drives are fur-nished with Applied Motion’s Si™ Programmersoftware, which allows the user to easily programinstructions for the terminal. Complex, confusingitems like baud rate, parity and cursor positioningare handled automatically by the software.
On screen emulation of the MMI-01 by the Si™Programmer software allows a potential user to trythe MMI before purchasing one.
Features
• Ideal operator interface for Applied’s program-mable drives.
• Connects directly to programmable drives usingthe standard programming cable. No specialwiring required.
• Power is supplied by the drive - no additionalpower supply required.
• Easy to program usingSi™ Programmer soft-ware.
• 4 line, 20 character/lineLCD display
• 20 key keypad• NEMA 4/12 rating
(dustproof and drip proofwhen properly mounted)
• Can be surfaced mountedor flush mounted (NEMA4/12 rating for flushmounting only)
• Optional backlit model,p/n: MMI-02
MMI-01
4.90
4.90 1.38
0.133.875CENTERED
3.875CENTERED 1 2 3 › ›
4 5 6 › ›7 8 9 YES NO
. 0 SPACE BKSP ENTER
2.988
1.975
0.425
0.963
0.960
MECHANICAL OUTLINE
Programming• Easy to program using Si™ Programmer soft-
ware, running on Windows 3.1 or Windows 95.• Six functions are available: 1) Display a message,
up to 60 characters 2) Display a message andpause program until operator presses ENTERkey. 3) Display a message, wait for operator topress YES or NO key. branch program on YES.4) Display message, allow operator to enter aloop count. 5) Display message, allow operatorto enter a speed 6) Display message, allow op-erator to enter a distance
• Speeds, distances and loop counts entered bythe operator can be stored in any of eight non-volatile memory locations for use in repeat loopsand motor moves.
MOTORCONTROLS
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217
POWERSUPPLIES
Pow
er S
uppl
ies
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218
POWERSUPPLIES
0.08
4x Ø.213
.20
.25.25
8x Ø.156
4.252.75
.91
3.64
2.50
3.752.10
2.90
2.40
7.00
6.50
MECHANICAL OUTLINE
PS43
0 Po
wer
Sup
ply PS430
Power Supply4 amps, 30 VDC
Features
• 30 VDC 4 amp unregulated motor supply• 5 VDC ±5% 500 mA regulated logic power supply• fuse protected outputs• screw terminal AC input connector• 120 or 240 VAC, 50-60 Hz• power on LEDs• screw terminal connectors• made in USA• ideal for use with A.M.P. step motor drives:
1335, 2035, 2035 O, 3535, 3535 O, 3540 M,3540 MO
• includes mounting holes for 057A oscillator/in-terface and one 2035, 2035 O, 3535, 3535 O,3540 M or 3540 MO drive on side panel
Description
The PS430 is a linear, unregulated DC power supplydesigned for use with Applied Motion’s step motorchopper drives model numbers 2035, 2035 0, 3535,3535 0, 3540 M and 3540 MO. The PS430 can alsobe used with the 5560, 7080 or 7080i drive in appli-cations not requiring maximum power.
The PS430 provides the user with a precise, well-regulated 5 VDC power source for logic circuitry.
This power supply is available as a PC board andtransformer mounted on an aluminum anglechassis.
110/220 VAC
fuse
30 VDC, 4Afuse
AC - DC
5 VDC, 0.5Afuse
LED
LED
Transformer
110/220switch
AC - DCconvertor
5 VDCregulatorAC - DC
convertor
BLOCK DIAGRAM
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• Output Current: 10 amps max, continuous• Input Frequency: 47–63 Hz• Max Ambient Temp: 55°C• Filter Capacitor: computer grade (long life)• Rectifier Bridge: 50 amp, 200 volt• Output Voltage Ripple: 3% rms max at nominal
AC line voltage• Weight: 19 pounds• Made in USA
Description
The PS1050 is a heavy duty linear, unregulatedpower supply. It is an ideal power source for Ap-plied Motion’s 5560, 7080 and 7080i series stepmotor drives, combining over 500 watts of outputpower and outstanding reliability.
The PS1050 provides isolation from the AC lineand is fused for safety.
The PS1050 is constructed on an open frame alu-minum chassis.
AC IN108-264 V DC OUT
50 VFilterCapacitor
Rectifier Bridge
Transformer
Output Fuse
1
2
3
4
5
6
7
8
+
–
BLOCK DIAGRAM
4.62
9.00
8.25 0.37
0.358.24
3.75
5.622.50
1.56
8X MOUNTING HOLE DIA .281"+" OUTPUT TERMINAL.250 X .032 MALEQUICK DISCONNECT
"–" OUTPUT TERMINAL
MECHANICAL OUTLINE
PS10
50 P
ower
Sup
ply
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220
POWERSUPPLIES
Features:
• Provides up to 10 Amperes of DC power for openframe step and servo motor drives and indexers.
• Operates from 108-132 VAC or 216-264 VAC,50/60 Hz
• Sturdy metal frame design• Unregulated fused output• Provides power for 2 7080 drives, set at 7.0
Amps per phase, and 2 5042-022 motors, wind-ings connected in parallel, full or microstepping.
• Designed to meet European safety standards.
Description:
The PS1070 is a 670 watt open frame power supplydesigned to operate multiple DC input stepping orservo motor drives such as the Applied Motion’s7080/7080i Stepper drives and BL7080X/BL7080iServo drives.
Applied Motion’s PS1070 has a single 70 VDCnominal output and may be operated from either110 or 220 AC, 50/60 Hz source. Input voltageis selected via jumpers on the power supplyterminal strip.
PS1070 Specifications:
Output• 67 VDC with 120 VAC line and 10 Amp. Full Load:
670 watts.• Minimum Voltage: 50.5 at Low Line
and Full Load.• Maximum Voltage: 86 at High Line
and No Load.• Maximum Ripple: 2.0V peak-to-
peak at Full Load.• Connections:
Positive Voltage – .25" faston onfuse holder.Negative Voltage – .25" faston onfilter capacitor.
PS10
70 P
ower
Sup
ply PS1070
Power Supply10 amps, 70 VDC
MECHANICAL OUTLINE
Input• 115/230 volts 50/60 Hz to be fused by user.• 8/4 amp (755 watts).• Suggested fuse 10/5 amps slo-blo.• Voltage selected by terminal strip jumpers.• Low Line: 108/216 Volts AC.• High Line: 132/264 Volts AC.• Connections: Barrier strip with screw terminals.• Open frame construction.• Size: 5.75" X 12" X 4.57" High.• Mounting: 4 each .28" Dia. Holes on 4.37" X 11.0"
Centers.• Weight: 23.8 lbs.Environmental• Maximum Operating Ambient Temperature:
50°C.• Power Supply Derating: 0.2A/°C above 35°C am-
bient.
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
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221
POWERSUPPLIES
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222
GLOSSARY
Glos
sary Absolute Position
Position referenced to a fixed zero or datumposition.
Absolute ProgrammingA positioning coordinate reference wherein allpositions are specified relative to some refer-ence or “home” position. This is different fromIncremental programming where distances arespecified relative to the current position.
AccelerationThe change in velocity as a function of time.
AccuracyThe difference between the expected value of aparameter and its actual value.
Accuracy (step)The correctness of the distance a step motormoves during each step. Does not include er-rors due to hysteresis.
Ambient TemperatureThe temperature of the medium immediatelysurrounding a device.
AmplifierElectronic device that converts command sig-nals (analog or digital) to high power voltagesand currents for the operation of the motor.
ASCIIAmerican Standard Code for Information Inter-change. This code assigns a number to eachnumeral and letter of the alphabet. In thismanner, information can be transmitted be-tween machines as a series of binary numbers.
Axial PlayThe axial shaft displacement due to a reversalof an axial force on the shaft. (End play)
Baud RateThe number of binary bits transmitted persecond for serial communications such asRS-232.
Bi-level Drive (dual voltage drive)A driver where two levels of voltage are usedto drive a step motor. A high (over drive) volt-age is applied to the winding each time it isswitched on. The high voltage stays on untilthe current reaches a predetermined level. Thehigh voltage is turned off after a time perioddetermined experimentally or by sensing wind-ing current. The low voltage maintains the de-sired current.
Bipolar DriveA drive which reverses the magnetic polarity ofa pole by electronically switching the polarityof the current to the winding (+ or-). Bipolardrives can be used with 4,6, or 8 lead motors.With 4 and 8 lead motors, bipolar drives areusually more efficient than unipolar drives andgenerally produce more torque.
Brushless Servo DriveA servo drive used to control a permanentmagnet synchronous AC motor.
Chopper DriveA step motor drive that uses switching amplifi-ers to control motor current.
Class B insulationSpecifies motor insulation that is rated for op-eration of 130 degrees centigrade.
Class H InsulationSpecifies motor insulation that is rated for op-eration of 180 degrees centigrade.
Closed LoopA system that uses some form of feedback de-vice to monitor the system output. The signalfrom the device is used to correct any errorsbetween actual and demanded output.
CoggingTerm used to describe uneven velocity in mo-tors, usually at low speeds.
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223
GLOSSARY
CommutationA term which refers to the action of steeringcurrents or voltage to the proper motor phasesto produce optimum motor torque. In brushtype motors, commutation is done electrome-chanically via the brushes and commutator. Inbrushless motors, commutation is done by theswitching electronics using rotor position in-formation typically obtained from hall sensors,tachometer, resolver or encoder.
Controller (step motor)A system consisting of a DC power supply andpower switches plus associated circuits tocontrol the switches in the proper sequence.
DampingAn indication of the rate of decay of a signal toits steady state value. Related to settling time.
Dead BandA range of input signals for which there is nosystem response.
DecelerationThe negative change in velocity as a functionof time.
Detent TorqueThe maximum torque required to slowly rotatea step motor shaft with no power applied tothe windings. This applies only to permanentmagnet or hybrid motors. The leads are sepa-rated from each other.
Drive (PWM)A motor drive utilizing Pulse-Width Modulationtechniques to control power to the motor.Typically a high efficiency drive that can beused for high response applications.
Drive (servo)A motor drive which utilizes internal feedbackloops for accurate control of motor and cur-rent an/or velocity.
Drive (stepper)An electronic package to convert digital stepand direction inputs to currents to drive astep motor.
Duty CycleThe percentage of ON time vs. OFF time. A de-vice that is always on has a 100% duty cycle.Half on and half off is a 50% duty cycle.
Dynamic BrakingA passive technique for stopping a permanentmagnet brush or brushless motor. The motorwindings are shorted together through a resis-tor, which results in a motor braking with anexponential decrease in speed.
EncoderA device used to translate motion into electri-cal signals used to close the loop. Often usedas a position/motion feedback device in closedloop systems.
Encoder Marker PulseA once-per-revolution signal that provided bysome incremental encoders to specify a refer-ence point within that revolution.
End PlayThe axial shaft motion due to the reversal of anaxial force acting on a shaft with axial clear-ance or low axial pre-load.
Following ErrorThe positional error during motion betweenthe loads actual position and the commandedposition.
Friction CoulombA resistance to motion between non-lubricatedsurfaces. This force remains constant with ve-locity.
Friction ViscousA resistance to motion between lubricated sur-faces. This force is proportional to the relativevelocity between the surfaces.
404 Westridge Dr. • Watsonville, CA 95076831/761-6555 • 800/525-1609 • FAX 831/761-6544
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224
GLOSSARY
GainThe ratio of system output signal to system in-put signal. The control loop parameter that de-termines system performance characteristics.
Hall SensorsA feedback device used by a servo amplifier toelectronically commutate the motor.
Holding Torque (static torque)The maximum restoring torque that is devel-oped by the energized motor when the shaft isslowly rotated by external means. The wind-ings are on but not being switched.
HorsepowerA term used to measure work done. Defined asHorsepower = (speed in RPM)(torque inft.lbs)/5250. Also, 746 Watts.
Hybrid Step MotorA type of step motor comprising a permanentmagnet and variable reluctance stator and ro-tor structures. It uses a double salient poleconstruction.
Hysteresis (positional)The difference between the step positionswhen moving CW and the step position whenmoving CCW. A step motor may stop slightlyshort of the true position thus producing aslight difference in position CW to CCW.
I/O–Inputs/OutputsThe reception and transmission of informationbetween control devices. I/O has two distinctforms: Digital like switches, relays, etc.whichare either in an On or Off state and Analogwhich is a continuous signal in nature such asspeed, temperature, flow, etc.
Idle Current ReductionReduction of phase current to a step motorwhen no motion is required.
IndexerAn electronic control that converts motioncommands from a computer terminal intopulse and direction signals for use by a stepmotor driver.
Inductance (mutual)The property that exists between two currentcarrying conductors or coils when magneticlines of flux from one link with those of theother.
Inductance (self)The constant by which the time rate of changeof the coil current must be multiplied to givethe self-induced counter emf.
InertiaMeasure of resistance of an object to changesin velocity. The larger the inertia, the moretorque required to accelerate and deceleratethe load.
Inertial Matchratio of reflected load inertia to motor inertia.
Instantaneous Start/Stop RateThe maximum switching rate that an unloadedstep motor will follow without missing stepswhen starting from rest.
L/R DriveA drive that uses external resistance to allow ahigher voltage than that of a voltage drive. L/Rdrives have better performance than voltagedrives, but have less performance and effi-ciency than a chopper drive.
Loop, PIDProportional, Integral and Derivative Loop–Specialized, high performance control loop.
Loop, PositionA feedback control loop in the which controlledparameter is motor position.
Loop, VelocityA feedback control loop in which the controlledparameter is velocity.
Maximum Reversing RateThe maximum switching rate at which an un-loaded motor will reverse direction of rotationwithout missing steps.
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GLOSSARY
Maximum Slew RateThe maximum pulse rate at which a stepmotor with no load will run and remain insynchronism.
MicrosteppingA technique in which motor steps are elec-tronically divided by the drive into smallersteps. The most common microstep resolu-tions are 10, 25 and 50 steps per full step, butmany resolutions ranging from 2 to 256microsteps per full step are available.
Open Frame Driverefers to AMP amplifiers where a separate DCpower source must be provided to the unit.
Open-loopA system with no feedback. Most step motorsystems are run in this mode.
OscillatorA device that is used to produce pulses fordriving a step motor at a preset speed.Some A.M.P. drives are available with builtin oscillators.
OvershootThe amount a motor shaft rotates beyond thecommanded stopping position.
Packaged DriveRefers to AMP amplifiers where the powersupply is included in the enclosure and 110v/220v is used to power the unit.
Permanent Magnet Step MotorA step motor having a permanent magnet rotorand wound stator.
Positional AccuracyThe maximum error in one revolution of a fullstep in 360 degrees. Expressed as a percent-age of a full step.
Pull-in Rate (response rate)The maximum switching rate at which an un-loaded motor can start without losing steppositions.
Pull-in TorqueThe maximum torque load at which a stepmotor will start and run in synchronism witha fixed frequency pulse train without losingstep positions.
Pull-out TorqueThe maximum torque load that can be appliedto a motor running at a fixed stepping ratewhile maintaining synchronism. Any addi-tional load torque will cause the motor to stallor miss steps.
Pulse RateThe rate at which successive steps are initi-ated or the windings switched. The pulse ratedivided by the resolution of the motor/drivecombination (in steps per revolution) equalsthe rotational speed of the motor in revolu-tions per second.
PWMPulse Width Modulation. A method of con-trolling motor voltage and current used inservo amplifiers.
Radial PlayThe side to side movement of the shaft due toclearances between the shaft and bearing,bearing to housing, and bearing internal clear-ance for ball and roller bearings. (Side play)
RampingThe acceleration and deceleration of a motor.May also refer to the change in frequency ofthe step pulse train
Rated TorqueThe torque producing capability of a motor ata given speed. This is the maximum continu-ous torque the motor can deliver to a load.
RegenerationThe action during braking, in which the motoracts as a generator and takes kinetic energyfrom the load, converts it to electrical energy,and returns it to the amplifier.
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226
GLOSSARY
RepeatabilityThe degree to which the positioning accuracyfor a given move performed repetitively can beduplicated.
ResolutionThe smallest positioning increment that can beachieved. Frequently defined as the number ofsteps or feedback units required for a motor’sshaft to rotate one complete revolution.
ResonanceThe effect of a periodic driving force thatcauses large amplitude increase at a particularfrequency.
Response Rate (pull-in rate)The switching rate an unloaded motor can fol-low from a standing start without missingsteps.
RingingOscillation of a system following a suddenchange in state.
RS-232, RS422/485Serial communication protocols
Serial PortA digital data communications port configuredwith a minimum number of signal lines.
Servo Amplifier/Servo DriveAn electronic device which converts a controlsignal into a high voltage/current which is fedinto the motor windings to product torque inthe motor.
Servo SystemAn automatic feedback control system for me-chanical motion in which the controlled or outputquantity is position, velocity, or acceleration.Servo systems are closed loop systems.
Settling TimeThe elapsed time starting the instant the rotorreaches the commanded step position and theoscillations settle to within a specified dis-placement band about the final position, usu-ally +/-3 to +/-5 percent.
SiRefers to the AMP Simple Indexer operatingenvironment. Sequences for machine opera-tion are programmed by the use of point andclick instructions. Shortens learning curve andallows “non-programmers” to easily sequencemachine functions and operations.
SlewThe portion of a move made at a constant non-zero velocity.
Stall Torque (holding or static)The torque available from a motor at stall orzero rpm.
Step AngleThe nominal angle through which the step mo-tor shaft rotates between adjacent step posi-tions.
Step Rate (speed)The number of steps a shaft rotates during aspecified time interval.
Step-to-Step Accuracy (relative accuracy)The maximum error that occurs between anyadjacent step, expressed as a percentage ofone full step.
Switching AmplifierA device that switches a high voltage on and offto control current. Some amplifiers (PWMtypes) switch at a constant frequency and ad-just duty cycle to control current. Other typeshave a fixed off time and adjust the frequency.
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GLOSSARY
Switching Sequence (energizing sequence)The sequence and polarity of voltages appliedto coils of a step motor that result in a speci-fied direction of rotation.
Thermal Time ConstantThe time required for the motor winding toreach 63.2% of its final temperature.
Thermal ResistanceThe resistance of the flow of heat between twosurfaces of the same body or different bodies.Thermal resistance = Winding temperature/Watts in the winding = C/Watt.
TorqueThe rotary equivalent of force. Equal to theproduct of the force perpendicular to the radiusof motion and distance from the center of rota-tion to the point where the force is applied.
Torque ConstantA number representing the relationship betweenmotor input current and motor output torque.Usually expressed in units of torque/amp.
Torque Displacement CurveThe holding (restoring) torque plotted as afunction of rotor angular displacement with themotor energized
Torque Gradient (stiffness)The ratio of the change in holding torque for aparticular change in shaft position when themotor is energized.
Torque RippleThe cyclical variation of generated torquegiven by the product of motor angular velocityand number of commutator segments.
Torque-to-Inertia RatioRatio of a motor’s torque divided by themotor’s rotor inertia. The higher the ratio, thehigher the acceleration will be.
Unipolar DriveThe motor phase winding current is switched inone direction only. The polarity of the appliedvoltage to each winding is always the same.Unipolar drives require 6 or 8 lead motors.
Variable Reluctance Step Motor (V/R)A step motor having a wound stator or statorswith salient poles working with a soft iron ro-tor having salient poles on the periphery.
VelocityThe change in position as a function of time.Velocity has both magnitude and direction.
Viscous DampingA damper which provides a drag or frictiontorque proportional to speed. At zero speedthe drag torque is reduced to zero.
Viscous DampingA damper which provides a drag or frictiontorque proportional to speed. At zero speed,Friday, February 01, 2002the drag torque is re-duced to zero.
Voltage DriveA drive operated at the minimum voltage re-quired to safely limit motor current. Motorsused with voltage drives produce less torqueat higher speeds than when used with L/R orchopper drives.
Wave DriveEnergizing the phases one at a time. Drivingthe motor one phase or winding at a time.
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lb•ft lb•in oz•in dyne•cm N•m mN•m kg•cm g•cm
lb•ft 1 12 192 1.356 x 10 7 1.356 1.356 x 10 3 13.825 1.3825 x 10 5
lb•in 8.333 x 10 –2 1 16 1.130 x 10 6 0.113 1.13 x 10 2 1.152 1.152 x 10 3
oz•in 5.208 x 10 –3 6.250 x 10 –2 1 7.062 x 10 4 7.062 x 10 –3 7.062 7.201 x 10 –2 72.01
dyne•cm 7.376 x 10 –8 8.851 x 10 –7 1.416 x 10 –5 1 10 –7 10 –4 1.0197 x 10 –4 1.0197 x 10 –3