Issuu

IB-30B001 LUMINARY MOTION CONTROL SERIES

JUNE 2015

Luminary Drives, Motors and Cables

INSTRUCTION BOOK INDUSTRIAL INDEXING SYSTEMS, Inc. Revision - A Approved By:

Proprietary information of Industrial Indexing Systems, Inc. furnished for customer use only. No other uses are authorized without the prior written permission of Industrial Indexing Systems, Inc.

ER-6043 ERRATA SHEET, IB-30B001 Rev. B

JANUARY 2020

Date

Rev.

ECN No.

CHK

3/2/16

ECN-16-037 (See Note 1)

3/16/16

ECN-16-043 (See Note 2)

7/26/16

ECN-16-089 (See Note 3)

1/26/17

ECN-17-011 (See Note 4)

3/16/17

ECN-16-147 (See Note 5)

6/8/17

ECN-17-065 (See Note 6)

8/10/17

ECN-17-090 (See Note 7)

1/22/20

ECN-18-046 (See Note 8)

CHK

Notes: 1) Section 2, page 2-1, dated March 2016, supersedes Section 2, page 2-1, dated June 2015. Section 5, page 5-5, dated March 2016, supersedes Section 5, page 5-5, dated June 2015. Appendix C, dated March 2016, supersedes Appendix C, dated June 2015. 2)

Appendix C, page C-5, dated March 16, 2016, supersedes Appendix C, page C-5, dated March 2016.

Table of Contents, pages ii & iii, dated July 2016, supersedes Table of Contents, pages ii & iii, date June 2015. List of Illustrations, page iv, dated July 2016, supersedes List of Illustrations, page iv, dated June 2015. Section 6, pages 6-25 thru 6-38, dated July 2016, supersedes Section 6, pages 6-25 thru 6-36, dated June 2015. Section 8, pages 8-4 thru 8-6, dated July 2016, supersedes Section 8, pages 8-4 thru 8-6, dated June 2015. Appendix D, pages D-5 thru D-8, dated July 2016, supersedes Appendix D, pages, D-5 thru D-8 dated June 2015.

Section 7, page 7-3, dated January 2017, supersedes Section 7, page 7-3, dated June 2015.

Section 2, page 2-1, dated March 2017, supersedes Section 2, page 2-1, dated March 2016. Appendix A, page A-1, dated March 2017, supersedes Appendix A, page A-1, dated June 2015.

Section 2, page 2-1, dated June 2017, supersedes Section 2, page 2-1, dated March 2017.

Section 2, page 2-1, dated August 2017, supersedes Section 2, page 2-1, dated June 2017.

List of Illustrations, page v, dated January 2020, supersedes List of Illustrations, v, dated June 2015. Section 1, page 1-1, dated October 2018, supersedes Section 1, page 1-1, date June 2015. Section 2, dated October 2018, supersedes Section 2, dated August 2017. Section 4, pages 4-1 & 4-2, dated October 2018, supersedes Section 4, pages 4-1 & 4-2, dated June 2015. Section 5, pages 5-1, 5-3, 5-5 thru 5-8, 5-10, dated October 2018, supersedes Section 5, pages 5-1, 5-3, 5-5 thru 5-8, 5-10, dated June 2015. Section 6, pages 6-5 & 6-20, dated October 2018, supersedes Section 6, pages 6-5 & 6-20, dated June 2015. Appendix A, pages, pages A-1 & A-2, dates October 2018, supersedes Appendix A, page A-1 dated March 2017 & page A-2 dated June 2015. Appendix B, pages B-18 & B-22 thru B-30, dated October 2018, supersedes Appendix B, pages B-18 & B-22 thru B-30, dated June 2015. Appendix C, page C-6, dated January 2020, supersedes Appendix C, pages C-6, dated March 2016. Appendix D, dated January 2020, supersedes Appendix D, dated June 2015.

INDUSTRIAL INDEXING SYSTEMS, Inc. Tel: (585) 924-9181

626 Fishers Run Victor, New York 14564 iis-servo.com

Fax: (585) 924-2169

Proprietary information of Industrial Indexing Systems, Inc. furnished for customer use only. No other uses are authorized without the prior written permission of Industrial Indexing Systems, Inc.

INDUSTRIAL INDEXING SYSTEMS, INC. LUMINARY SERIES MOTORS AND DRIVES

IB-30B001 USER’S GUIDE

TABLE OF CONTENTS List of Illustrations............................................................................................................................................... iv

SECTION 1 - OVERVIEW 1.1

Interface Components.........................................................................................................1 - 2 1.1.1 Status Indicators.....................................................................................................1 - 2 1.1.2 Electrical Connectors ............................................................................................1 - 2

SECTION 2 - PART NUMBER IDENTIFICATION 2.1

Identifying Luminary Series Drives ......................................................................................2 - 1

2.2

Identifying Luminary Series Motors .....................................................................................2 - 2 2.2.1 Method I (Servo motors only).................................................................................2 - 2 2.2.2 Method II (Servo motors only)................................................................................2 - 3 2.2.3 Method III (Stepper motors only) ...........................................................................2 - 3

SECTION 3 - INSTALLATION AND SAFETY 3.1

Installing the Luminary Servo Drive.....................................................................................3 - 1 3.1.1 Regulatory Agency Installations.............................................................................3 - 1 3.1.2 Choosing An Electrical Enclosure..........................................................................3 - 1 3.1.3 Luminary Drive and Regen Resistor Mounting .....................................................3 - 2 3.1.4 Final Checks Prior to Applying Power ...................................................................3 - 2

3.2

Powering Up a Luminary Servo Drive For The First Time..................................................3 - 3 3.2.1 Steps to First Time Power Up (Stand Alone Analog Mode)..................................3 - 3 3.2.2 Steps to First Time Power Up (Multi-Axis Network Mode)....................................3 - 4

SECTION 4 - SPECIFICATIONS 4.1

Drive Specifications..............................................................................................................4 - 1 4.1.1 Motor Output...........................................................................................................4 - 1 4.1.2 Main Power Supply ................................................................................................4 - 1 4.1.3 Control Performance ..............................................................................................4 - 2 4.1.4 Environment............................................................................................................4 - 2 4.1.5 Weight.....................................................................................................................4 - 2 4.1.6 Motor Encoder Inputs .............................................................................................4 - 3 4.1.7 Inputs ......................................................................................................................4 - 3 4.1.8 Outputs ...................................................................................................................4 - 4 4.1.9 Encoder Outputs.....................................................................................................4 - 4 4.1.10 Analog Inputs..........................................................................................................4 - 4 4.1.11 Protection................................................................................................................4 - 4

4.2

Motor Specifications.............................................................................................................4 - 5 4.2.1 General ...................................................................................................................4 - 5 4.2.2 Feedback Device....................................................................................................4 - 5 4.2.3 Other .......................................................................................................................4 - 5

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SECTION 5 - CONNECTIONS / WIRING / POWER 5.1

Connections .........................................................................................................................5 - 1

5.2

Wiring ...................................................................................................................................5 - 3 5.2.1 Supplemental Circuit Protection ............................................................................5 - 5 5.2.2 Wire Sizes...............................................................................................................5 - 6 5.2.3 Transformers ..........................................................................................................5 - 7 5.2.4 Wiring Practices and Grounding ............................................................................5 - 8

5.3

Driver Regeneration Capacities ..........................................................................................5 - 8 5.3.1 Selection of an External Regeneration Resistor ...................................................5 - 9 5.3.2 Standard Regeneration Resistor Packages ........................................................5 - 10

SECTION 6 - SYSTEM PARAMETER IDNs 6.1

IDN List in Numerical Order .................................................................................................6 - 1

6.2

IDN Description - Data Registers for Standard Parameters...............................................6 - 4

6.3

Factory - Drive Configuration Registers ............................................................................6 - 32

SECTION 7 - I/O 7.1

Digital Inputs.........................................................................................................................7 - 1

7.2

Digital Outputs ......................................................................................................................7 - 2

7.3

I/O Wiring Configurations.....................................................................................................7 - 3

7.4

Motor Encoder Input ............................................................................................................7 - 4

7.5

Drive Encoder Output ..........................................................................................................7 - 4

7.6

Analog Input .........................................................................................................................7 - 5 7.6.1 Velocity Mode (stand alone mode) ........................................................................7 - 5 7.6.2 Torque Mode (stand alone mode) .........................................................................7 - 5

7.7

Analog Output ...................................................................................................................... 7 - 5

SECTION 8 - STATUS INDICATORS AND FAULT CODES 8.1

Drive Status Indicators .........................................................................................................8 - 1 8.1.1 Indicator Operations ............................................................................................... 8 - 2

8.2

Fault Code Chart .................................................................................................................. 8 - 3

8.3

SBI Communications Status Indicators ............................................................................... 8 - 6

TABLE OF CONTENTS ii

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INDUSTRIAL INDEXING SYSTEMS, INC. LUMINARY SERIES MOTORS AND DRIVES

IB-30B001 USER’S GUIDE

APPENDIX A - MOUNTING A.1

Mounting Plate Overview.................................................................................................... A - 1

A.2

Mounting Plate Specifications............................................................................................. A - 1 A.2.1 “L” Bracket ............................................................................................................. A - 1 A.2.2 Flat Plate................................................................................................................ A - 2 A.2.3 When Opting to Mount on Your Own Plate .......................................................... A - 3

APPENDIX B - MOTORS / CABLES / ACCESSORIES B.1

Motor Overview ................................................................................................................... B - 1 B.1.1 Servo Motor/Drive Package Specs and Servo Motor Drawings.......................... B - 2 B.1.2 Servo Motor Drawings........................................................................................... B - 7 B.1.3 Stepper Motor/Drive Package Specs and Stepper Motor Drawings ................. B - 14

B.2

Cables for LD-330/x, LD-500/x Drives.............................................................................. B - 18 B.2.1 Drive to Motor Cable and Drive to IO Cable Chart............................................. B - 19 B.2.2 Connector Kits ..................................................................................................... B - 28

B.3

Accessories ....................................................................................................................... B - 29

APPENDIX C - OPTION CARDS C.1

Option Card Overview......................................................................................................... C - 1

C.2

Option Card Specifications ................................................................................................. C - 2 C.2.1 SBI Network Device Communication Interface .................................................... C - 2 C.2.2 Analog Output Option Card (LDAA-001) .............................................................. C - 3 C.2.3 USB Communications Option Card (LDUSB-01)................................................. C - 4 C.2.4 RS-485 Communications Option Card (LD485-01) ............................................. C - 5

APPENDIX D - USING LUMINARY DIGITAL DRIVE D.1

Objective.............................................................................................................................. D - 1

D.2

Installing the Software and Drivers..................................................................................... D - 1 D.2.1 Installing LDRIVE and the USB Driver.................................................................. D - 1

D.3

MODBUS Communications................................................................................................ D - 2 D.3.1 Supported MODBUS Functions............................................................................ D - 2

D.4

Basic Programming............................................................................................................. D - 3 D.4.1 Setting The Drive into Digital Mode ...................................................................... D - 3 D.4.2 Setting Motor Parameters ..................................................................................... D - 3 D.4.3 Setting Motor Tuning Parameters......................................................................... D - 4

D.5

Drive Operation ................................................................................................................... D - 5 D.5.1 Basics of the Digital Drive ..................................................................................... D - 5 D.5.2 Velocity Mode ........................................................................................................ D - 6 D.5.3 Torque Mode ......................................................................................................... D - 8

D.6

Communications Watchdog................................................................................................ D - 8

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TABLE OF CONTENTS iii

IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, INC. LUMINARY SERIES MOTORS AND DRIVES

LIST OF ILLUSTRATIONS SECTION 1 - OVERVIEW SECTION 2 -

PART NUMBER IDENTIFICATION

SECTION 3 -

INSTALLATION AND SAFETY

SECTION 4 - SPECIFICATIONS SECTION 5 -

CONNECTIONS / WIRING / POWER

Figure 5.1 Figure 5.2 Figure 5.3 Figure 5.4 Figure 5.5

Servo Drive Wiring Interconnect ............................................................................5 - 1 Stepper Drive Wiring Interconnect.........................................................................5 - 2 Servo Drive System Interconnect ..........................................................................5 - 3 Stepper Drive System Interconnect .......................................................................5 - 4 Selection of an External Regeneration Resistor....................................................5 - 9

Table 5.1 Table 5.2 Table 5.3 Table 5.4

Recommended Circuit Protector............................................................................5 - 5 Recommended Power Wire Size...........................................................................5 - 6 Energy Absorption Capabilities..............................................................................5 - 8 Regeneration Resistor Selection Data ................................................................5 - 10

SECTION 6 -

SYSTEM PARAMETER IDNs

SECTION 7 -

I/O

Figure 7.1 Figure 7.2 Figure 7.3 Figure 7.4 Figure 7.5 Figure 7.6 Figure 7.7

SECTION 8 -

Input Definitions for Luminary Drive in Stand Alone Analog Mode.......................7 - 1 Input Definitions for Luminary Drive in Multi-Axis Mode........................................7 - 1 Output Definitions for Luminary Drive in Stand Alone Analog Mode....................7 - 2 Output Definitions for Luminary Drive in Multi-Axis Mode.....................................7 - 2 Digital Input & Output Wiring..................................................................................7 - 3 Differential & Single Ended Wiring.........................................................................7 - 4 Drive Encoder Output.............................................................................................7 - 4

STATUS INDICATORS AND FAULT CODES

Figure 8.1 Figure 8.2 Figure 8.3

Servo Drive Status Indicator Locations..................................................................8 - 1 Stepper Drive Status Indicator Locations ..............................................................8 - 1 RJ-45 SBI Connector .............................................................................................8 - 5

Table 8.1 Table 8.2 Table 8.3

LED Status Indicator Sequences...........................................................................8 - 2 Fault Codes ............................................................................................................8 - 3 Communications Status Indicators ........................................................................8 - 6

APPENDIX A - MOUNTING LIST OF ILLUSTRATIONS iv

JULY 2016

INDUSTRIAL INDEXING SYSTEMS, INC. LUMINARY SERIES MOTORS AND DRIVES

IB-30B001 USER’S GUIDE

APPENDIX B - MOTORS / CABLES / ACCESSORIES Figure B.1 Figure B.2 Figure B.3 Figure B.4 Figure B.5 Figure B.6 Figure B.7 Figure B.8 Figure B.9 Figure B.10 Figure B.11 Figure B.12 Figure B.13 Figure B.14 Figure B.15 Figure B.16 Figure B.17 Figure B.18 Figure B.19 Figure B.20

LSM40-50/30E....................................................................................................... B - 7 ESM40-100/30E .................................................................................................... B - 8 ESM60A(I)-C1 ....................................................................................................... B - 9 ESM80-750/30E .................................................................................................. B - 10 ESM80C-C2 ........................................................................................................ B - 11 ESM90B-C ........................................................................................................... B - 12 ESM85X-C ........................................................................................................... B - 13 LPM-N17-1R3A030 ............................................................................................. B - 15 LPM-N23-2R8A270 ............................................................................................. B - 16 LPM-N23-3R0A382 ............................................................................................. B - 17 Cable Selection Chart ......................................................................................... B - 19 LAC Armature Cable Selection Guide ................................................................ B - 20 LEC Encoder Cable Selection Guide ................................................................. B - 21 LPC Power Cable Selection Guide..................................................................... B - 22 LIC-XYZMMM Drawing ....................................................................................... B - 23 LPAC-XYZMMM Drawing ................................................................................... B - 24 LPEC-XYZMMM Drawing ................................................................................... B - 25 C-885YYY Drawing ............................................................................................. B - 26 C-987YYY Drawing ............................................................................................. B - 27 C-822000 Drawing .............................................................................................. B - 28

APPENDIX C - OPTION CARDS Figure C.1 Figure C.2 Figure C.3 Figure C.4 Figure C.5

LMC-400 Connected to The LD Drive With The C-885YYY Cable ..................... C - 2 LMC-400-21 Controller Wired to Four LD Drives With The LDCA-001....................... Option Card Installed............................................................................................. C - 2 LDAA-001 Connection for Analog Signal Plus a Small 12 VDC Power ...................... Source for Interfacing to AUX System .................................................................. C - 3 USB Communications Interface............................................................................ C - 4 RS-485 Communications Interface....................................................................... C - 5

APPENDIX D - USING LUMINARY DIGITAL DRIVE Table D.1 Table D.2

JANUARY 2020

Reading the Drive’s Revision Number.................................................................. D - 2 Writing the Drive’s Digital Inputs ........................................................................... D - 2

LIST OF ILLUSTRATIONS v

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

SECTION 1 - OVERVIEW The Luminary Series Drives are a low cost / high performance drives for use in many applications where true position, velocity, and torque control are desired. The Luminary Drives can operate as a single axis analog drive or it can be connected to a Luminary Series Motion Controller for full configurability. In either mode of operation, access can be made to a wide variety of hardware features. The Luminary Drive has a wide range AC input that will accept from 100V AC to 240V AC for the servo product and 24V DC to 36V DC for the stepper product. The Luminary Servo Drive series have all the benefits of a full servo drive and yet are cost competitive with a standard stepper control system. A standard analog input and encoder feedback provide the basic needs of a motor drive system. Use in standalone analog speed or torque mode controlled by a +/analog input source. A feedback interface connector is provided to interface to a position controller for incremental or absolute moves. The Luminary Series Stepper Drives are a low cost / high performance stepper drives for use in many applications where true position, velocity, and torque control are desired at low RPM’s. The Luminary Stepper Drive series provide all the benefits of a full servo drives and yet is cost competitive with a DC motor control systems. The Luminary Stepper Drive series is based off our servo drive knowledge to minimize the heat produced by the stepper motor like standard stepping / micro-stepping systems do. The versatile Luminary Drives are digitally controlled drives that are capable of driving low cost Servo motors up to 3800 watts and stepper motors up to 5 Amps. Optional interface cards can be added to the Luminary Drive to provide a standard or custom control scheme. Currently four option cards are available.

Luminary Servo Drive

1) The IIS device network interface for multi-axis connectivity gives the programmer full access to the motor, digital inputs, outputs and an analog input. 2) An analog output card for monitoring speed or torque. 3) The development port interface is provided to access the internal registers of the servo and the stepper drives. The USB serial interface option along with the L-Drive software provides a graphical PC interface to setup your motor/drive package and tune the system.

Luminary Stepper Drive

4) Register access is also provided with the RS485 option card using Modbus RTU communications. Once the system is setup, the parameters can be saved to flash on the Luminary Drive. See Appendix C for option card details. Custom option cards can designed and built to meet special requirements.

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IB-30B001 USER’S GUIDE

1.1 INTERFACE 1.1.1

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

COMPONENTS

STATUS INDICATORS

STATUS - Red and Green LEDs indicate the current operational status of the LUMINARY SERIES drive. (Details in Section 8)

1.1.2

ELECTRICAL CONNECTORS

MOTOR/POWER WIRING - These are terminal blocks used to wire the incoming line voltage as well as the motor power cable. (Details in Section 4 & Section 5) I/O - Pre defined optically isolated inputs and outputs as a stand-alone drive. Can be customized. (Details in Section 7. MOTOR ENCODER - This is used for the single ended or differential encoder feedback from the motor to the drive. ANALOG INPUT - These pins allow connection to the Analog input. When configured as a stand-alone drive, it is the torque or velocity command value. ENCODER OUTPUT - These pins directly repeat the A / B / Z encoder tracks of the motor encoder. They are buffered in hardware so that no undo loading is put on the motor encoder signals. Allows the connection of a motor encoder to an external controller. COMMUNICATIONS PORT – A variety of option cards are available to provide various communication methods to the Luminary Series drives. Refer to Appendix C and D of the manual for details. DEVELOPMENT PORT - This connector is for use with option cards to setup and tune the motor/drive package using L-Drive on your PC. Also Modbus RTU over RS485 is available to access the internal registers.

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JUNE 2014

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

SECTION 2 - PART NUMBER IDENTIFICATION 2.1

IDENTIFYING LUMINARY SERIES DRIVES

Luminary Series Drive part numbers are configured with the options using the scheme as follows. This information is on the Drive label: Your Luminary Series Drive model number uses this designation: LD-aaa/xzmmn-pyy-c WHERE: aaa

= Continuous Driver Current in amps (rms) 330 = 3.3 Amps (Servo Only) 500 = 5.0 Amps (Servo or Stepper) 101 = 10.0 Amps (Servo Only)

= Drive type: R = SERVO (5V Digital Inputs) S = SERVO (24V Digital Inputs) T = STEPPER (24V Digital Inputs)

= Feedback method: E = Encoder Feedback

= Mounting plate: See Appendix A for further details 00 = No Plate 01 = Flat Plate (Standard AC-100619)(Replaced by 02) 02 = Flat Plate (Standard AC-100714) 0# = Flat Plate (where # is custom type, contact IIS for more information) 21 = “L” Plate (Standard AC-100603) (Replaced by 24) 22 = “L” Plate ((AC-100604 Drive/Motor Mount) 23 = “L” Plate ((AC-100604 Drive/Motor Mount)(customer supplied) 24 = “L” Plate (Standard AC-100720/AC-100721) 25 = “L” Plate, 10A (Standard AC-100739/AC-100721) 2# = “L” Plate (where # is custom type, contact IIS for more information)

= primary option card: 0 = No option card A = Analog Output interface B = Digital Network Card (Isolated) C = Digital Network Card (Obsolete, replaced by “B”) D = USB 2.0 communications interface card E = Reserved F = RS485 Communications Network Card H = Digital Network Card and LMC-400 Controller M = Multi axis controller LM-450

= secondary option card: ***(SEE NOTES ON NEXT PAGE)*** 0 or (Blank) = No secondary option card D = USB 2.0 communications interface card

= Setup parameters (contact IIS for more information) 00 or (Blank) = No setup ## = Setup used for motor drive package (see SU-6000##) (SU-6000## is created to customer specifications and application)

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

= Special options (contact IIS for more information) (Blank) = Standard A = Reduced leakage current letter = Custom option letter code

Example1: A Luminary Series Driver designated LD-330/SE01C is a Servo with a continuous current rating of 3.3 Amp rms with 24V inputs, Encoder feedback, and Flat plate, with network card. Example2: A Luminary Series Driver designated LD-330/RE010-001 is a Servo with a continuous current rating of 3.3 Amp rms with 5V inputs, Encoder feedback, and Flat plate, no option card, no secondary option card, with setup parameters described in SU-600001. Example3: A Luminary Series Driver designated LD-330/SE01C-D is a Servo with a continuous current rating of 3.3 Amp rms with 24V inputs, Encoder feedback, and Flat plate, with network card, with USB secondary option card. NOTES: For secondary option card: The secondary option card is only available when the primary option card is one of the following: A = Analog Output Interface B = Digital Network Card (for use with LMC-400 controller) H = Digital Network Card and LMC-400 controller

2.2

IDENTIFYING LUMINARY SERIES MOTORS

Luminary Motors can be identified in one of three ways. This information is on the motor label.

2.2.1

METHOD I (Servo motors only)

Your Luminary Motor model number uses this designation: LSMxxx-wwww/yyzm WHERE: xxx

= Flange size in millimeters

wwww

= Rated Power in watts

= Rated Speed/100 (truncated to 2 digits)

z E B

= Feedback Type = Encoder (ABZUVW) = Brake Motor

= Mechanical Variations (Left blank means no modifications to motor).

F, C

= Fan cooled, cable variation

Example: A Luminary Motor designated LSM60-400/30E is a 60 mm flange 400-watt motor with a 3000 rpm rated speed and encoder feedback.

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OCTOBER 2018

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

2.2.2

IB-30B001 USER’S GUIDE

METHOD II (Servo motors only)

Your Luminary Motor model number uses this designation: ESMxxxy(w)-m WHERE: xxx

= Flange size in millimeters

= Stack length A, B, C, etc

= Winding selection (Left blank if only one winding available) I = Standard voltage II = High voltage

= Mechanical Variations (Left blank means no modifications to standard motor). = Connectors on motors that come standard with flying leads = Connector option (reference drawing) = Connector option

C C1 C2

Example: A Luminary Motor designated ESM85C-C is an 85 mm flange motor. Is a 3-stack motor for this flange size and utilizes a standard voltage winding.

2.2.3

METHOD III (Stepper motors only)

Your Luminary Stepper Motor model number uses this designation: LPM-cxx-wwweyyyz WHERE: c

= Case type N = NEMA

= Case size 17 = NEMA 17 23 = NEMA 23 34 = NEMA 34

www e yyy z

= Rated current per phase (R stands for decimal place) = Encoder style A = Single ended 8192 count per rev (ABZ) = rated holding torque in oz-in = Mechanical variation Blank = No option A = 8 mm output shaft

Example: A Luminary Motor designated LPM-N23-2R8A270 is a NEMA 23 case size motor, with a current rating of 2.8A per phase, with a single ended 8192 bit/rev Encoder with ABZ outputs, and a holding torque of 270 oz-in.

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

OCTOBER 2018

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

SECTION 3 - INSTALLATION AND SAFETY NRTL Certification

The Luminary Drive Series has been designed to the standards of UL508C. The series has not been evaluated by UL or other regulatory agencies. Contact IIS factory for details.

3.1

INSTALLING THE LUMINARY SERVO DRIVE

When installing the Luminary Drive into an enclosure you should follow the guidelines below. First consider what regulatory directives you should follow, such as UL, TUV, CE or other regulatory agencies, see Sections 3.1.1 and 3.1.2. Then select the electrical enclosure best suited for the system components, power dissipation in the electrical enclosure, and regulatory approvals. If you need any assistance with the installation of the Luminary drive or would like a quote for a full enclosure assembly, please contact INDUSTRIAL INDEXING SYSTEMS INC. When laying out the wiring of the electrical enclosure, be sure to route the wiring as explained in 3.1.3 and to keep in mind regulatory requirements. Before applying power to the system, follow all checks listed in Section 3.1.4 and then follow the first time system power procedure in Section 3.2. If you are replacing a drive in an existing electrical enclosure with a Luminary Drive, make sure you read through and follow all precautions and wiring requirements for the Luminary Drive. Always follow the first time system power up procedure after the installation of a new drive, even if the Luminary Drive you just installed was replacing an existing Luminary Drive, see Section 3.2.

3.1.1

REGULATORY AGENCY INSTALLATIONS

To comply with the agency approvals for electrical enclosure installation, you must follow all wiring guidelines, install proper safety devices, and follow all labeling requirements for the regulatory agency of your choice.

3.1.2

CHOOSING AN ELECTRICAL ENCLOSURE

If your installation requires CE approval, you must have a NEMA12 or IP6X electrical enclosure. Make sure the electrical enclosure you choose has the appropriate agency approvals for use. Using the information provided in Sections 4.1.2, 5.3.1, and the average running motor(s) current, find the power loss of the drive system. Add the power loss of the Luminary Drive system with all other components to come up with a full system power loss. Then using the information provided by the electrical enclosure manufacturer, derive the ambient temperature rise inside the electrical enclosure. Determine if you will need a cooling system for the electrical enclosure by keeping the temperature inside the electrical enclosure below 45 Degrees C in the final installation environment. If a cooling system is required be sure to use air filtration devices to keep dust, water vapors, or other contaminates from accumulating in the electrical enclosure. Note:

For the LD-500/R and the LD-500/S drives, a steel plate with equivalent area of 10” x 10” square of 10 gauge steel is needed to dissipate the heat loss of the drive at full load.

JUNE 2015

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IB-30B001 USER’S GUIDE

3.1.3

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

LUMINARY DRIVE AND REGEN RESISTOR MOUNTING WHEN DRILLING, TAPPING, CUTTING, WELDING, OR OTHER ACTIVITY THAT MAY CAUSE METAL DEBRIS, THE LUMINARY DRIVE SHALL BE REMOVED FROM THE ELECTRICAL ENCLOSURE. THE LUMINARY DRIVE IS OF OPEN TYPE CONSTRUCTION AND FOREIGN MATTER COULD LODGE INTO THE CIRCUITRY OF THE UNIT.

When mounting the Luminary Drive in the electrical enclosure, leave at least 1 inch of space between the Luminary Drive and any other component. Tighten all mounting screws to the specified mounting torque using proper grounding methods. When routing the wiring in the electrical enclosure, be sure to follow proper codes, bending radii, wire gauge and separation of voltages. When installing a Regen resistor, mount it in a location where there is free access to airflow and no flammable material is near the Regen resistor. Never mount the Regen resistor closer than 6 inches from any other device. Doing so can cause undo temperature rise to other components and impede airflow to the Regen resistor.

3.1.4

FINAL CHECKS PRIOR TO APPLYING POWER

1) Verify you have fuses or circuit breakers in line with each Luminary Drive in accordance with Section 5.2.1. 2) Verify the wiring to the Luminary drive power input connector meets Section 5, Figure 5.1 and the correct voltages and wire gauges are used. If a transformer is used, verify it meets the information described in Section 5.2.3. Line filters may be needed on the AC power input to meet CE certifications. 3) If an external Regen resistor is used, verify it is mounted away from any flammable material and is wired to the Luminary drive in accordance with Section 5, Figure 5.1. Also verify the Regen resistor is mounted at least 6 inches away from any other components as described in Section 3.1.3. 4) Verify wiring of the electrical enclosure maintains separation of voltages. This will keep EMI from entering on to a low voltage cable. If EMI is present on a low voltage cable, it could cause intermittent operation of the Luminary drive. 5) Verify all E-STOPS and protective devices are installed and properly wired both inside and outside of the electrical enclosure. 6) All cables with internal shield shall have the shield connected to the electrical enclosure case. The electrical enclosure case shall be tied to earth ground. To tie the cables shield to the electrical enclosure, a small portion of the cable jacket is removed which exposes the shield braid. The shield braid shall be clamped to a conductive harness, which is then properly secured to the electrical enclosure.

7) The Luminary Drive is a high leakage current device. Make sure that the Earth Ground is attached properly as described in Section 5.1.

8) The Luminary Servo Drive has a floating DC BUS. Never touch any component’s on the board when power is applied or. Never connect anything to the Luminary Servo Drive while power is applied.

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JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

3.2

IB-30B001 USER’S GUIDE

POWERING UP A LUMINARY SERVO DRIVE FOR THE FIRST TIME

DANGER - HIGH VOLTAGE EXISTS WITHIN THE DRIVE AND ON THE REGEN RESISTOR CONNECTOR FOR UP TO 1 MINUTE AFTER AC POWER IS REMOVED. CAUTION - THE LUMINARY SERVO DRIVE HAS A FLOATING DC

BUS. NEVER TOUCH ANY COMPONENT ON THE BOARD WHEN POWER IS APPLIED OR YOU MAY GET SHOCKED. NEVER CONNECT ANYTHING TO COMPONENTS OR CONNECTORS NOT SPECIFIED IN THIS MANUAL.

DANGER - The Programming port and other components on the board are floating on a DC offset and can cause injury or death if touched with power applied 3.2.1

STEPS TO FIRST TIME POWER UP (Stand Alone Analog Mode)

CAUTION - NEVER assume the IO is in a safe state. If the ENABLE input is set without verifying the drive parameters, the motor could move in an unexpected manner. 1)

Remove the Armature cable from Luminary drive. That way it will be safe to program the unit’s parameters without worry of motor movement.

Connect the ISOCOM01 into the programming port of the Luminary drive. Never connect anything to the programming port when power is applied! Never touch the programming port header when power is applied!

Apply power to the system and connect a computer to the ISOCOM01 using the LDrive tool kit. Verify the parameters being sent down are for your motor drive package. See Section 6 for programming details. Contact IIS factory for more information.

Tuning the system and monitoring the system is all achieved using the ISOCOM01 and the LDrive software tool kit. Contact IIS factory for more information.

Disconnect power from the system. Plug the Armature cable back into the drive.

Reenergize power back to the system, and now you may tune the system using the L-Drive software tool kit over the RS232 link.

Once programming of the system is complete and saved to flash, disconnect power from the system and remove the ISOCOM01 from the programming port.

You are now ready to use your Luminary drive.

JUNE 2015

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IB-30B001 USER’S GUIDE

3.2.2

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

STEPS TO FIRST TIME POWER UP (Multi-Axis Network Mode)

CAUTION - NEVER assume the Program is cleared or correct for your system. If the drive is enabled without verifying the drive parameters, the motor could move in an unexpected manner. 1)

Apply power to the system and connect a computer to the USB or RS232 port on the LMC400 using the EDE tool kit. Verify the parameters being sent down are for your motor drive package. See Section 6 for programming details. Contact IIS factory for more information.

Verify the status LED’s of the communications port on the Multi-Axis connection and the LMC-400. The Green LED’s should be LIT, and the Yellow LED should not be lit.

Tuning the system and monitoring the system is all achieved using the ISOCOM01 and the LDrive tool kit. Never connect anything to the programming port when power is applied! Never touch the programming port header when power is applied! Once the tuning parameters are set properly, copy the data in L-Drive tool kit over into the EDE tuning parameters. Contact IIS factory for more information

Disconnect power from the system and remove the ISOCOM01.

You are now ready to use your Luminary Drive.

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JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

SECTION 4 - SPECIFICATIONS 4.1

DRIVE SPECIFICATIONS

4.1.1

MOTOR OUTPUT

Luminary Driver Motor Output Max Output Voltage

LD-330/R LD-330/S PWM, 3 Phase, sine wave (At 230 VAC Line input) 200 VRMS

Maximum Speed (RPM)

LD-500/R LD-500/S PWM, 3 Phase, sine wave (At 230 VAC Line input) 200 VRMS

6000

LD-101/R LD-101/S PWM, 3 Phase, sine wave (At 230 VAC Line Input) 200 VRMS

6000

LD-500/T PWM, 4 Phase, sine wave (At 36 VDC Line input) 22 VRMS

6000

600

PWM Frequency

8 KHz

16 KHz

8 KHz

16 KHz

8 KHz

16 KHz

8 KHz

16 KHz

Continuous Output Current

3.3 A rms

2.7 A rms

5.0 A rms

4.0 A rms

10.0 A rms

8.0 A rms

5.0 A rms

4.0 A rms

Maximum Output Current

6.0 A rms

4.8 A rms

9.0 A rms

7.2 A rms

18.0 A rms

14.4 A rms

5.5 A rms

4.4 A rms

4.1.2

MAIN POWER SUPPLY

Luminary Driver

LD-330/R LD-330/S Single Phase (1) Nominal: 100 to 240 VAC, Max Range: 90-265 VAC, 50/60 Hz

LD-500/R LD-500/S Single Phase (1) Nominal: 100 to 240 VAC, Max Range: 90-265 VAC, 50/60 Hz

LD-101/R LD-101/S Single Phase (1) Nominal: 100 to 240 VAC, Max Range: 90-265 VAC, 50/60 Hz

Continuous Input Current

5.7 A/1 Rms

8.7 A/1 Rms

17.3 A/1 Rms

8.7 A/1 Rms

Max In-rush Current / Capacitance

48 A Rms

60 A Rms

20000 uF

Main Power Supply Input Voltage

LD-500/T Single Phase (1) Nominal: 24 to 36 VDC, Max Range: 20-48 VDC

PWM Frequency

8 KHz

16 KHz

8 KHz

16 KHz

8 KHz

16 KHz

8 KHz

16 KHz

Main Circuit Heat Loss

23 Watts

34 Watts

32 Watts

46 Watts

75 Watts

95 Watts

10 Watts

15 Watts

Main Supply Capacity

1.3 KVA

1.0 KVA

2.0 KVA

1.6 KVA

4.1 KVA

3.4 KVA

310VA

250VA

400 Watts

600 Watts

800 Watts

0 Watts

External Regen Absorption Capacity Note:

The LD-500/R and the LD-500/S drives require a steel mounting plate attached to the mounting plate supplied with the unit to reach full output current specifications. The steel plate needs to be an equivalent area of 10” x 10” of 10 gauge steel.

OCTOBER 2018

PAGE 4 - 1

IB-30B001 USER’S GUIDE

4.1.3

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

CONTROL PERFORMANCE

Feedback Feedback Resolution Feedback Accuracy

Encoder - (ABZ plus UVW) See motor/driver speed torque curves in Appendix B for encoder resolution. Less than 2 arc minutes

Current Loop Update Rate

62.5 usec

Velocity Loop Update Rate

250 usec

Position Loop Update Rate

500 usec

Speed Regulation

Load (0%-100%): ±0.02% Power (100-240 VAC): ±0.02% Temperature (0-45ºC/32-113ºF): ±0.2%

Torque Regulation

Power (100-240 VAC): ±2% Temperature (0-45ºC/32-113ºF): ±2%

4.1.4

ENVIRONMENT

Storage Temperature

-10 to 70ºC (14 to 158ºF)

Operating Temperature

0 to 45ºC (32 to 113ºF)

Humidity

35 to 90% Relative Humidity, non-condensing

Shock and Vibration

1 G or less

Operating Conditions

Free of dust, liquids, metallic particles and corrosive gases. Use in a pollution degree 2 environment.

Drive Enclosure

4.1.5

The drive is rated as “open type equipment”

WEIGHT

Luminary Drive

LD-330/R LD-330/S

LD-500/R LD-500/S

LD-101/R LD-101/S

Without mounting plate

0.6 lb / 270 grams

0.66 lb / 300 grams

PAGE 4 - 2

LD-500/T 0.20 lb / 90 grams

OCTOBER 2018

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

4.1.6

IB-30B001 USER’S GUIDE

MOTOR ENCODER INPUTS

Drive Assembly Type

A, B, Z U, V, W

Drive Assembly Type

LCSD-001 and LCSD-003 (Check the label on device) (Differential Encoder Input Only) Minimum On voltage: 3 VDC Maximum Off voltage: 1 VDC Typical Current draw per channel: 17ma Maximum Current draw per channel: 22ma 2 MHz maximum frequency A, B quadrature Optically isolated U V W Tracks required LCSD-002 and LSTP-100 (Check the label on device) (Differential and Single Ended Encoder Input) (See section 5) (Differential) Minimum Differential voltage: 250mV from + input to – input Typical current draw per channel (Differential): 17ma Maximum current draw per channel (Differential): 23ma 2 MHz maximum frequency A, B quadrature  LCSD-002: U V W Tracks required  LSTP-100: U V W Tracks Not required

A, B, Z, U, V, W

(Single Ended (Sinking)) Minimum Off voltage: 3.5 Vdc Maximum On voltage: 1 Vdc Typical current draw per channel: 3.2ma Maximum current draw per channel: 3.5ma 2 MHz maximum frequency A, B quadrature  LCSD-002: U V W Tracks required  LSTP-100: U V W Tracks Not required

4.1.7 INPUTS INPUTS 1,2,3,4 Luminary Device Part Number (Type)

Can be wired as sinking or sourcing (See Section 7). (Reference Section 1 for part number of your device) R

S, T

Input voltage rating

5Vdc

24Vdc

Minimum voltage applied for ON state

4Vdc

18Vdc

Maximum voltage applied for OFF state

1.2Vdc

3Vdc

Input current at rated voltage

15mA

12mA

Maximum voltage applied

7Vdc

30Vdc

Reverse polarity protected

YES

JUNE 2015

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

4.1.8 OUTPUTS OUTPUTS 1,2

Can be wired as sinking or sourcing (See Section 7)

Maximum “ON state” saturation voltage

1.2Vdc

Maximum “OFF state” voltage applied

40Vdc

Maximum current (sinking or sourcing)

40mA

Reverse polarity protected Inductive Loads

4.1.9 ENCODER A, /A, B, /B, Z, /Z

NO YES Intermittent output current cannot exceed ratings. External reversing diode is required. (See Section 7)

OUTPUTS 5 VDC, 40mA Maximum per output Wired as differential pairs. (See Section 7)

4.1.10 ANALOG INPUTS

Analog Inputs

Maximum Input Voltage: 12 VDC Analog to Digital response voltage: 10 VDC Input Impedance: 274 k Analog to Digital resolution: 12 bit Note: Analog (–) input is referenced to earth with a 120 Ohm resistor

4.1.11 PROTECTION

Fault Checks

PAGE 4 - 4

Under Voltage, Over Voltage, Motor Short, Output Short, Feedback Loss, Regeneration Resistor Malfunction, Following Error, Internal Watchdog Timer, Processor Diagnostics, Communications Errors (Refer to Section 8 for error codes)

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

4.2 MOTOR

IB-30B001 USER’S GUIDE

SPECIFICATIONS

4.2.1 GENERAL Duty Type Insulation Sealing Storage Temperature Ambient Operating Temperature Shock and Vibration Mounting

4.2.2 FEEDBACK Type: Encoder

Continuous at rated speed and rated torque Permanent magnet synchronous See motor drawings in Appendix B See motor drawings in Appendix B -10 to +70ºC/14 to 158ºF -10 to +40ºC/14 to 104ºF 2 G’s Motor can be mounted in any position

DEVICE ABZ plus UVW 5V line driver or sinking single ended (UVW tracks required for Servo Drives)

4.2.3 OTHER Weight Shaft Loading Brake Specifications Dimensions Torque Ratings Speed Torque Curves

JUNE 2015

See motor drawings in Appendix B

See specifications in Appendix B

PAGE 4 - 5

IB-30B001 USER’S GUIDE

PAGE 4 - 6

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

SECTION 5 - CONNECTIONS / WIRING / POWER 5.1

CONNECTIONS

This section details the recommended power source requirements necessary for the Luminary drivers. Figure 5.1 and Figure 5.2 show the required interconnections to all system components. NOTE: The Luminary series drive may be able to be HI-POT tested in the field. Contact Industrial Indexing Systems, Inc. if your system needs to be HI-POT tested.

LD-xxx/yE--A A B B Z Z Shield

1 2 3 4 5 6 7

Encoder Output

(Trq or Vel Cmnd) In1+ 1 In12 Shield 3

J3 ±10 volt Analog Input

(Enable) In1+ In1(Trq or Vel Select) In2+ In2In3+ In3(Probe) In4+ In4-

1 2 3 4 5 6 7 8

Inputs Order either 5 or 24 Vdc

Consult Factory

(Fault) Out1+ 9 Out110 Output range Out2+ 11 5 to 24 Vdc Out212 1 2 3 4 5 6

Motor Armature

1 2 3 4

1 2 3 4 5 6 7 Motor Encoder 8 Feedback 9 10 11 12 13 14 15 16

J8 Bus Regen

J2 Digital Network Interface

AC Input Power

J8 Bus Regen AC Input Power Setup Access Port --- J7

1 2 3 4 5 6

1 2 3 4 5

U V W GND

Brushless Motor

A A B B Z Z U U Motor W Encoder W V V +5VDC 5v RET Shield / Mode (Gnd in cable for single ended inputs) Regen-resistor

L1 L2 Earth Ground

LD-330/R LD-500/R LD-330/S LD-500/S

Regen-resistor L1 L2 Earth Ground

LD-101/R LD-101/S

J2 - Primary Option Port J7 - Secondary Option Port

Figure 5.1 - Servo Drive Wiring Interconnect

OCTOBER 2018

PAGE 5 - 1

IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

LD-xxx/ T A A B B Z Z Shield (Trq or Vel Cmnd) In1+ In1Shield

2 3 4

Motor Armature

Encoder Output

1 2 3 4

Consult Factory

(Fault) Out1+ Out1Out2+ Out2-

Stepper Motor

6 7

J3 ±10 volt Analog Input

1 2

1 2 3 4 5

(Enable) In1+ In1(Trq/Vel select) In2+ In2In3+ In3(Probe) In4+ In4-

A B C D E

Motor Encoder Feedback

2 3

Inputs

7 8 9

4 5

Order either 5 or 24 Vdc

10 11

13 14

Output range 11 5 to 24 Vdc

12 1 2 3 4

J2 Digital Network Interface

DC Input Power

A A B B Z Motor Z Encoder U U W W V V +5Vdc supply 5v Ret Shield / Mode (Gnd in cable for single ended inputs) +V -V

36 Vdc max

Earth

5 6

Digital Drive Access Port J8

Figure 5.2 - Stepper Drive Wiring Interconnect

PAGE 5 - 2

JUNE 2015

OCTOBER 2018

OUTPUTS 5vdc or 24vdc

Specify type at time of order

INPUTS 5vdc or 24vdc

ANALOG ±10V

5V LINE DRIVERS

ENCODER OUTPUTS

YEL/WH T BLU YEL

B Z

RED BLK

BLK

BLU BLK

OUT2+

OUT2-

OUT1+( FAULT+) GRN OUT1-( FAULT-) BLK

IN4-(PROBE-)

IN2+(TRQ/VEL+) RED IN2-(TRQ/VEL-) BLK IN3+ ORN IN3BLK IN4+(PROBE+) YEL

IN1+(ENABLE+) BRN IN1-(ENABLE-) BLK

LIC-XFDMMM

SHLD

IN+ IN-

LIC-XAAMMM

RED/WH T

SHLD

RED BLK

1 2 3 4 5 6 7 8 9 10 11 12

1 2 3

1 2 3 4 5 6 7

Cable

B,H D F A

LDCA-001 LDUSB-01 LD485-01 LDAA-001

Option Interface

Optional Interface Board

C-885YYY C-849YYY 25.320.2653.1 LIC-XBBMMM

LMC Multi-Axis Controller PC for commissioning PLC network communication Analog Output

Function

LUMINARY DRIVE BOARD

4 3 2 1

5 4 3 2 1

6 5 4 3 2 1

GND W V U

GRN BLK WHT RED

LAC-XYZMMM

OPTIONA L REGEN RESIS TOR

LPC-XBAMMM

L2 L1

NC GROUND LD-101/R LD-101/S

LPC-XAAMMM

L2 L1

LD-330/R LD-500/R LD-330/S LD-500/S

MOTOR ENCODER

MOTOR

INPUT POWER 100-240 VAC 50/60Hz

CONNEC T PINS 14 TO 16 FOR SINGLE ENDED ENCODERS ON LY

NC GROUND

OPTIONA L REGEN RESIS TOR

NO CONN.

W V

BLK

5V RET SHLD

U W

BLK WHT

+5V

BRN

BLK

Z Z

YEL BLK

BLK

RED

B A

BLK BLU

ORN BLK

GRN

5.2

A A

LIC-XCBMMM

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

LEC-XYZMMM

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES IB-30B001 USER’S GUIDE

WIRING

Luminary Servo Drives:

Connect the Luminary drive main bus power (L1, L2) to the incoming line or transformer (See Section 4.1.2 & Section 5.2.3). See Figure 5.1 for the required power wiring connections.

Figure 5.3 - Servo Drive System Interconnect

PAGE 5 - 3

IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

Luminary Stepper Drives: Connect the Luminary drive main bus power (+, -) to the output of the DC power supply (See Section 4.1.2). See Figure 5.2 for the required power wiring connections.

Figure 5.4 - Stepper Drive System Interconnect

PAGE 5 - 4

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

5.2.1

IB-30B001 USER’S GUIDE

SUPPLEMENTAL CIRCUIT PROTECTION

It is required that each driver/motor combination be provided with a circuit protector for each driver and motor pair. All of the drives are suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical amperes (SCCR).

Luminary Servo Drives Circuit Protectors

Drive Part No. LD-XXX/R LD-XXX/S

Motor Rated Current (Amps)

Rating

Eaton CIRCUIT BREAKER

LD-330 LD-500 LD-101

0.5A to 1A

FAZ-D2-2

LD-330 LD-500 LD-101

1.1A to 2A

FAZ-D4-2

LD-330

2.1A and up

FAZ-D6-2

LD-500 LD-101

2.1A to 3A

FAZ-D6-2

LD-500 LD-101

3.1A to 4A

FAZ-D8-2

LD-500

4.1A and up

10A

FAZ-D10-2

LD-101

5A to 8.5A

15A

FAZ-D15-2

LD-101

8.6A and up

20A

FAZ-D20-2

Luminary Stepper Drives Circuit Protectors

Drive Part No.

Motor Rated Current (Amps)

Rating

Eaton CIRCUIT BREAKER

LD-500/T*

1.1A to 2A

FAZ-D4-2

LD-500/T*

2.1A to 3A

FAZ-D6-2

LD-500/T*

3.1A and 4A

FAZ-D6-2

LD-500/T*

4.1A to up

10A

FAZ-D10-2

Table 5.1 - Recommended Circuit Protector * DC Power supplies that incorporate internal over-current protection do not require additional fuses or breakers between the power supply output and the Stepper drive. See the power supplies manufacturer’s specifications for fuses or breakers between the input line and the power supply.

OCTOBER 2018

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IB-30B001 USER’S GUIDE

5.2.1

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

SUPPLEMENTAL CIRCUIT PROTECTION (cont’d)

The circuit protector is sized for the worst-case maximum power draw of the driver at the worst-case low line voltage. The chart contains specific vendor and size recommendations. Other types of circuit protectors or fuses may be used provided the continuous ratings are equivalent, the instantaneous rating is 10 to 15 times continuous and can support 3 times continuous for at least 3 seconds. Contact Industrial Indexing Systems, Inc. for specific recommendations of circuit protective devices. NOTE: Never use a fuse or circuit breaker greater than 6A for a LD-330/S drive. Never use a fuse or circuit breaker greater than 10A for a LD-500/S drive. Never use a fuse or circuit breaker greater than 10A for a LD-500/T drive. Never use a fuse or circuit breaker greater than 20A for a LD-101/S drive.

5.2.2

WIRE SIZES

It is required that each driver be installed with the appropriate size wire for proper operation. Table 5.2 shows a chart of recommended wire gauges for each driver size. The wire is sized for the worst-case maximum power draw of the driver at the worst-case low line voltage. The charts contain specific METRIC and AWG size recommendations for stranded wire. All wires to supply earth to the drive shall be of the same wire size used for the AC source. Use only copper wire rated for 60/75 degree C or greater. The driver terminals are specifically designed to handle the recommended wire gauge with lug or ferrule terminations. See wiring diagrams for more details.

Drive Part No.

Rated Current (Amps)

LD-330/R LD-330/S

Wire Size (AWG)

(MM2)

LD-500/R LD-500/S

LD-101/R LD-101/S

LD-500/T

Table 5.2 - Recommended Power Wire Size Note: A ferrule or lug must be applied to end of each wire using the crimp tool specified by the connector manufacturer. Use a ferrule sized for the wire gauge involved and crimped with a NRTL Certified tool.

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OCTOBER 2018

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

5.2.3

IB-30B001 USER’S GUIDE

TRANSFORMERS

A transformer may be required to step down or step up the facility power line to meet the driver voltage specifications in Section 4. If a transformer is used, select a transformer with the following characteristics:     

Isolation type. Load regulation less than 10%. Ability to provide 3 times rated current for 3 to 5 seconds without saturation. Ability to drive load with a power factor of 0.85. Primary or secondary taps to provide -10%; nominal; +10%; supply voltage.

To achieve maximum performance from the driver, the power input to the driver should be as close to nominal driver input voltage rating as possible. The facility line voltage varies through wide ranges in many parts of the world and it is recommended to match the nominal facility voltage to the nominal input voltage rating of the driver with a transformer. This gives the system the maximum operating range with facility line voltage fluctuations. If the line voltage is too low, intermittent under voltage or following error alarms may occur. A high line voltage will result in excessive regeneration dumping or intermittent over voltage alarms. Buck boost transformers may be used to optimally match the facility line voltage to the driver line voltage rating. Buck boost transformers can be used with or without an isolation transformer. If buck boost transformers are used in conjunction with an isolation transformer, it is best to put the buck boost transformers on the primary side of the isolation transformer. As a general rule the transformer rating can be calculated using the following formulas: For single phase transformer: Rated Mechanical Output (Watts) Transformer Capacity (VA) = ---------------------------------------------------0.7 Where: Rated Mechanical Output is from Emerald Motor and Drive Package rating. 0.7 = motor/drive efficiency and single phase full wave rectifier factor Example: Select transformer for a ESM60A-400/30E motor/drive package 400 Transformer Capacity (VA) = ------------ = 570 VA 0.7

One transformer can supply multiple motor/driver packages. Simply add the rated mechanical output of the motor/driver packages together and use the above formulas. If one transformer is used to supply multiple drivers, be sure to protect each driver with the appropriate circuit breaker or fuse. IIS offers a full line of transformers for various line voltage and frequencies, enclosed and open frame types. Contact IIS Application Engineering Department for full details.

OCTOBER 2018

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IB-30B001 USER’S GUIDE

5.2.4

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

WIRING PRACTICES AND GROUNDING

All wiring must conform to accept standards such as NEMA and NEC codes. Signal and low voltage I/O wires must be physically separated from high voltage wires by at least 12 inches or separated by a suitable barrier such as steel conduit or wiring trough separator. The driver must be adequately grounded for proper operation and to provide personnel safety. The proper grounding technique is shown in Figure 5.1.

5.3

DRIVER REGENERATION CAPACITIES

The Luminary motor and driver have the ability to act as a brake for a rotating load. This condition typically occurs during the deceleration of the load or when the system is stopping a vertical load such as an elevator or lift. In both cases, the driver may have to absorb the mechanical and potential energy in the system. The driver must absorb the energy if the energy in the load exceeds to mechanical losses in the system. The driver has two ways to absorb the energy from the load.  

Store the energy by charging the internal main DC bus capacitors (EC) Dissipate the energy using a regeneration resistor (PR)

The Luminary driver internal energy absorption capacities are as shown in Table 5.3. DRIVER SIZE

INTERNAL REGEN CAPACITY (PR)

EXTERNAL REGEN CAPACITY (PR)

CHARGING CAPACITY (EC)

LD-330/R LD-330/S

400 W

2.6J

LD-500/R LD-500/S

600 W

3.8J

LD-101/R LD-101/S

800 W

4.5J

LD-500/T

0.2J

Table 5.3 - Energy Absorption Capabilities Servo Drive System Regen and Overvoltage The Luminary drivers are equipped with internal circuitry to detect a rise in the main DC power bus indicating energy absorption. If the DC power bus reaches approximately 410 VDC, the regeneration circuit is turned on to prevent the main DC power bus from rising to 430 VDC which will result in an over voltage alarm F02. Stepper Drive System Overvoltage The Luminary drivers are equipped with internal circuitry to detect a rise in the main DC power bus indicating energy absorption. If the DC power bus reaches approximately 52 VDC an over voltage alarm F02 will occur.

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OCTOBER 2018

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

5.3.1

IB-30B001 USER’S GUIDE

SELECTION OF AN EXTERNAL REGENERATION RESISTOR

The amount of energy stored in the moving components of the system must be calculated and compared to the energy absorption capacity of the driver to determine if an external regeneration resistor is required. The stored energy is of two basic types, kinetic energy in the form of a moving mass and potential energy of a mass being held against gravity. Ek = 0.5 * (JM + JL) * (2 *  * N / 60) 2 EP = (2 *  * N * Tg * tb / 60) Calculate the system losses in the motor, driver and friction. EL = (PM + ( * N * Tf / 60)) * ta Calculate the regeneration power. PR = (Ek + EP - EL - EC) / tc If regeneration power PR is greater than 0.0, a regeneration resistor will be needed to prevent the main DC power bus from generating an over voltage alarm F02. Where: Ek = EP = EL = EC = JM = JL = N = PM = Tf = Tg = PR = ta = tb = tc =

Net kinetic energy Joules Net Potential energy Joules Energy loss due to friction Joules Driver charging capacity Joules Motor rotor inertia kg-m2 Load inertia kg-m2 Motor speed in RPM Motor loss watts (10% of motor rating) System friction torque N-m Net torque to hold up load against gravity N-m Regen power watts Deceleration time Move time See Figure 5.5 Cycle time

* The above equations are reasonable approximations.

Figure 5.5

JUNE 2015

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IB-30B001 USER’S GUIDE

5.3.1

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

SELECTION OF AN EXTERNAL REGENERATION RESISTOR (cont’d)

The Luminary Drivers do not contain an internal regeneration resistor. If a regeneration resistor is required, an external resistor with a power rating of at least PR watts must be connected.

DRIVER SIZE LD-330/S LD-500/S LD-101/S LD-500/T

PR(INTERNAL) Watts 0W 0W 0W 0W

RR(EXTERNAL) Min Ohms 30 30 30 NA

PR Max Watts 400 600 800 0W

WIRE GAUGE 14 AWG 2.0 mm² 14 AWG 2.0 mm² 14 AWG 2.0 mm² NA

Table 5.4 - Regeneration Resistor Selection Data

5.3.2

STANDARD REGENERATION RESISTOR PACKAGES

In general, wound metal ribbon resistors are recommended for this type of application. IIS offers a complete line of enclosed panel mounted regen resistor units to complement the Emerald driver. Various combinations of series and parallel connections are allowed to provide adequate regen resistor capacity. IIS P/N

Description

MFS30A300J*

30 Ohm 30 Watts

RGH200-30*

30 Ohm 200 Watts

DRGN-45/420

45 Ohm 420 Watts

DRGN-45/420-2

45 Ohm 420 Watts (2 Resistors)

*Not UL/CE approved

DRAWING NUMBER

DESCRIPTION

MFS30A300J RGH200-30 DRGN-45/420 DRGN-45/420-2

Resistor Regen Resistor Regen Resistor Regen Resistor

PAGE 5 - 10

OCTOBER 2018

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

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IB-30B001 USER’S GUIDE

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

JUNE 2015

IB-30B001 USER’S GUIDE

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IB-30B001 USER’S GUIDE

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

SECTION 6 - SYSTEM PARAMETER IDNs 6.1

IDN LIST IN NUMERICAL ORDER IDN

0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 0013 0014 0015 0016 0017 0018 0019 0020 0021 0022 0023 0024 0025 0026 0027 0028 0029 0030 0031 0032 0033 0034 0035 0036 0037 0038 0039 0040 0041 0042 0043 0044 0045 0046 0047 0048 0049 0050 0051 JUNE 2015

NAME (16 BIT DATA REGISTERS) Firmware SFO Number Firmware SFO Revision Communication Error Counter Drive Identification Number Drive Application Configuration Number DC Bus Voltage Drive On Delay Time Drive Off Delay Time Master Control Word Drive Status Word Torque Command Value Torque Feedback Value Position Loop Integral Action Time Velocity Loop Integral Action Time Current Loop Integral Action Time 1 Current Loop Integral Action Time 2 Position Loop Differential Time Velocity Loop Differential Time Positive Torque Limit Negative Torque Limit Motor Poles PWM Frequency Motor Code Motor Feedback Configuration Encoder Line Count Position Loop Kv Factor Motor Phase Angle Current Command Filter Rejection Frequency Current Command Filter Bandwidth Velocity Command Low Pass Filter Frequency Velocity Feedback Low Pass Filter Frequency Analog Input Velocity Scaling Digital Outputs 1 Digital Outputs 2 Analog Input 1 Digital Inputs 1 Digital Inputs 2 Drive Fault Bitmap 1 Drive Fault Bitmap 2 Drive Fault Bitmap 3 Drive Fault Bitmap 4 Drive Fault Bitmap 5 Drive Fault Bitmap 6 Drive Fault Bitmap 7 Drive Fault Bitmap 8 Motor Velocity Command (RPMs) Motor Velocity Feedback (RPMs) Optional Communication Card Configuration Number Save Application Parameters To Flash Sampling – Interval Sampling - Number of Points To Sample PAGE 6 - 1

IB-30B001 USER’S GUIDE

IDN 0052 0053 0054 0055 0056 0057 0058 0059 0060 0061 0062 0063 0064 0065 0066 0067 0068 1001 - 2000 2001 - 3000 IDN 0101 0103 0105 0107 0109 0111 0113 0115 0117 0119 0121 0123 0125 0127 0129 0131 0133 0135 0137 0139 0141 0143 0145 0147 0149

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

NAME (16 BIT DATA REGISTERS) Sampling – Actual Number of Points Sampled Sampling – Control Sampling – Pointe Sampled Sampling – Mark Sampling – Index Nominal Current Scaling Value Alignment Current Percent Observer Frequency Encoder Cable Type Z-Marker Commutation Enable Analog Output Type Analog Output Scale Analog Output Offset Analog Output Mode Analog Output Slew Rate Measurement Units Hall Phase Offset Sampling Buffer Channel 1 Sampling Buffer Channel 2 NAME (32 BIT DATA REGISTERS) Position Command Value Position Feedback Value (Motor Feedback) Velocity Command Value Velocity Feedback Value Probe Trap Value Marker Trap Value Following Distance Monitoring Window Velocity Feed Forward Gain Acceleration Feed Forward Gain Bipolar Velocity Limit Value Bipolar Acceleration Limit Value Velocity Loop Proportional Gain Current Loop Proportional Gain 1 Current Loop Proportional Gain 2 Motor Peak Current Motor Rated Current Amplifier Peak Current Amplifier Rated Current Maximum Motor Speed Motor Rated Speed Motor Current Command (Amps) Motor Current Feedback (Amps) Sampling - Trigger Level Observer Dampening Gain

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

NAME (16 BIT FACTORY REGISTERS)

JUNE 2015

9000 9001 9002 9003 9004 9005 9006 9007 9008 9009 9010 9011 9012 9013 9014 9015 9016 9017 9018 9019 9020 9021 9022

Password DC Bus Calibration Offset U Current Sensor Calibration Offset V Current Sensor Calibration Offset W Current Sensor Calibration Offset Analog Input Calibration Offset DC Bus Calibration Gain Analog Input Calibration Gain U Current Sensor V Current Sensor W Current Sensor Set Drive ID Number Boot Loader SFO Number Boot Loader SFO Revision A Current Sensor Calibration Offset B Current Sensor Calibration Offset C Current Sensor Calibration Offset D Current Sensor Calibration Offset A Current Sensor B Current Sensor C Current Sensor D Current Sensor Current Calibration Procedure

IDN 9101 9103 9105 9107 9109 9111 9113

NAME (32 BIT FACTORY REGISTERS) U Current Sensor Calibration Gain V Current Sensor Calibration Gain W Current Sensor Calibration Gain A Current Sensor Calibration Gain B Current Sensor Calibration Gain C Current Sensor Calibration Gain D Current Sensor Calibration Gain

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IB-30B001 USER’S GUIDE

6.2

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IDN DESCRIPTION - DATA REGISTORS for STANDARD PARAMETERS

0001: FIRMWARE SFO NUMBER This parameter represents the software number (SFO) of the drive firmware. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

0002: FIRMWARE SFO REVISION This parameter represents the revision of the Firmware SFO Number (IDN 0001). If the revision returns a value with the most significant bit set (value > 32767) then the version of the software is an unreleased factory test version. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 32767

0003: COMMUNICATION ERROR COUNTER This parameter is only valid when the LDCA-001 option card (See IDN 0005) is installed on the drive. Once communication is established, the communication error counter counts all of the invalid cyclic Master data transfer packets. In the case where more than 2 consecutive data packets are invalid, only the first two errors are counted and the drive reset its communications and waits for the Master to reestablish communications. The communication error counter counts up to a maximum of 65535. This means that if a value of 65535 is set in the counter, there may have been a noisy transmission over a long period of time. This value can be written back to zero or any other value by the controller. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

Yes

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JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

0004: DRIVE IDENTIFICATION NUMBER This parameter returns the hardware version of the drive. ID NUMBER

DESCRIPTION

UNDEFINED

LD-330 (3.3 Amp)

LD-500 (5.0 Amp)

LD-??? (Custom)

LD-101 (10.0 Amp)

Reserved

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTIO N

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0-7

Factory Set

0005: DRIVE APPLICATION CONFIGURATION NUMBER This parameter returns the version number of the installed option card. NOTE: If this parameter is changed then the Defaults for all parameters are loaded and saved to Flash. All previous configuration parameters will be lost. ID NUMBER

DESCRIPTION

No Application Configured

Analog Drive

Luminary Multi Axis Digital Network Interface (Requires LDCA-002 Option Card – See IDN 0048)

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTIO N

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0-2

Yes

OCTOBER 2018

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0006: DC BUS VOLTAGE The drive’s DC (intermediate) bus voltage value is placed in this parameter. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 600

1 volt

0007: DRIVE ON DELAY TIME After torque is activated "drive on delay time" is started. The drive follows the command values after the "drive on delay time" has elapsed. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

1 ms

Yes

0008: DRIVE OFF DELAY TIME When drive is disabled and Command Speed of 0 is reached, the torque remains activated in the drive until this waiting time is elapsed. This will give the application time to set a brake or some other output while torque is still applied to the load. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

1 ms

Yes

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IB-30B001 USER’S GUIDE

0009: MASTER CONTROL WORD This parameter allows the reading of the master control word form the drive. BIT NUMBER

DESCRIPTION

Bit 0:

SVC_SM_ACK

Bit 1:

SVC_MS_HS

Bit 2:

Reserved

Bit 3:

Reserved

Bit 4:

Reserved

Bit 5:

Reserved

Bit 6:

AXIS ID 0

Bit 7:

AXIS ID 1

Bit 8:

OPMODE 0

Bit 9:

OPMODE 1

Bit 10:

OPMODE 2

Bit 11:

ARM PROBE TRAP

Bit 12:

ARM MARKER TRAP

Bit 13:

CLEAR FAULT

Bit 14:

DRIVE RUN

Bit 15:

DRIVE ENABLE

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Binary

2 bytes

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0010: DRIVE STATUS WORD This parameter allows the reading of the master control word form the drive. BIT NUMBER

DESCRIPTION

Bit 0:

SVC_SM_HS

Bit 1:

SVC_MS_ACK

Bit 2:

Reserved

Bit 3:

Reserved

Bit 4:

DEVICE_TYPE

Bit 5:

DEVICE_TYPE

Bit 6:

DEVICE_TYPE

Bit 7:

Reserved

Bit 8:

OPMODE 0

Bit 9:

OPMODE 1

Bit 10:

OPMODE 2

Bit 11:

PROBE TRAP EXECUTED

Bit 12:

MARKER TRAP EXECUTED

Bit 13:

CLEAR FAULT

Bit 14:

DRIVE RUNNING

Bit 15:

DRIVE ENABLED

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Binary

2 bytes

0011: TORQUE COMMAND VALUE During the torque control operation mode of the drive, torque command values are transferred from the control unit to the drive. This IDN is scaled as a percentage of the drive or motor’s peak torque, whichever is less. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-100.00 +100.00

0.01%

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0012:

IB-30B001 USER’S GUIDE

TORQUE FEEDBACK VALUE

The torque feedback value is transferred from the drive to the control unit. This IDN is scaled as a percentage of the drive or peak torque of motor, whichever is less. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-100.00 +100.00

0.01%

0013: POSITION LOOP INTEGRAL ACTION TIME Sets the integral time constant for the position loop controller. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0.0 6553.5

0.1 msec

Yes

0.0

0014: VELOCITY LOOP INTEGRAL ACTION TIME Sets the integral time constant for the velocity loop controller. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0.0 6553.5

0.1 msec

Yes

0.0

0015: CURRENT LOOP INTEGRAL ACTION TIME 1 Sets the integral time constant for the torque/force-producing current loop. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

1 sec

Yes

0016: CURRENT LOOP INTEGRAL ACTION TIME 2 Sets the integral time constant for the flux-producing current loop. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

1 sec

Yes

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0017: POSITION LOOP DIFFERENTIAL TIME Sets the derivative time for the position loop controller. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0.0 6553.5

0.1 msec

Yes

0018: VELOCITY LOOP DIFFERENTIAL TIME Sets the derivative time for the velocity loop controller. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0.0 6553.5

0.1 msec

Yes

0.0

0019: POSITIVE TORQUE LIMIT The positive torque limit value limits the maximum torque in the positive direction. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

0.00 100.00

0.01%

Yes

100.00

0020: NEGATIVE TORQUE LIMIT The negative torque limit value limits the maximum torque in the negative direction. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

Operation Data

Signed Decimal

2 bytes

0.00 – -100.00

0.01%

Yes

DEFAULT -100.00

0021: MOTOR POLES This parameter sets the number of motor magnetic poles. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Unsigned Decimal

2 bytes

2 - 12

PAGE 6 - 10

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Yes

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

0022: PWM FREQUENCY Sets the PWM switching frequency for the motor and the general purpose PWM output. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

8 or 16

kHz

Yes

0023: MOTOR CODE This parameter is used to store a unique code the motor that can be read back at run time. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Yes

WRITE ACCESS

DEFAULT

Yes

0024: MOTOR FEEDBACK CONFIGURATION This parameter is used to change the direction of the motor feedback. Bit supported by drive: BIT NUMBER

DESCRIPTION

Bit 0:

Reserved

Bit 1:

0 - Motor Feedback is inverted. 1 - Motor Feedback is not inverted.

Bit 2 - 15:

Reserved

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Binary

2 bytes

0 or 1

SCALING/ RESOLUTION

0025: ENCODER LINE COUNT This parameter sets the encoder line counts per rev. The position value update is 4 times the line count. (Quadrature) IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

JUNE 2015

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Yes

2000

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0026: POSITION LOOP KV - FACTOR The KV-factor determines the gain of the position loop regulator throughout the entire velocity range. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0.0 6553.5

0.1 (rad/sec)/rad

Yes

30.0

0027: MOTOR PHASE ANGLE This IDN returns the motor’s phase angle used for commutation. This is a read only IDN for display purposes. IDN TYPE

DATA TYPE

DATA LENGTH

Operation Data

Unsigned Decimal

2 bytes

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

0.1 Degree

DEFAULT

0028: CURRENT COMMAND REJECTION FREQUENCY This parameter sets rejection frequency for a notch filter on the current loop command value. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

50 - 950

1 Hz

Yes

900

0029: CURRENT COMMAND REJECTION BANDWIDTH This parameter sets bandwidth for a notch filter on the current loop command value. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 500

1 Hz

Yes

0030: VELOCITY COMMAND LOW PASS FILTER FREQUENCY This parameter sets corner frequency for a low pass filter on the velocity loop command value. A value of ‘0’ disables the filter. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 1000

1 Hz

Yes

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

0031: VELOCITY FEEDBACK LOW PASS FILTER FREQUENCY This parameter sets corner frequency for a low pass filter on the velocity loop feedback value. A value of ‘0’ disables the filter. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 1000

1 Hz

Yes

0032: ANALOG INPUT VELOCITY SCALING Set the Scaling of the analog input for Velocity mode operation on an analog drive configuration. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0.00 10.00

0.01 Volts per 1000 RPM

Yes

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0033: DIGITAL OUTPUTS 1 The state of the digital outputs 1 -16 can be read via this parameter. Bits Supported: BIT NUMBER

DESCRIPTION

Bit 0:

Output 1

Bit 1:

Output 2

Bit 2:

Reserved

Bit 3:

Reserved

Bit 4:

Reserved

Bit 5:

Reserved

Bit 6:

Reserved

Bit 7:

Reserved

Bit 8:

Reserved

Bit 9:

Reserved

Bit 10:

Reserved

Bit 11:

Reserved

Bit 12:

Reserved

Bit 13:

Reserved

Bit 14:

Reserved

Bit 15:

Reserved

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Binary

2 bytes

0 - 65535

PAGE 6 - 14

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

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IB-30B001 USER’S GUIDE

0034: DIGITAL OUTPUTS 2 The state of the digital outputs 17 -32 can be read via this parameter. Bits Supported: BIT NUMBER

DESCRIPTION

Bit 0:

Reserved

Bit 1:

Reserved

Bit 2:

Reserved

Bit 3:

Reserved

Bit 4:

Reserved

Bit 5:

Reserved

Bit 6:

Reserved

Bit 7:

Reserved

Bit 8:

Reserved

Bit 9:

Reserved

Bit 10:

Reserved

Bit 11:

Reserved

Bit 12:

Reserved

Bit 13:

Reserved

Bit 14:

Reserved

Bit 15:

Reserved

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Binary

2 bytes

0 - 65535

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

0035: ANALOG INPUT 1 Read the counts from the Analog Input 1. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-32767 +32767

32768 Bits = 10.0 volts

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0036: DIGITAL INPUTS 1 Reads the state of the Digital Inputs 1 - 16. Bit supported by drive: BIT NUMBER

DESCRIPTION

Bit 0:

Input 1

Bit 1:

Input 2

Bit 2:

Input 3

Bit 3:

Input 4

Bit 4:

Reserved

Bit 5:

Reserved

Bit 6:

Reserved

Bit 7:

Reserved

Bit 8:

Reserved

Bit 9:

Reserved

Bit 10:

Reserved

Bit 11:

Reserved

Bit 12:

Reserved

Bit 13:

Reserved

Bit 14:

Reserved

Bit 15:

Reserved

IDN TYPE

DATA TYPE

DATA LENGTH

Operation Data

Binary

2 bytes

PAGE 6 - 16

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

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IB-30B001 USER’S GUIDE

0037: DIGITAL INPUTS 2 Reads the state of the Digital Inputs 17 - 32. Bit supported by drive: BIT NUMBER

DESCRIPTION

Bit 0:

Reserved

Bit 1:

Reserved

Bit 2:

Reserved

Bit 3:

Reserved

Bit 4:

Reserved

Bit 5:

Reserved

Bit 6:

Reserved

Bit 7:

Reserved

Bit 8:

Reserved

Bit 9:

Reserved

Bit 10:

Reserved

Bit 11:

Reserved

Bit 12:

Reserved

Bit 13:

Reserved

Bit 14:

Reserved

Bit 15:

Reserved

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Binary

2 bytes

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

0038: DRIVE FAULT BITMAP 1 Returns a status bitmap of Faults 0 - 15. Some bits are reserved so see Section 8 for a list of fault codes and their descriptions. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Binary

2 bytes

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0039: DRIVE FAULT BITMAP 2 Returns a status bitmap of Faults 16 - 31. Some bits are reserved so see Section 8 for a list of fault codes and their descriptions. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Binary

2 bytes

0040: DRIVE FAULT BITMAP 3 Returns a status bitmap of faults 32 - 47. Some bits are reserved so see Section 8 for a list of fault codes and their descriptions. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Binary

2 bytes

0041: DRIVE FAULT BITMAP 4 Returns a status bitmap of faults 48 - 63. Some bits are reserved so see Section 8 for a list of fault codes and their descriptions. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Binary

2 bytes

0042: DRIVE FAULT BITMAP 5 Returns a status bitmap of faults 64 - 79. Some bits are reserved so see Section 8 for a list of fault codes and their descriptions. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Binary

2 bytes

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IB-30B001 USER’S GUIDE

0043: DRIVE FAULT BITMAP 6 Returns a status bitmap of faults 80 - 96. Some bits are reserved so see Section 8 for a list of fault codes and their descriptions. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Binary

2 bytes

0044: DRIVE FAULT BITMAP 7 Returns a status bitmap of faults 97 - 111. Some bits are reserved so see Section 8 for a list of fault codes and their descriptions. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Binary

2 bytes

0045: DRIVE FAULT BITMAP 8 Returns a status bitmap of faults 112 - 127. Some bits are reserved so see Section 8 for a list of fault codes and their descriptions. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Binary

2 bytes

0046: MOTOR VELOCITY COMMAND (RPMs) . This parameter returns the motor command velocity in RPMs. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-6000 to + 6000

1 RPM

0047: MOTOR VELOCITY FEEDBACK (RPMs) . This parameter returns the motor feedback velocity in RPMs. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-6000 to + 6000

1 RPM

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

This parameter returns the version number of the installed option card. ID NUMBER

DESCRIPTION

LDCA-002

LDAA-001

Reserved

No Option Card

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTIO N

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0-7

0049: SAVE APPLICATION PARAMETERS TO FLASH When read this parameter returns the version number of the installed option card. When written to table below lists the command. ID NUMBER

DESCRIPTION

Do Nothing

Save Current Parameters To Flash

Load and Save Default Parameters to Flash

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTIO N

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0-2

Y**

**Note: Not executable if Drive is setup with a Luminary Multi-Axis Configuration (Application Number IDN 0005 = 2)

PAGE 6 - 20

OCTOBER 2018

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

0050: SAMPLING - INTERVAL Reserved for LDrive communication. 0051: SAMPLING - NUMBER OF POINTSTO SAMPLE Reserved for LDrive communication. 0052: SAMPLING - ACTUAL NUMBER OF POINTS SAMPLED Reserved for LDrive communication. 0053: SAMPLING - CONTROL Reserved for LDrive communication. 0054: SAMPLING - POINTS SAMPLED Reserved for LDrive communication. 0055: SAMPLING - MARK Reserved for LDrive communication. 0056: SAMPLING - INDEX Reserved for LDrive communication. 0057: NOMINAL CURRENT SCALING VALUE Reserved, maybe doesn’t exist. The L Drive setup and configuration software for the PC uses the above parameters. Contact IIS sales to obtain the L Drive software and necessary options to use this software.

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0058: ALIGNMENT CURRENT PERCENT The percentage of maximum current used during the alignment phase of encoder commutation. Note: this IDN is for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-32767 32767

0.1 %

0059: OBSERVER FREQUENCY Specifies the natural frequency of the observer. Note: this IDN is for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

2000

0060: ENCODER CABLE TYPE Sets the type of cable used on the encoder. Note: this IDN is for the stepper. ID NUMBER

DESCRIPTION

Differential

Single ended

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0-1

0061: Z-MARKER COMMUTATION ENABLE Used to turn off the Z-marker from the encoder. Note: this IDN is for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0-1

PAGE 6 - 22

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

0062: ANALOG OUTPUT TYPE Determines the parameter the LDAA-001 option card outputs as an analog voltage. ID NUMBER

DESCRIPTION

Motor Speed

Motor Torque

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0-1

0063: ANALOG OUTPUT SCALE Determines the unit scaling for the analog output of the LDAA-001 option card. Note: Units are dependent on IDN 0062. IDN 0062

DESCRIPTION

Units

Motor Speed

V/100 RPM

Motor Torque

V/Amp

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-32768 32767

0.001 V/unit

0064: ANALOG OUTPUT OFFSET Determines the voltage zero offset for the analog output of the LDAA-001 option card. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-10000 10000

0.001 V

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0065: ANALOG OUTPUT MODE Determines the mode of operation for the analog output of the LDAA-001 option card. ID NUMBER

DESCRIPTION

Bipolar  10V

Unipolar 0 to 10V (Absolute Value)

IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0-1

0066: ANALOG OUTPUT SLEW RATE Determines the slew rate for the analog output of the LDAA-001 option card. The minimum value is 0.001 V/ms and the maximum value is 20V/ms V/Unit. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

1 - 20000

0.001 V/ms

0067: SET CUSTOM MEASUREMENT DISPLAY UNITS Sets a custom display interface to show either metric or imperial units in a special operation mode. 0 is for metric and 1 is for imperial. [customer specific idn, does not effect drive performance] IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0-1

Yes

0068: HALL PHASE OFFSET Adds a forward shift to the angle used for encoder commutation. It effectively moves a point from where the motor hall channels were observed. Used in different zeroing procedures. (Ref. PIB-120002) IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 32767

32768bits = 1 Revolution

Yes

PAGE 6 - 24

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

0069: COMMUNICATIONS WATCHDOG TIMEOUT When the drive is in Mode 6, if the watchdog counter goes over this value, the drive will fault for a watchdog timeout error. Setting a value of 0 to this IDN disables the watchdog timeout feature. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

1 bit = 1ms

Yes

3000

0070: COMMUNICATIONS WATCHDOG COUNTER When the drive is in Mode 6, write a value of 0 to this IDN to kick the watchdog. Reading this IDN will return the current value of the counter. If this IDN counts over the value set in IDN 0068, the drive will fault for a watchdog timeout. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0-1

1 bit = 1ms

Yes

0071: OUTPUT INVERSION Invert the state of the digital output. Example: a value of 1 will invert the state of Digital output 1. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

1 bit

Yes

0072: AVERAGE CYCLES Sets number of average cycles used to calculate the value of IDN 0151. A value of 1 will disable the averaging feature. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

1 - 256

1 bit = 0.25ms

Yes

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0073: VELOCITY COMMAND SOURCE Selects command source for motor velocity in Mode 6. A value of 0 selects IDN 0046 as the source, a value of 1 selects IDN 0153 as the source. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0–1

Yes

0101: POSITION COMMAND VALUE During the position control drive operation mode, the position command values are transferred from the control unit to the drive according to the time pattern of the control unit cycle. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

-231 - +231 - 1

1 bit

0103: POSITION FEEDBACK VALUE The position feedback value 1 is transferred from the drive to the control unit. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

-231 - +231 - 1

1 bit

0105: VELOCITY COMMAND VALUE In the velocity control-operating mode in the drive, the control unit transfers the velocity command values to the drive. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

Operation Data

Signed Decimal

4 bytes

-32768 +32768

32768bits = 6000RPM

No -

DEFAULT

0107: VELOCITY FEEDBACK VALUE The velocity feedback value is transferred from the drive to the control unit in order to allow the control unit to periodically display the velocity. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

Operation Data

Signed Decimal

4 bytes

-32768 +32768

32768bits = 6000RPM

No -

PAGE 6 - 26

DEFAULT

JULY 2016

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

0109: PROBE TRAP VALUE Based on the configure Probe Feedback Source (IDN 33200) the drive stores position feedback value in the measuring cycle in this parameter following the positive edge of the input signal of probe 1 (see IDN 00401). This allows the control unit to read 'probe value 1 positive edge' at a later time. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

-231 - +231 - 1

1 bit

0111: MARKER TRAP VALUE Based on the configured Probe Feedback Source (IDN 33200) the drive stores position feedback value in the measuring cycle in this parameter following the positive edge of the input signal of probe 2 (see IDN 00402). This allows the control unit to read 'probe value 2 positive edge' at a later time. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

-231 - +231 - 1

1 bit

0113: FOLLOWING DISTANCE The drive uses the operation data of this IDN to store the distance between position command value and the position feedback value. Following Distance = Position Command Value - Position Feedback Value IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

-231 - +231 - 1

1 bit

0115: MAX FOLLOWING DISTANCE Sets the Max Absolute Limit the Following Distance can be before the drive faults. The drive will fault with an FAULT CODE 70 (Following Error) if this limit is exceeded. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Unsigned Decimal

4 bytes

0-+231 - 1

JULY 2016

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Yes

-231 - 1

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0117: VELOCITY FEED FORWARD GAIN Velocity feed forward serves to reduce the velocity-dependent following error. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

0.0 - 200.0

0.1%

Yes

0.0

0119: ACCELERATION FEED FORWARD GAIN Acceleration feed forward serves to reduce acceleration / deceleration-dependent following error. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

4 bytes

0.0 6553.5

0.1 (mAsec2/rad)

Phases 2, 3 and 4

0.0

0121:

BIPOLAR VELOCITY LIMIT VALUE

The bipolar velocity limit value describes the maximum allowable velocity in both directions. If the velocity limit value is exceeded, the drive responds by setting the status ‘ncommand > nlimit’ in C3D (IDN 00013). IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

0 - 32768

32768 bits = 6000 RPM

Phases 2, 3 and 4

32768

0123: BIPOLAR ACCELERATION LIMIT VALUE The bipolar acceleration parameter limits the maximum acceleration ability of the drive symmetrically to the programmed value in both directions. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Unsigned Decimal

4 bytes

025000.000

SCALING/ RESOLUTION

WRITE ACCESS

rad/sec/sec Yes

DEFAULT 25000.000

0125: VELOCITY LOOP PROPORTIONAL GAIN Sets the proportional gain for the velocity loop controller. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

Operation Data

Unsigned Decimal

4 bytes

0.000 65.535

0.001 Amp/(rad/sec)

PAGE 6 - 28

WRITE ACCESS

DEFAULT

Yes 0.400

JULY 2016

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

0127: CURRENT LOOP PROPORTIONAL GAIN 1 Sets the proportional gain for the torque/force-producing current loop. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

4 bytes

0.000 100.000

0.001 V/A

Yes

0.0

0129: CURRENT LOOP PROPORTIONAL GAIN 2 Sets the proportional gain for the flux-producing current loop. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

4 bytes

0.000 100.000

0.001 V/A

Yes

0.000

0131: MOTOR PEAK CURRENT If the motor peak current is less than that of the amplifier, the amplifier is automatically limited to the level of the motor peak current. The setting range for this IDN is dependant on drive size and PWM frequency. IDN TYPE

DATA TYPE

DATA LENGTH

Operation Data

Unsigned Decimal

4 bytes

RANGE See table above

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

0.001 A

Yes

0.000

0133: MOTOR RATED CURRENT The motor rated current is the current at which the motor produces the rated torque according to the motor spec sheet. The setting range for this IDN is dependant on drive size and PWM frequency. IDN TYPE

DATA TYPE

DATA LENGTH

Operation Data

Unsigned Decimal

4 bytes

RANGE See table above

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

0.001 A

Yes

0135: AMPLIFIER PEAK CURRENT The amplifier peak current is limited by the hardware, which means that the current for the maximum attainable torque limit value is fixed as well. This value is dependent on drive size and PWM frequency. IDN TYPE

DATA TYPE

DATA LENGTH

Operation Data

Unsigned Decimal

4 bytes

JULY 2016

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

0.001 A peak

Depends on drive size

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

0137: AMPLIFIER RATED CURRENT The amplifier rated current is equal to the allowable continuous current of the drive unit. This value is dependent on drive size and PWM frequency. IDN TYPE

DATA TYPE

DATA LENGTH

Operation Data

Unsigned Decimal

4 bytes

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

0.001 A peak

Depends on drive size

0139: MAXIMUM MOTOR SPEED

The maximum motor speed is listed in the motor spec sheet provided by the manufacturer. IDN TYPE

DATA TYPE

DATA LENGTH

Operation Data

Unsigned Decimal

4 bytes

RANGE 0.0000 6000.0000

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

0.0001 RPM

Yes

0.0000

0141: MOTOR RATED SPEED The rated motor speed is listed in the motor spec sheet provided by the manufacturer. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

4 bytes

0.0000 6000.0000

0.0001 RPM

Yes

0143: MOTOR CURRENT COMMAND (AMPS) This parameter returns the motor command current in AMPs. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

0 to +/Max Drive Current

0.001 Amps

0145: MOTOR CURRENT FEEDBACK (AMPS) This parameter returns the motor feedback current in AMPs. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

0 to +/Max Drive Current

0.001 Amps

PAGE 6 - 30

JULY 2016

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

0149: OBSERVER DAMPENING GAIN This IDN modifies the response of the angle-tracking observer used for the position control. The smaller the value, the higher the peak overshoot of the estimated rotor angle but too small of a value will lead to long setting time. A value of 0.84 is recommended. Note this IDN is only for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Signed Decimal

4 bytes

0 - 65535

SCALING/ RESOLUTION

WRITE ACCESS

0.001 Yes

DEFAULT 0.84

0151: HIGH PRECISION MOTOR VELOCITY FEEDBACK (RPMs) This parameter returns the motor feedback velocity in RPMs, averaged by the number of cycles defined by IDN 0072. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

-6000.0 6000.0

0.1 RPM

0153: HIGH PRECISION MOTOR VELOCITY COMMAND (RPMs) This parameter sets the motor command velocity in RPMs when the drive is in Mode 6 and IDN 0073 = 1. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

-6000.0 6000.0

0.1 RPM

YES

JULY 2016

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IB-30B001 USER’S GUIDE

6.3

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

FACTORY - DRIVE CONFIGURATION REGISTERS

9000: PASSWORD This IDN is used to enter a password to unlock factory configuration parameters. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

SCALING/ RESOLUTION

WRITE ACCESS

None Yes

DEFAULT 0

9001: DC BUS CALIBRATION OFFSET This IDN is used to set a calibration offset for the DC Bus Voltage measurement. This IDN is writeprotected until IDN 9000 Password is Set. IDN TYPE Operation Data

DATA TYPE Signed Decimal

DATA LENGTH

RANGE

SCALING/ RESOLUTION

2 bytes

-5000 to +5000

None

WRITE ACCESS With Password

DEFAULT Factory set

9002: U CURRENT SENSOR CALIBRATION OFFSET This IDN is used to set a calibration offset for the U leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. IDN TYPE Operation Data

DATA TYPE Signed Decimal

DATA LENGTH

RANGE

SCALING/ RESOLUTION

2 bytes

-5000 to +5000

None

WRITE ACCESS With Password

DEFAULT Factory set

9003: V CURRENT SENSOR CALIBRATION OFFSET This IDN is used to set a calibration offset for the V leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-5000 to +5000

None

With Password

Factory Set

9004: W CURRENT SENSOR CALIBRATION OFFSET This IDN is used to set a calibration offset for the W leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. IDN TYPE Operation Data

PAGE 6 - 32

DATA TYPE Signed Decimal

DATA LENGTH

RANGE

SCALING/ RESOLUTION

2 bytes

-5000 to +5000

None

WRITE ACCESS With Password

DEFAULT Factory set

JULY 2016

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

9005: ANALOG INPUT CALIBRATION OFFSET This IDN is used to set a calibration offset for the Analog Input. This IDN is write-protected until IDN 9000 Password is Set. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-5000 to +5000

With Password

Factory set

9006: DC BUS CALIBRATION GAIN This IDN is used to set a calibration gain for the DC Bus Voltage measurement. This IDN is writeprotected until IDN 9000 Password is Set. IDN TYPE Operation Data

DATA TYPE Unsigned Decimal

DATA LENGTH

RANGE

SCALING/ RESOLUTION

2 bytes

0 - 65535

WRITE ACCESS With Password

DEFAULT Factory set

9007: ANALOG INPUT CALIBRATION GAIN This IDN is used to set a calibration gain for the Analog Input. This IDN is write-protected until IDN 9000 Password is Set. IDN TYPE Operation Data

DATA TYPE Unsigned Decimal

DATA LENGTH

RANGE

SCALING/ RESOLUTION

2 bytes

0 - 65535

WRITE ACCESS With Password

DEFAULT Factory set

9008: U CURRENT SENSOR This IDN returns the current sensed by the U leg current sensor. The only scaling done on this value is the Calibration Gain and Offset. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Signed Decimal

2 bytes

-32767 32767

SCALING/ RESOLUTION

WRITE ACCESS

1 No

DEFAULT -

9009: V CURRENT SENSOR This IDN returns the current sensed by the V leg current sensor. The only scaling done on this value is the Calibration Gain and Offset. IDN TYPE Operation Data

JULY 2016

DATA TYPE Signed Decimal

DATA LENGTH

RANGE

2 bytes

-32767 32767

SCALING/ RESOLUTION 1 No

WRITE ACCESS

DEFAULT -

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

9010: W CURRENT SENSOR This IDN returns the current sensed by the W leg current sensor. The only scaling done on this value is the Calibration Gain and Offset. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Signed Decimal

2 bytes

-32767 32767

SCALING/ RESOLUTION

WRITE ACCESS

1 No

DEFAULT -

9011: SET DRIVE IDENTIFICATION NUMBER This parameter allows for the factory setting of the drive identification number. See parameter 0004 definition. This IDN is write-protected until IDN 9000 Password is Set. 9012: BOOTLOADER SFO NUMBER This parameter represents the software number of the drive firmware boot loader. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 65535

9013: BOOTLOADER SFO REVISION This parameter represents the revision of the software number (IDN 9012) of the drive firmware boot loader. If the revision returns a value with the most significant bit set (value > 32767), then the version of the software is an unreleased factory test version. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0 - 32767

9014: A CURRENT SENSOR CALIBRATION OFFSET This IDN is used to set a calibration offset for the A leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. Note: this IDN is for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-5000 +5000

None

With Password

Factory Set

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

9015: B CURRENT SENSOR CALIBRATION OFFSET This IDN is used to set a calibration offset for the B leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. Note: this IDN is for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-5000 +5000

None

With Password

Factory Set

9016: C CURRENT SENSOR CALIBRATION OFFSET This IDN is used to set a calibration offset for the C leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. Note: this IDN is for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-5000 +5000

None

With Password

Factory Set

9017: D CURRENT SENSOR CALIBRATION OFFSET This IDN is used to set a calibration offset for the D leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. Note: this IDN is for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

2 bytes

-5000 +5000

None

With Password

Factory Set

9018: A CURRENT SENSOR This IDN returns the current sensed by the A leg current sensor. The only scaling done on this value is the Calibration Gain and Offset. Note: this IDN is for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Signed Decimal

2 bytes

-32767 +32767

SCALING/ RESOLUTION

WRITE ACCESS

1 No

DEFAULT -

9019: B CURRENT SENSOR This IDN returns the current sensed by the B leg current sensor. The only scaling done on this value is the Calibration Gain and Offset. Note: this IDN is for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Signed Decimal

2 bytes

-32767 +32767

JULY 2016

SCALING/ RESOLUTION 1 No

WRITE ACCESS

DEFAULT -

PAGE 6 - 35

IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

9020: C CURRENT SENSOR This IDN returns the current sensed by the C leg current sensor. The only scaling done on this value is the Calibration Gain and Offset. Note: this IDN is for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Signed Decimal

2 bytes

-32767 +32767

SCALING/ RESOLUTION

WRITE ACCESS

1 No

DEFAULT -

9021: D CURRENT SENSOR This IDN returns the current sensed by the D leg current sensor. The only scaling done on this value is the Calibration Gain and Offset. Note: this IDN is for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

Operation Data

Signed Decimal

2 bytes

-32767 +32767

SCALING/ RESOLUTION

WRITE ACCESS

1 No

DEFAULT -

9022: CURRENT CALIBRATION PROCEDURE This IDN is used for the auto-calibration of the servo drive. Writing a 1 will initialize the auto-calibration procedure. This IDN is write-protected until IDN 9000 Password is Set. Note: this IDN is for the stepper. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Unsigned Decimal

2 bytes

0-1

With Password

9101: U CURRENT SENSOR CALIBRATION GAIN This IDN is used to set a calibration gain for the U leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

- 231 - +231-1

None

With Password

Factory set

9103: V CURRENT SENSOR CALIBRATION GAIN This IDN is used to set a calibration gain for the V leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. IDN TYPE

DATA TYPE

DATA LENGTH

Operatio n Data

Signed Decimal

4 bytes

PAGE 6 - 36

RANGE

SCALING/ RESOLUTION

- 231 - +231-1 None

WRITE ACCESS

DEFAULT

With Password

Factory set JULY 2016

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

IB-30B001 USER’S GUIDE

9105: W CURRENT SENSOR CALIBRATION GAIN This IDN is used to set a calibration gain for the W leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. IDN TYPE Operation Data

DATA TYPE Signed Decimal

DATA LENGTH

RANGE

SCALING/ RESOLUTION

4 bytes

- 231 - +231-1

None

WRITE ACCESS With Password

DEFAULT Factory set

9107: A CURRENT SENSOR CALIBRATION GAIN This IDN is used to set a calibration gain for the A leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. IDN TYPE Operation Data

DATA TYPE Signed Decimal

DATA LENGTH

RANGE

SCALING/ RESOLUTION

4 bytes

- 231 - +231-1

None

WRITE ACCESS With Password

DEFAULT Factory set

9109: B CURRENT SENSOR CALIBRATION GAIN This IDN is used to set a calibration gain for the B leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. IDN TYPE Operation Data

DATA TYPE Signed Decimal

DATA LENGTH

RANGE

SCALING/ RESOLUTION

4 bytes

- 231 - +231-1

None

WRITE ACCESS With Password

DEFAULT Factory set

9111: C CURRENT SENSOR CALIBRATION GAIN This IDN is used to set a calibration gain for the C leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. IDN TYPE Operation Data

DATA TYPE Signed Decimal

DATA LENGTH

RANGE

SCALING/ RESOLUTION

4 bytes

- 231 - +231-1

None

WRITE ACCESS With Password

DEFAULT Factory set

9113: D CURRENT SENSOR CALIBRATION GAIN This IDN is used to set a calibration gain for the D leg current sensor. This IDN is write-protected until IDN 9000 Password is Set. IDN TYPE

DATA TYPE

DATA LENGTH

RANGE

SCALING/ RESOLUTION

WRITE ACCESS

DEFAULT

Operation Data

Signed Decimal

4 bytes

- 231 - +231-1

None

With Password

Factory set

JULY 2016

PAGE 6 - 37

IB-30B001 USER’S GUIDE

PAGE 6 - 38

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES DRIVES

JULY 2016

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

SECTION 7 - IO This section details the IO wiring and usage for the Luminary drivers. Figure 5.1 shows the required interconnect to all system components.

7.1 DIGITAL

INPUTS

There are four inputs available on the Luminary Drive. If the drive is setup as a stand-alone analog drive then the IO is predefined as shown in Figure 7.1. Other definitions of inputs in stand-alone mode may be custom defined with special firmware programming, contact IIS factory for details. In Figure 7.2, the definition shows the inputs for a multi-axis** configured drive, where inputs are defined with the motion control program developed using the EDE software. Input definitions for Luminary drive in stand alone analog mode INPUT #

NAME

ENABLE

TORQUE / VELOCITY

DESCRIPTION When the input is on, the drive is enabled. Setting the input OFF, then back ON again will reset drive faults and re-enable the drive. When the input is OFF the drive is in VELOCITY mode, setting the input ON will put the drive in TORQUE mode. (Ref: Section 8)

No predefined function and is available for custom functions.

Figure 7.1 Input definitions for Luminary drive in Multi-axis mode (requires use of LCMC-001 controller) INPUT #

NAME

DESCRIPTION

Generic Input

PROBE

Generic Input or a high-speed “trap the current motor position” input.

Figure 7.2 **Use the LDCA-001 option card to configure the drive as a network drive for multi-axis operations.

JUNE 2015

PAGE 7 - 1

IB- 30B001 USER’S GUIDE

7.2 DIGITAL

INDUSTRIAL INDEXING SYSTEMS, Inc. EMERALD SERIES MOTORS & DRIVES

OUTPUTS

There a two outputs available on the Luminary drive. If the drive is configured as a stand-alone analog drive then the outputs are predefined as shown in Figure 7.3. Other definitions of these outputs in this mode may be loaded with custom firmware, contact IIS factory for details. In Figure 7.2, the definition shows the inputs for a multi-axis** configured drive, where inputs are defined with the motion control program developed using the EDE software. Output definitions for Luminary drive in stand alone analog mode OUTPUT #

NAME

READY/FAULT

---

DESCRIPTION The output is ON when there is no fault on the drive, the output will turn OFF when the drive faults. On-board LEDs will flash the fault code. See section 8 for LED locations and fault codes. No predefined function and is available for custom functions.

Figure 7.3 Output definitions for Luminary drive in Multi-axis mode (requires use of LCMC-001 controller) INPUT #

NAME

---

Generic Output

---

Generic Output

DESCRIPTION

Figure 7.4

PAGE 7 - 2

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

7.3

IB-30B001 USER’S GUIDE

I/O WIRING CONFIGURATIONS

Each input and output of the Luminary I/O can be wired as sinking or sourcing independently. See Figure 7.5 for wiring descriptions. See Section 4 and 5 for I/O electrical specifications. DIGITAL INPUT WIRING Luminary Drive Sinking Input +Vdc

External Device Output

IN+ IN-

Luminary Drive Sourcing Input External Device Output

+Vdc IN+ IN-

DIGITAL OUTPUT WIRING Luminary Drive Sinking Output +Vdc

External Device Input

OUT+ OUT-

Luminary Drive Sourcing Output +Vdc

External Device Input

OUT+ OUT-

Figure 7.5

JANUARY 2017

PAGE 7 - 3

IB- 30B001 USER’S GUIDE

7.4

INDUSTRIAL INDEXING SYSTEMS, Inc. EMERALD SERIES MOTORS & DRIVES

MOTOR ENCODER INPUT

The Motor Encoder input is designed to sense the state of A, B, Z, U, V, W tracks of the motor Encoder. These inputs are 5V logic and can be wired as differential or single ended. Each channel is to be connected as shown in Figure 7.6. Note that the MODE pin is tied to Encoder Ground to Enable the Single ended feature. DIFFERENTIAL WIRING Encoder (Differential) Receiver

Motor Encoder (Differential) Output

A, B, Z

/MODE

/A, /B, /Z

GND

SINGLE ENDED WIRING Motor Encoder (Sinking) Output

Encoder (Sourcing) Receiver A, B, Z /MODE

/A, /B, /Z (No Connect

GND

Figure 7.6

7.5

DRIVE ENCODER OUTPUT

The Encoder output is designed to repeat the state of A, B, and Z of the motor Encoder out to an external controller. These outputs are differential drivers of 5V only. Each channel is to be connected as shown in Figure 7.7. Differential Receiver

A, B, Z

Luminary Encoder Output

/A, /B, /Z

Figure 7.7

PAGE 7 - 4

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

7.6 ANALOG

IB-30B001 USER’S GUIDE

INPUT

The Analog input is used to command torque or velocity when the drive is configured as stand alone analog mode. Digital input #2 is used to select either Velocity (in-active) or Torque Mode (active). Note: When the drive is configured as a Multi-axis Drive, the analog becomes a generic analog input Controlled by the LMC-400 controller software. The analog input is scaled using the Analog Input Velocity Scaling equation. The value is entered into the drive as parameter 0032 using L-Drive software on your PC, Scaling is calculated as follows.

7.6.1

VELOCITY MODE (STAND ALONE MODE): Analog-Input-Velocity-Scaling-Value = (AV / (S / 1000RPM)) * 100 Where, AV = Analog voltage at Maximum speed S = Maximum Speed of the motor in RPM Example A: When the motor is to run at 3000RPM at a command voltage of 10.0V Analog-Input-Velocity-Scaling = (10 / (3000 / 1000)) * 100 = 333 Example B: When the motor is to run at 6000RPM at a command voltage of 5.0V Analog-Input-Velocity-Scaling = (5 / (6000 / 1000)) * 100 = 83

7.6.2

TORQUE MODE (STAND ALONE MODE):

Torque Mode is selected when digital input #2 is active. Torque produced at the motor shaft is directly proportional to the input voltage where 10 volt is 100% of the maximum torque on the motor. The sign of the input voltage controls torque direction.

7.7 ANALOG

OUTPUT

Either velocity or torque can be monitored with the option card LDAA-001 installed on the LD drive by plugging it into the J2 connector. (See Appendix C for installation details.) Interface connector pin call out:

LDAA-001

JUNE 2015

- 12Vdc 50ma

12V Return

+12Vdc 50ma

Shield

Analog Return

Analog Out +/- 10v

PAGE 7 - 5

IB- 30B001 USER’S GUIDE

PAGE 7 - 6

INDUSTRIAL INDEXING SYSTEMS, Inc. EMERALD SERIES MOTORS & DRIVES

JUNE 2015

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IB-30B001 USER’S GUIDE

SECTION 8 - STATUS INDICATORS AND FAULT CODES 8.1

DRIVE STATUS INDICATORS

GREE Green LED Red LED LD‐330 or LD‐500 Figure 8.1‐ Servo Drive Status Indicator Locations

Green LED Red LED LD‐500/T Figure 8.2‐ Stepper Drive Status Indicator Locations

JUNE 2015

PAGE 8 - 1

IB-30B001 USER’S GUIDE

8.1.1

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

INDICATOR OPERATIONS

GREEN LED

RED LED

DESCRIPTION

REMEDY

OFF

Firmware memory checksum Failure

FLASHING

OFF

Drive Disabled – Normal Operation

Consult Factory OK

OFF

Drive Enabled – Normal Operation

Coded flash sequences indicating a fault: OFF

OFF

FLASH FOR 10’s

OFF

FLASH FOR 1’s

OFF

REPEAT

The drive will momentarily flash both LEDs followed by a fault code. The Green will flash the 10’s place first then the red will flash the 1’s place. These values define the fault code from 01 to 99. Note: If an LED does not flash for a place then that places value is 0. Fault code F01 would not flash the Green LED, just the Red LED one time. Flashing Example:

Fault Code 25 GREEN RED OFF OFF ON ON OFF OFF F ON OFF OFF OFF ON OFF OFF OFF 2 OFF ON OFF OFF OFF ON OFF OFF OFF ON OFF OFF OFF ON OFF OFF OFF ON OFF OFF 5 REPEAT from top

Look up code on the Fault Code Chart

The Green LED flashed twice then the RED LED flashed 5 times. This would indicate a Fault 25. Table 8.1 - LED Status Indicator Sequences

PAGE 8 - 2

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

8.2

IB-30B001 USER’S GUIDE

FAULT CODE CHART

FAULT CODE F01 Internal Power Module Error

F02 Overvoltage

F03 Under Voltage F07 Power Stage Error

F10 Regen Resistor Open

F15 Excessive Current

F16 Speed/Torque Saturated

F17 Motor over current

DESCRIPTION

REMEDY

Driver has detected the following:  Over current  Over temp  Gate voltage drop

Check if the motor wire (A/B/C) is shorted or grounded. Ambient temperature over 45 C. Indicates a fatal fault in the driver power stage. If motor wires are not shorted and temperature is below 45 C, contact IIS factory.

DC power bus exceeds maximum bus voltage.

Power line voltage fluctuation above maximum. 240 VAC for Servo, 36 VDC for Stepper. Excessive regeneration energy. Check line voltage fluctuations. Add additional external regeneration resistor.

DC power bus below minimum bus voltage.

Power line voltage fluctuation below minimum. 110 VAC for Servo, 36 VDC for Stepper. Check line voltage fluctuations.

Main control unit does not recognize the power stage of the driver.

Indicates a fatal fault in the driver power stage. Contact IIS factory.

Regen power transistor is ON for more than 50ms.

WITH POWER OFF FOR 5 MINUTES: Verify with an ohmmeter that the regen resistor is the proper value and that all wiring to the resistor is secure. Verify the Regen resistor is properly sized. Verify the load is properly sized for the system. Verify the motor shaft is not being rotated by an external source.

Motor current exceeds the rating by 120%.

Check if the motor wire (A/B/C) is shorted or grounded. Verify that motor shaft or machine system is not jammed. Check that the proper motor parameters have been sent to the drive.

Internal velocity control loop has saturated and the maximum torque was applied for more than 3 seconds.

Verify that motor shaft or machine system is not jammed. Check that the proper motor parameters have been sent to the drive. Acel/decel rate is too large for the inertia load on the motor, which reached maximum torque during acel/decel.

Current in the motor has exceeded the limits of the motor specifications.

Table 8.2 - Fault Codes

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PAGE 8 - 3

IB-30B001 USER’S GUIDE

8.2

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

FAULT CODES (cont’d)

FAULT CODE

DESCRIPTION

REMEDY

F25 Options Check

Self-diagnostic checks of an option failed or wrong option card installed.

Option card configured in program does not match installed option card. Option card not functioning to specification. Contact IIS factory.

F26 Motor Code Error

Selected motor code is invalid.

Verify motor code parameters. Verify I/O state to the drive when motor code is set by digital inputs.

F30 Self Calibration Complete

Drive has completed self calibration function, cycle power to drive.

Cycle power to the drive.

F40 Encoder Signal Short

U, V or W phases of encoder not functional.

Check encoder cable and connections.

F50 Cycle Power

A parameter has changed value that requires a power cycle of the drive.

Cycle power to the drive.

F51 Unsupported PWM Frequency

Drive has been configured to operate at a PWM frequency not supported.

Change PWM Frequency to a valid frequency for drive.

F70 Following Error

Motor is not following the commanded position

Check monitoring window Check for binding in mechanical travel of motor. Check the back EMF of the motor at the desired speed does not exceed the AC input voltage.

F72 Stored Parameter Failure

Drive calibration data has been lost.

Contact IIS Factory at (585 924 9181) or repair@iisservo.com.

F74 Encoder Phase Error

Encoder A or B tracks are out of phase with U track.

Check encoder wiring. Make sure there are no loose connections. Make sure encoder cable is separated from any high-power wiring.

F75 W-Phase OverCurrent

W-phase current exceeds the rating by 120%.

Check if the motor wire (A/B/C) is shorted or grounded. Verify that motor shaft or machine system is not jammed. Check that the proper motor parameters have been sent to the drive.

F80 Communication Error From Luminary Controller

Drive has detected at least 2 consecutive Cyclic Master Communication Packets in the communication from the controller

Check For Factory Specified Communication Cable. Verify proper grounding on controller and drive. Check if controller is operating normally. Replace Communication Cable if necessary.

PAGE 8 - 4

JULY 2016

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8.2

IB-30B001 USER’S GUIDE

FAULT CODES (cont’d)

F81 Communication Error From Luminary Controller

Drive has detected invalid data in the Cyclic Master Communication Packets in the communication from the controller.

Check For Factory Specified Communication Cable. Verify proper grounding on controller and drive. Check if controller is operating manually. Replace Communication Cable if necessary.

F86 Invalid Operation Mode

A request was made to switch to an invalid operation mode.

Check for a programming error.

F87 Communications Watchdog Timeout

The master talking to the drive has not kicked IDN 0070 within the time setting defined in IDN 0069.

Check the communications cabling. Check the master device of the communications. Check the setting in IDN 0069.

Table 8.2 - Fault Codes (cont’d)

JULY 2016

PAGE 8 - 5

IB-30B001 USER’S GUIDE

8.3 SBI

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

Communications Status Indicators

Figure 8.3 RJ‐45 SBI Connector

GREEN LED OFF

YELLOW LED ON

OFF

FLASH or DIM

STATUS No Communication to Controller Communication to Controller Established – No Errors Communications Packet Errors. Verify proper grounding of controller and drive (Sec 5.2). Verify proper communication cable and routing (Sec 5.2.4). Table 8.3 - Communications Status Indicators

Note: The LD drive will only have these two indicators if the Drive Network option, which uses the SBI communications, is installed. Use the Drive Network option to interconnect to the multi-axis controller LMC-400. The SBI Communication feature is built-in to the LSTP stepper drive.

PAGE 8 - 6

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IB-30B001 USER’S GUIDE

APPENDIX A - MOUNTING A.1

MOUNTING PLATE OVERVIEW

There are several configurations available for the Luminary drive.  “L” bracket  Flat mounting plate, which is the standard configuration.  Customer specific mounting configuration provided by IIS.  No mounting plate (customer supplied heat sink), mounting pattern detailed in Section A.2.3.

A.2

MOUNTING PLATE SPECIFICATIONS

A.2.1 “L” BRACKET Two mounting holes are located in the specified locations. Use M4 type screws. NOTE: The Servo drive must have airflow of 330 ft/min (33 cfm) across it to properly cool the drive. CAUTION is required when handling the drive, it is a STATIC SENSITIVE product and the installer should follow all static control procedures when handling the drive. Always remove the drive when drilling into any metal or conductive material. If conductive material is dropped onto the drive and power is applied, damage or destruction of the device can occur. 3.3A and 5A Servo Drive

For a compact single axis positioner, the Luminary Controller (LMC-400) can be mounted on the opposing side of the “L” bracket.

OCTOBER 2018

PAGE A - 1

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

5.500 5.284 5.096

0.404 0.216 X DATUM

10A Servo Drive

Y DATUM 0.394 R0.094

0.312

2.750

5.063

1.563 1.688 C'SINK ∅0.213 X 90°

0.170 X DATUM

1.175 1.044 0.900

3.700

5.50 5.205 4.900

∅0.125 THRU

Y DATUM 0.170 1.010 1.677 1.951

M3 TAP THRU (12X)

2.415 3.109

0.313 0.000

2.750

M3 TAP, 0.38 DP (3X)

5.063

4.030 4.080 4.30

0.000 0.250

A.2.2 FLAT PLATE Four mounting holes are located in the specified locations. Use M4 hardware. The 5A and 10A Servo drive must be mounted down to an aluminum or steel plate; minimum size 10” by 10” by 3/16” thick to properly cool the drive. CAUTION is required when handling the drive, it is a STATIC SENSITIVE product and the installer should follow all static control procedures when handling the drive. Always remove the drive when drilling into any metal or conductive material. If conductive material is dropped onto the drive and power is applied, damage or destruction of the device can occur.

The LD series drive mounting dimensions and clearance when the flat mounting plate is used. PAGE A - 2

OCTOBER 2018

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

A.2.3 WHEN OPTING TO MOUNT ON YOUR OWN PLATE When the customer opts to use his or her own mounting plate the following information applies. Use 8 mm male/female M3 standoffs in five locations to properly set the space between the board and the mounting surface. Use part number AA5171-08.0 or AL5171-08.0 available from LYN-TRON INC. The mounting surface must be clean and flat within 0.010”. Heat sink grease is to be applied on the two PC board components mounted on the bottom side of the board. Use product number CT40-5 available from ITW CHEMTRONICS or an equivalent. To properly dissipate heat from the 3.3 amp LD series drive, a plate of aluminum measuring at least 8” by 8” by 3/16” thick is required to act as a heat sink. To properly dissipate heat from the 5.0 amp LD series drive, a plate of aluminum measuring at least 10” by 10” by 3/16” thick is required to act as a heat sink. CAUTION: These are STATIC SENSITIVE products. The installer should follow all anti-static control procedures when handling the drive.

JUNE 2015

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IB-30B001 USER’S GUIDE

PAGE A - 4

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

SECTION B - MOTORS / CABLES / ACCESSORIES B.1 MOTOR

OVERVIEW

There are several motors available for use with the Luminary Series Drives. Motor -- Drive package details are shown below. If the available packages do not meet your needs, please contact IIS for more details. IIS will customize packages for your application, contact IIS sales for more details.

MOTOR -- DRIVE PACKAGES

SERVO based packages

STEPPER based packages

JUNE 2015

PAGE B - 1

IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

B.1.1 SERVO MOTOR/DRIVE PACKAGE SPECS AND SERVO MOTOR DRAWINGS LSM40-050/30E

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

0.32

2164

0.95

230 Vac

0.32

3000

0.95

115 Vac

0.32

2164

0.95

230 Vac

0.32

3000

0.95

ESM40-100/30E

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

0.32

2164

0.95

230 Vac

0.32

3000

0.95

115 Vac

0.32

2164

0.95

230 Vac

0.32

3000

0.95

ESM60-100/30E

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

0.32

2164

0.87

230 Vac

0.32

3000

0.87

115 Vac

0.32

2164

0.87

230 Vac

0.32

3000

0.87

ESM66-125/15E-1

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

PAGE B - 2

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

0.32

2164

0.95

230 Vac

0.32

3000

0.95

115 Vac

0.32

2164

0.95

230 Vac

0.32

3000

0.95

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

LSM40A-xx

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

0.32

2164

0.95

230 Vac

0.32

3000

0.95

115 Vac

0.32

2164

0.95

230 Vac

0.32

3000

0.95

LSM60B-xx

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

0.64

1970

1.91

230 Vac

0.64

3000

1.91

115 Vac

0.64

1970

1.91

230 Vac

0.64

3000

1.91

LSM60C-xx

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

1.27

1582

2.55

230 Vac

1.27

3000

2.55

115 Vac

1.27

1582

3.78

230 Vac

1.27

3000

3.78

LSM80C-xx

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

JUNE 2015

IB-30B001 USER’S GUIDE

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

1.49

1863

2.39

230 Vac

1.49

3000

2.39

115 Vac

1.91

1863

3.83

230 Vac

1.91

3000

3.83

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IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

ESM60A-xx

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

1.27

3000

2.82

230 Vac

1.27

3000

2.82

115 Vac

1.27

3000

3.82

230 Vac

1.27

3000

3.82

ESM80C-C

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

3.50

1150

6.22

230 Vac

3.50

2000

6.22

115 Vac

3.50

1150

9.95

230 Vac

3.50

2000

9.95

ESM80-600/30E

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

Input Voltage

LD-330

LD-500

PAGE B - 4

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac 230 Vac 115 Vac 230 Vac

ESM80-750/30E

MOTOR PART NUMBER DRIVE PART NUMBER

Rated Torque (Nm)

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

2.39

3000

4.17

230 Vac

2.39

3000

4.17

115 Vac

2.39

3000

4.17

230 Vac

2.39

3000

4,17

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

ESM85A

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

1.90

1770

4.00

230 Vac

1.90

2000

4.00

115 Vac

1.90

1770

5.70

230 Vac

1.90

2000

5.70

ESM85B

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

2.84

1855

4.73

230 Vac

2.84

2000

4.73

115 Vac

2.84

1855

7.57

230 Vac

2.84

2000

7.57

ESM85C

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

JUNE 2015

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

2.90

1730

4.68

230 Vac

2.90

2000

4.68

115 Vac

3.53

1730

7.48

230 Vac

2.53

2000

7.48

PAGE B - 5

IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

ESM90B-C

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

3.50

1200

5.90

230 Vac

3.50

2600

9.44

115 Vac

3.50

1200

5.90

230 Vac

3.50

2600

9.44

ESM125C(II)

MOTOR PART NUMBER DRIVE PART NUMBER LD-330

LD-500

PAGE B - 6

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

115 Vac

7.00

510

11.25

230 Vac

7.00

1260

18.02

115 Vac

7.20

510

11.25

230 Vac

7.20

1260

18.00

JUNE 2015

SYM

10SEP13

DATE

13-143

REVISION RECORD

PER ECN

FROM ENCODER

GREEN GREEN/BLACK BLUE BLUE/BLACK YELLOW YELLOW/BLACK BROWN BROWN/BLACK WHITE WHITE/BLACK GRAY GRAY/BLACK RED BLACK

HYC

E5V E0V SHLD

APP

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 11 9 7 5 3 1

8 6 4 2

14 12

GREEN

BLUE

YELLOW

BROWN

WHITE

GRAY

RED

SHIELD

PROJECTION

5 [0.19]

APP ROVED BY / DATE

JC/10SEP13

DRAWN BY / DATE

FINISH

---

MATERIAL

MOTOR CASE

85.3±1 [3.36±0.04]

PIN 4 YELLOW/ GREEN

PIN 3 RED

23.8±0.8 [0.94±0.03]

PIN 2 BLACK

PIN 1 YELLOW

45 [ 1. 77]B.C.

DIMENSIONS ARE mm [INCHES]

40 [1.57]

TOLE RANCES

X.XX± ---

X.XXX± ---

www.iis-servo.com

INDUSTRIAL INDEXING SYSTEMS, Inc.

INSE RT RELEASE TOOL HERE

PIN 4 PIN 3 PIN 2 PIN 1

GREEN

RED

BLACK

YELLOW

VIEW OF CONNE CTOR WIRE INSE RTION SIDE

AR MATURE CONNE CTION

DETAIL B

PIN 1 GREEN

SEE D ETAIL A CONNECTOR: AMP. 102387-3 PIN (X15): 2-87523-3

Figure B.1 – LSM40-50/30E

2.6 [0.10]

THIS DRAWING ANDTHEDATA CONTAINEDTHEREIN ARE PROPRIETARY INFORMATION OF INDUSTRIAL INDEXING SYSTEMS. IT IS ISSUED IN STRI CT CONFIDENCE AND MAY NOT BE REPRODUCED, COPIED OR USED FORNY A PURPOSE WHATSOEVERWITHOUTTHE PRIORWRITTEN PERMISSION OF INDUSTRIAL INDEXING YSTEMS. S

VIEW OF CONNE CTOR WIRE INSE RTION SIDE

GREEN/BLACK

BLUE/BLACK

YELLOW/BLACK

BROWN/BLACK

WHITE/BLACK

BLACK GRAY/BLACK

NO CONNECTION

ENCODER CONNE CTION

DETAIL A

0.0000 [ 1.181 -0.0008 ] 0.000 30 -0.021

150 [6.0] 20.5±0.2 [0.81±0.01]

0.0000 [ 0.197 -0.0005 ] 0.000 5-0.013

SEE D ETAIL B CONNECTOR: WAGO 734-104

150 [6.0]

JUNE 2015 3.5 [

± --

11 [0.44]MAX REV 0

SCALE:

CAD

DATE

LSM40-50/30E

DRAWING NUMBER

10SEP13

MOTOR, 40mm, 50W, 3000RPM

TITLE

0.1 4]

40 [1.57]

NOTES: 1. ZERO PER IIS PIB-120002.

SH.

1 OF 1

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES IB-30B001 USER’S GUIDE

B.1.2 SERVO MOTOR DRAWINGS

PAGE B - 7

PAGE B - 8

FROM ENCODER

GRN GRN/BLK BLU BLU/BLK YEL YEL/BLK BRN BRN/BLK WHT WHT/BLK GRY GRY/BLK RED BLK

A A B B Z Z U U W W V V E5V E0V SHLD

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 9 7 5 3 1

10 8 6 4 2

12 11

14 13

GRN

BLU

YEL

BRN

WHT

GRY

VIEW OF 102837-3 CONNECTOR WIRE INSERTION SIDE

GRN/BLK

BLU/BLK

YEL/BLK

BRN/BLK

WHT/BLK

GRY/BLK

SHIELD RED

BLK

2.91 [73.9]

N.C.

ENCODER CONNECTION

16 15

SEE DETAIL A

6.0" [150MM]

DETAIL A

NOTES: 1. SHAFT SEAL STANDARD. 2. MOTOR MAY BE MOUNTED IN ANY ORIENTATION. 3. MOTOR WEIGHT: 0.88 LBS [0.4 KG]

DETAIL B

GRN

BLK

WHT

FINISH

MATERIAL

APPROVEDBY

CHECKEDBY

INSERT RELEASETOOL HERE

PIN 4 PIN 3 PIN 2 PIN 1

VIEW OF 734-104 CONNECTOR WIRE INSERTION SIDE

RED

---

0.1179 0.1169

7.990 ] [ 8.000

Figure B.2 – ESM40-100/30E

ARMATURE CONNECTION

0.71 [18.0]

0.57 [14.5]

Ø0.3150 0.3146

0.28 [7.0] 0.10 [2.5]

SEE DETAIL B

DATE

6.00 ] [ 6.20

14JUL11

[

30.00 29.87

0.18 [ 4.5] 2 HOLES ON Ø1.81 [Ø46.0] BC

1.181 1.176

PER ECN 11-112

11-011

REVISION RE CORD PER ECN

www.iis-servo.com

INDUSTRIAL INDEXING SYSTEMS,Inc.

SYM

X.X± --X.XX± --X.XXX± ---

TOLERANCES ± ---

CAD

14JAN11

DATE

CAD

SCALE

Q\CURRENT DWGS

AutoCAD FILELOCATION

DRAWNBY

MOTOR, 40MM

INDUSTRIAL INDEXING S YSTEMS, Inc.

ANGULAR

UNLESS OTHERWISE SPECIFIED DIMENSIONS ARE INCHES (mm)

TITLE

1 OF 1

SHEET NO.

REVISION

]

ESM40-100/30E

DRAWING NUMBER

THIS DRAWING, ANDTHE DATA CONTAINEDTHEREIN, ARE PROPRI O F; INDUSTRIAL ETARY INFOR MATION INDEXING SYSTEMS,Inc. AND IS ISSUED IN STRICT CONFIDENCE, AND IT SHALL NOT BE REPRODUCED, COPIED, OR USED FOR ANY PURPOSEWHATSOEVER, WITHOUTTHE PRIORWRITTEN PERMISSION OF;

0.244 0.236

2.970 ] [ 2.995

DATE 14JAN11

IB-30B001 USER’S GUIDE INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

JUNE 2015

4. IP-55 SEALING. 5. MOTOR WEIGHT: 2 KG [4.4 LBS].

3. ENCODER 2500 LINE COUNT.

1. THRUST LOAD 12 KG [26 LBS]. 2. RADIAL LOAD 71 KG [157 LBS].

NOTES:

SEE DETAIL A

21.5" [550MM]

5.39 [137.0]

SEE DETAIL B

0.12 [3.0]

FROM ENCODER

0.79 [20.0]

W W

WHT WHT/BLK

E0V

BLK

]

SHLD

E5V

RED

BRN/BLK

BRN

GRY

YEL/BLK

GRY/BLK

B Z

BLU/BLK YEL

GRN BLU

12.700 +0.000 -0.012

GRN/BLK

[

BLK

]

FINISH

MATERIAL

APP ROVED BY

CHECKED BY

---

DATE

GRN

BLU

YEL

BRN

WHT

GRY

RED

SHIELD

0.22 [ 5.5]4 HOLES ON Ø2.756 [Ø70.00] BC

[ 50.00 49.87

VIEW OF 102837-3CONNECTOR WIRE INSERTION SIDE

GRN/BLK

BLU/BLK

YEL/BLK

BRN/BLK

WHT/BLK

GRY/BLK

4 3

N.C.

ENCODERCONNECTION

DETAIL A

Figure B.3 – ESM60A(I)C1

0.47 [11.9]

1.18 [30.0]

0.5000 +0.0000 -0.0005

1.969 1.964

DATE

WHT

GRN

BLK

INSERT RELEASETOOL HERE

PIN 4 PIN 3 PIN 2 PIN 1

RED

www.iis-servo.com

X.X± --X.XX± --X.XXX± ---

TOLE RANCES

± ---

ANGULAR

UNLESSOTHERWISE SPECIFIED DIMENSIONS ARE INCHES (mm)

CAD

06JAN11

DATE

CAD

SCALE

Q\CURRENT DWGS

AutoCAD FILE LOCATION

DRAWN BY

MOTOR, 60MM

INDUSTRIAL INDEXING S YSTEMS, Inc.

1 OF 1

SHE ET N O.

REVISION

ESM60A(I)C1

DRAWING NUMBER

THIS DRAWING, ANDTHE DATA CONTAINEDTHEREIN, ARE PROPRI F;OINDUSTRIAL ETARY INFOR MATION INDEXING SYSTEMS,Inc. AND IS ISSUED IN STRI CT CONFIDENCE, AND IT SHALL NOT BE REPRODUCED, COPIED, OR USED FOR ANY PURPOSEWHATSOEVER,WITHOUTTHE PRIORWRITTEN PERMISSION OF; TITLE

DR JC

INDUSTRIAL INDEXING SYSTEMS, Inc.

VIEW OF 734-104CONNECTOR WIRE INSERTION SIDE

10-029

REVISION RECORD PER ECN

DETAIL B

SYM

ARMATURE CONNECTION

06JAN11

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES IB-30B001 USER’S GUIDE

PAGE B - 9

PAGE B - 10

FROM ENCODER

A A B B Z Z U U W W V V E5V E0V SHLD

MATING SOCKET: ENCODER: PLS-2816-PF

VIEW OF CONNECTOR

GRN/BLK GRN BLU/BLK BLU YEL YEL/BLK BRN BRN/BLK WHT WHT/BLK GRY GRY/BLK RED BLK

ENCODERCONNECTION JR25JK-16P

DETAIL A

6) MOTOR FINISH: SEMIGLOSS BLACK

1) MOTOR SEALEDTO IP65. 2) MOTOR SHAFT S45C STEEL 3) THRUSTLOAD: 22 LBS [10KG] 4) RADIALLOAD 77 LBS [35KG] MAX @ .787 [20MM] FROM FACE 5) MOTOR WEIGHT: 5.5 LBS [2.5KG]

NOTES:

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 C

1 2 3 4

GRN

BLK

WHT

RED

MATING SOCKET: MOTOR: 39-01-2045

VIEW OFCONNECTOR

0.1964 0.1952

4.957 ] [ 4.988

DETAIL C

0.31 [8.0] 0.12 [3.0] 0.28 [7.0] 4.32 [109.7]MAX

9" [225MM]

0.433 0.425

1.42 1.34

[

]

[

1.08 [27.6]

]

70.000 [ 69.970 ]

14.000 13.990

Ø2.7559 2.7547

10.80 ] [ 11.00

0.5512 0.5508

36.0 34.0

0.79 [20.0]

Ø1.34 [34.0]

SEE DETAIL C

Figure B.4 – ESM80-750/30E

ARMATURE CONNECTION MOLEX: 39-01-2046

DETAIL B

SEE DETAIL A

SEE DETAIL B

DATE

0.51 [13.0]

0.260 [ 6.60] 4 PLACES ON Ø3.543 [90.00] BC

10-001

REVISION RECORD PER ECN

www.iis-servo.com

X.X± --X.XX± 0.01 X.XXX± 0.005

TOLE RANCES

INDUSTRIAL INDEXING S YSTEMS, Inc.

± 0°30'

ANGULAR

JBC

10MAR10

DATE

NTS

SCALE

Q:\CURRENT DWGS

AutoCAD FILE LOCATION

DRAWN BY

BRUSHLESS SERVO MOTOR UNLESSOTHERWISE SPECIFIED DIMENSIONS ARE INCHES (mm)

TITLE

DR JC

INDUSTRIAL INDEXING SYSTEMS,Inc.

SYM

1 OF 1

SHE ET NO.

REVISION

ESM80-750/30E

DRAWING NUMBER

3.15 [80.0] SQ

10MAR10

IB-30B001 USER’S GUIDE INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

JUNE 2015

SYM

DATE

BRN/BLK

15 7

13-058

REVISION RECORD

PER ECN

PER ECN 14-006 DR

MATINGCONNECTOR: CONNECTOR: MA1LAE1700 SOCKETS: SC000044

CONNECTOR: MA1CAP1700 PINS: SC000035 BACKSHELL:MA4FSR-A8.5

FRONTVIEW OFCONNECTOR

E0V

E5V

RED

BLK

GRY

GRY/BLK

WHT

11 1 12 10 2 13 16 9 17

SHLD

BRN

WHT/BLK

APP

CASE

PROJECTION

DETAIL B

1 A

3 D

[WH T] [BLK]

BLK

GRN

YEL

BLU

RED

MOTOR CONNECTION

CONNE CTOR CL AMP

7.01 [178.0]

FINISH

-----

MATERIAL

1.38 [35.0]

2.7559 2.7547

0.98 [25.0]

DIMENSIONS ARE INCHES [mm]

Figure B.5 – ESM80C-C2

APP ROVED BY / DATE

JBC 02 MAY13

MATINGCONNECTOR: CONNECTOR: MB1LLN0800 2.0 mm PINS: SC000036 1.0 mm PINS: SC000035

0.12 [3.0]

0.31 [8.0]

2.92 [74.3]

SEE DETAIL B

CONNECTOR: MB1CKN0800 2.0 mm SOCKETS: SC000045 1.0 mm SOCKETS: SC000044 BACKSHELL: MB3CG-S1

DRAWN BY / DATE

FRONTVIEW OFCONNECTOR

Victor, NewYork

30MAY13

YEL/BLK

Serial Number

SEE DETAIL A

Part Number

14FEB14

ORN/BLK YEL

1 3

48.0 [1200]

2.94 [74.7]

INDUSTRIAL INDEXING SYSTEMS

FROM ENCODER

ORN [BLU]

[BLU/BLK]

A A

GRN

GRN/BLK

ENCODER CONNE CTION

DETAIL A

6. MOTOR WEIGHT: 3.7 KG [8.2 LBS].

4. IP-65 SEALING.

3. ENCODER 2500 LINE COUNT.

2. RADIAL LOAD 71 KG [157 LBS].

1. THRUST LOAD 12 KG [26 LBS].

NOTES:

0.197 0.196

TOLE RANCES

X.XX± 0.02

X.XXX± 0.005

www.iis-servo.com

DETAIL C

Ø6.0 [Ø0.24] HOLES E Q. SP. ON Ø90.00 [Ø3.543] B.C. 4X

3.15 [80.0]

4.97 ] [ 5.00

± --

REV A

0.6299 0.6292

[

16.000 15.981

SCALE:

CAD

DATE

]

02 MAY13

ESM80C-C2

MOTOR, 80 MM DRAWING NUMBER

TITLE

0.53 [13.5]

MOTOR SHAFT DIMENSIONS ENLARGED

INDUSTRIAL INDEXING SYSTEMS, Inc.

70.000 [ 69.970 ]

SH.

1 OF 1

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES IB-30B001 USER’S GUIDE

PAGE B - 11

PAGE B - 12

FROM ENCODER

A A B B Z Z U U W W V V E5V E0V SHLD

MATING SOCKET: ENCODER: PLS-2816-PF

VIEW OFCONNECTOR

GRN/BLK GRN ORG/BLK ORG YEL YEL/BLK BRN BRN/BLK WHT WHT/BLK GRY GRY/BLK RED BLK

ENCODERCONNECTION PLS-2816-RM

DETAIL A

A B

GRN

BLU

WHT

BLK

RED

VIEW OF CONNECTOR MATING SOCKET: MOTOR: MS3106A22-23S

245.0 MAX [9.65]

DETAIL C

11.00 [0.433]

14.000 13.985

5.000 4.997

[

0.5512 0.5506

[

0.1969 0.1967

30.0 [1.18]

]

80.00 79.98

20.0 [0.79]

3.0 [0.12]

11.0 [0.43]

MOTOR SHAFT DIMENSIONS

Figure B.6 – ESM90B-C

215.0 MAX [8.47]

THERMAL OVERLOAD 155 DEGREE C SWITCH 115 VAC/VDC MAX 1 AMP MAX NORMALLY CLOSED

SEE D ETAIL "B"

ARMATURE CONNECTION MS3102E22-23P

DETAIL B

SEE D ETAIL "A"

140.00 MAX [5.51]

4 3 11 12 5 6 8 7 2 1 10 9 13 14 15

4. MOTOR WEIGHT 6 KG [13 LBS.].

3. IP-65 SEALING.

2. MOTOR SHAFT SEAL IS S TANDARD.

1. MOTOR CAN BE MOUNTED IN A NY POSITION.

NOTES:

Ø7.0 [Ø0.28] HOLES E Q. SP. ON Ø100.0 [Ø3.937] B.C. 4X

09-064

REVISION RECORD PER ECN

92.0 [3.62]

X.X± - X.XX± 0.25 X.XXX± 0.125

TOLE RANCES

www.iis-servo.com

± --

22JUN09

DATE

CAD

SCALE

CHRISD. AutoCAD FILE LOCATION

DRAWN BY

MOTOR, EMERALD SERIES

INDUSTRIAL INDEXING S YSTEMS, Inc.

ANGULAR

UNLESSOTHERWISE SPECIFIED DIMENSIONS ARE MM [INCHES]

TITLE

INDUSTRIAL INDEXING S YSTEMS, Inc.

SYM

1 OF 1

SHE ET N O.

ESM90B-C

DRAWING NUMBER

THIS DRAWING, ANDTHE DATA CONTAINEDTHEREIN, ARE F;OINDUSTRIAL PROPRI ETARY INFOR MATION INDEXING SYSTEMS,Inc. AND IS ISSUED IN STRI CT CONFIDENCE, AND IT SHALL NOT BE REPRODUCED, COPIED, OR USED FOR ANY PURPOSEWHATSOEVER,WITHOUTTHE PRIORWRITTEN PERMISSION OF;

SEE D ETAIL "C"

3.149 ] [ 3.150

DATE 22JUN09

REVISION

IB-30B001 USER’S GUIDE INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

JUNE 2015

FROM ENCODER

WHT/BLK

Victor, NewYork

Serial Number

Made inTaiwan

H D

A B

GRN

BLK

WHT

"L" MAX

8.5 [0.34]

32.5 [1.28]

DETAIL C

MOTOR WEIGHT (kg [lb])

KEY WIDTH (W)

KEY DEPTH (K)

SHAFT DIAMETER (S)

MOTOR BODY LENGTH (L)

[ 2.7559 2.7545 ]

"K"

"S"

"W"

MOTOR SHAFT DIMENSIONS M5 X 0.8THD 20.0 [0.79] DP

2.5 [0.10]

70.000 69.965

SEE DETAIL"C"

3.0 [0.12]

20.0 [0.79]

Figure B.7 – ESM85X-C

THERMAL OVERLOAD 115 VAC/VDC MAX 1 AMP MAX NORMALLY CLOSED

MATING SOCKET: MOTOR: MS3106A22-23S

RED

MATING SOCKET: ENCODER: PLS-2816-PF

ARMATURE CONNECTION MS3102A22-23P

DETAIL B

Part Number

INDUSTRIAL INDEXING SYSTEMS

VIEW OF CONNECTOR

132.6 [5.22] MAX

VIEW OF CONNECTOR

SHLD

E0V

BLK

E5V

RED

W V

WHT

GRY

BRN

BRN/BLK

GRY/BLK

B Z

YEL

YEL/BLK

BLU

A A

GRN

BLU/BLK

GRN/BLK

ENCODER CONNECTION PLS-2816-RM

DETAIL A

5.) M OTOR SHAFT SEAL IS S TANDARD.

4.) I P-55 SEALING.

SEE DETAIL "B"

Ø7.0[Ø0.28] HOLES EQ. SP. ON Ø100.0[Ø3.937] B.C. 4X

[0.5512 0.5509 ]

3.0 [6.6]

4.0 [8.8]

4.988 [0.1964] 4.958 [0.1952]

13.50 [0.531]

0.6296 ] [0.6299

5.0 [11.0]

4.988 [0.1964] 4.958 [0.1952]

13.50 [0.531]

16.000 15.992

6.0 [13.2]

X.X± .25 X.XX± .125 X.XXX± ---

TOLE RANCES

C.DRAPER

01NOV06

DATE

SCALE

Q:\CURRENT DWGS.

AutoCAD FILE LOCATION

DRAWN BY

MOTOR, EMERALD SERIES

INDUSTRIAL INDEXING S YSTEMS, Inc.

ANGULAR

UNLESSOTHERWISE SPECIFIED DIMENSIONS ARE MM [INCHES]

TITLE

1 OF 1

SHE ET N O.

ESM85X-C

DRAWING NUMBER

REVISION

4.988 [0.1964] 4.958 [0.1952]

www.iis-servo.com

0.6299 [0.6296 ]

13.50 [0.531]

16.000 15.992

220.0 [8.66]

ESM85D-C

INDUSTRIAL INDEXING SYSTEMS,Inc.

0.6296 ] [0.6299

200.0 [7.87] 16.000 15.992

ESM85C-C 192.5 [7.58]

C ESM85B-C

85.0 [3.35] SQ.

PER ECN 07-227

PER ECN 07-119

PER ECN 07-082

06-227

REVISION RECORD PER ECN

4.988 [0.1964] 4.958 [0.1952]

11.50 [0.453]

14.000 13.992

160.0 [6.30]

ESM85A-C

17AUG07

2.) RADIAL LOAD 71 KG 157 LBS.

SEE DETAIL"A"

24APR07

3.) EN CODER 2500 LINE COUN T.

19APR07

1.) THRUST LOAD 12 KG 26 LBS.

NOTES:

SYM A

DATE 01NOV06

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES IB-30B001 USER’S GUIDE

PAGE B - 13

IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

B.1.3 STEPPER MOTOR/DRIVE PACKAGE SPECS AND STEPPER MOTOR DRAWINGS

LPM-N17-1R3A030

MOTOR PART NUMBER DRIVE PART NUMBER

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

LD-500T

18 Vac –36 Vac

TBD

LPM-N23-2R8A270

MOTOR PART NUMBER DRIVE PART NUMBER

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

LD-500T

18 Vac –36 Vac

1.00

100

1.18

LPM-N23-3R0A382

MOTOR PART NUMBER DRIVE PART NUMBER

Input Voltage

Rated Torque (Nm)

Speed (rpm) @Rated Torque

Peak Torque (Nm)

LD-500T

18 Vac

1.22

100

1.5

PAGE B - 14

JUNE 2015

DETAIL A

A-

A+

BBLU

SYM

DATE

13-072

REVISION RECORD

PER ECN DR

APP

PROJECTION

DRAWN BY / DATE

APP ROVED BY / DATE

CHEN/31 MAY13 FINISH

---

MATERIAL

DIMENSIONS ARE INCHES [mm]

Figure B.8 – LPM-N17-1R3A030

SEE DETAIL A

11.8 [30]

4 X2

TOLE RANCES

X.XX± ---

X.XXX± ---

www.iis-servo.com

INDUSTRIAL INDEXING SYSTEMS, Inc.

AMT ± --

2 CU I

LPM-N17-1R3A030

REV 0

SCALE:

CAD

DATE

31 MAY13

MOTOR ASSEMBLY

DRAWING NUMBER

TITLE

I NC

31MAY13 HYC

INSERT RELEASE TOOL HERE

B+ RED

VIEW OF 734-105 CONNECTOR WIRE INSERTION SIDE

GRN

BLK

ARMATURE CONNECTION

PIN 1 PIN 2 PIN 3 PIN 4 PIN 5

JUNE 2015 B 5V A X G T

SH.

1 OF 1

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES IB-30B001 USER’S GUIDE

PAGE B - 15

PAGE B - 16

DATE

12FEB14

SYM

HYC APP

5 BLU 4 RED 3 GRN 2 BLK 1

PROJECTION

APPROVED BY / DATE

HYC/25OCT12

DRAWN BY / DATE

FINISH

MATERIAL

GRN

BLK

RED

B+

DIMENSIONS ARE INCHES [mm]

BLU

B-

SEE DETAIL A

0.61 [15.4] MIN

o 2.22 [56.4]

TOLERANCES

X.XX± 0.010

X.XXX± 0.005

www.iis-servo.com ± 0.4°

-0.013 ] [ 6.350 +0.000

REV 0

SCALE: CAD

DATE

25OCT12

LPM-N23-2R8A270

DRAWING NUMBER

MOTOR, STEPPER, 270 OZ-IN

TITLE

0.2500 +0.0000 -0.0005

1.856±0.004 [47.14±0.1] TYP

0.20 [ 5.0] 4X

1.500±0.001 [ 38.10±0.03]

0.23 [5.8]

DETAIL A ENLARGED

2.25 [57.0]MAX

INDUSTRIAL INDEXING SYSTEMS, Inc.

0.83±0.04 [21.0±1.0]

WIRING DIAGRAM

A-

A+

Figure B.9 – LPM-N23-2R8A270

THIS D RAWING AND THE DATA CONTAINED THEREIN ARE PROPRIETARY INFORMATION OF INDUSTRIAL INDEXING S YSTEMS. IT IS ISSUED IN STRI CT CONFIDENCE AND MAY NOT BE REP RODUCE D, COPIED OR USED FOR A NY PURPOSE WHATSOEVER WITHOUT THE PRIOR WRITTEN PERMISSION OF INDUSTRIAL INDEXING S YSTEMS.

SEE DETAIL B

0.06 [1.6]

2.99 [76.0] 0.047 [1.194] 0.19 [4.8]

DETAIL B VIEW FROM WIRE INSERTION SIDE

4.00 +0.00 -0.25

0.35 [9.0]

0.53±0.02 [13.5±0.5]

SEE DETAIL C

12-177

REVISION RE CORD

PER ECN

DETAIL C ENCODER CONNECTION

B CHANNEL 5VDC A CHANNEL X CHANNEL GROUND NOCONNECTION

NOTES: 1. MOTOR CAN BE MOUNTED AT ANY POSITION. 2. ALL DIMENSIONS ARE IN INCHES [MM] 3. MOTOR WEIGHT 1.1 KG 2.20 LBS 4. MOTOR VOLTAGE RATING 3.2 V 5. MOTOR HOLDING TORQUE 270 O Z-IN 6. ENCODER RESO LUTION 2048 PPR.

SH.

1 OF 1

IB-30B001 USER’S GUIDE INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

JUNE 2015

SYM

25OCT12

DATE

12-098

REVISION RECORD

PER ECN

DETAIL C ENCODER CONNECTION

B CHANNEL 5VDC A CHANNEL X CHANNEL GROUND NO CONNECTION DR

cme APP

PROJECTION

BLU 4 RED 3 GRN 2 BLK 1

0.23 [5.9]

FINISH

MATERIAL

Figure B.10 – LPM-N23-3R0A382

APP ROVED BY / DATE

HYC/25O CT12

DRAWN BY / DATE

SEE DETAIL B

[

]

BLU

B-

1.86 [47.1] o

X.XX± 0.010

X.XXX± 0.005

www.iis-servo.com ± 0.4°

o 2.22 [56.4]

INDUSTRIAL INDEXING SYSTEMS, Inc.

B+ RED WIRING DIAGRAM

A-

A+

TOLE RANCES

GRN

BLK

15.0 +0.5 -0.0

-0.013 ] [ 6.350 +0.000

SEE DETAIL A

0.59 +0.02 -0.00

0.81 [20.6]

0.2500 +0.0000 -0.0005

DIMENSIONS ARE INCHES [mm]

DETAIL A ENLARGED 2.99 [76.0] 0.047 [1.194] 0.06 [1.6]

2.80 [71.0]

DETAIL B VIEW FROM WIRE INSERTION SIDE THIS DRAWING ANDTHEDATA CONTAINEDTHEREIN ARE PROPRIETARY INFORMATION OF INDUSTRIAL INDEXING SYSTEMS. IT IS ISSUED IN STRI CT CONFIDENCE AND MAY NOT BE REPRODUCED, COPIED OR USED FORNY A PURPOSE WHATSOEVERWITHOUTTHE PRIORWRITTEN PERMISSION OF INDUSTRIAL INDEXING YSTEMS. S

SEE DETAIL C

2X M2.5

4.0

0.35 [9.0]

0.59 [15.0]

B.C. 0.75 [ 19.1]

NOTES: 1. MOTOR CAN BE MOUNTED AT ANY POSITION. 2. ALL DIMENSIONS ARE IN INCHES [MM] 3. MOTOR WEIGHT 1 KG 2.20 LBS 4. MOTOR VOLTAGE RATING 3.2 V 5. MOTOR HOLDING TORQUE 382 OZ-IN 6. ENCODER RESOLUTION 2048 PPR.

REV 0

SCALE:

CAD

DATE

25O CT12

LPM-N23-3R0A382

DRAWING NUMBER

MOTOR, STEPPER, 382 OZ-IN

TITLE

0.20 [ 5.0] 4X

1.500±0.001 [ 38.10±0.03]

SH.

1 OF 1

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES IB-30B001 USER’S GUIDE

PAGE B - 17

IB-30B001 USER’S GUIDE

B.2

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

CABLES FOR LD-330/X, LD-500/X, LD-101/X DRIVES

There are several standard cable sets that are available for purchase with the Luminary drive. Custom length cables for the OEM are available. 

LAC-XYZMMM

series for armature motor cables



LEC-XYZMMM

series for encoder motor cables



LPC-XYZMMM

series for the power cables



LIC-XYZMMM

series for inputs/outputs



LPAC-XYZMMM

series for the stepper motor armature cable extension



LPEC-XYZMMM

series for the stepper motor encoder



C-885YYY

for multi axis digital network option card



C-815015

USB serial communications (Digital Drive Option)



Connector kits for motor/encoder/input/output connections (see Section B.2.2). OEM can purchase the connector kits to manufacture their own cables.

PAGE B - 18

OCTOBER 2018

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

B.2.1 DRIVE TO MOTOR CABLE AND DRIVE TO IO CABLE CHART Armature and encoder cable combinations are available to be able to split the cable at a enclosure terminal block or connect directly to the motor. Option

From LD Drive

Termination

To Motor Arm

To Motor Enc

I/O

A0 (Split)

LAC-DAAMMM

Terminal Block

LAC-ABAMMM

B0 (Split)

LAC-DAAMMM

Terminal Block

LAC-BBAMMM

C0 (Split)

LAC-DAAMMM

Terminal Block

LAC-CBAMMM

LAC-AAAMMM

LAC-BAAMMM

LAC-CAAMMM

D0 (Split)

LEC-DAAMMM

Terminal Block

LEC-ABAMMM

E0 (Split)

LEC-DAAMMM

Terminal Block

LEC-CBAMMM

LEC-AAAMMM

LEC-CAAMMM

LIC-AAAMMM

Terminal Block

PLC

LPAC-AAAMMM (Stepper)

LPEC-AAAMMM (Stepper)

Figure B.11 - Cable Selection Chart

JUNE 2015

PAGE B - 19

IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

15-078

28MAY15

Figure B.12 - LAC Armature Cable Selection Guide

PAGE B - 20

JUNE 2015

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

25MM

25MM MAX GRN/WHT GRY/BLK YEL/BLK BRN/WHT BLU/WHT ORN/WHT BLK

2 4 6 8 10 12 14 16

1 3 5 7 9 11 13 15

5MM

GRN GRY YEL BRN BLU ORN RED

SHIELD

NON-INSULATED FERRULE

DRIVE END WITH 102387-3 CONNECTOR

FIG. 1

DRIVE END WITH FERRULES

FIG. 3

25MM MAX GRN GRY

EITHER END WITH NO TERMINATION

YEL

FIG. 2

BRN BLU

LEC-XYZMMM

ORN RED

LENGTH IN M ETERS

SHIELD

151=1.5M [4.9 F T] 201=2M [7.6 F T] 301=3M [9.8 F T] 401=4M [13.1]

1 3 5 7 9 11 13 15

FIG. 4

ENCODER END WITH XG4E-1631 CONNECTOR

FIG. 5

ENCODER END WITH PL S-2816-PF CONNECTOR

2 4 6 8 10 12 14 16

GRN/WHT GRY/BLK YEL/BLK BRN/WHT BLU/WHT ORN/WHT BLK

ENCODER CABLE TYPE A=7 PAIR, 24 AWG, WITH OVERALL SHIELD

DRIVE END TERMINATION A=16 PIN FE MALE DRIVE MATE (FIG. 1) 102387-3 CONNECTOR 1-87523-6 PIN (QTY 15) B=FERRULES (FIG. 3) C=NO TERMINATION (FIG. 2)

GRN/WHT GRN YEL/BLK YEL

ENCODER END TERMINATION A=16 PIN MALE PLUG (FIG 4) XG4E-1631 CONNECTOR XG4S-1604 ST RAIN RELIEF B=NO TERMINATION (FIG. 2) C=PLS-2816-PF OR EQUI V. (FIG. 5 & 6)

GRY GRY/BLK

1 5

2 6

4 8

ORN/WHT ORN

10 11 12 13

BLU BLU/WHT

BRN BRN/WHT

14 15 16

RED BLK

LEC=LUMINA RY ENCODER CABLE SHIELD

FIG. 6

CABLE PART NUMBER TABLE

WIRING VIEW DETAILS FOR PL S-2816-PF CONNECTOR TITLE

INDUSTRIAL INDEXING SYSTEMS, Inc.

CABLE, ENCODER DRAWING NUMBER

www.iis-servo.com DIMENSIONS ARE MM [INCHES]

TOLERANCES

X.XX± --

X.XXX± --

LEC-XYZMMM ± --

REV 0

ECN 11-???

DATE 10SEP11

SH.

1 OF 1

Figure B.13 - LEC Encoder Cable Selection Guide

JUNE 2015

PAGE B - 21

IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

12 - 15 MM

25 - 30 MM

PIN 1 2 3 4 BLK 5 WHT 6 GRN WIRE RELEASE TOOL

POWER ENDWITH FERRULES

FIG. 5

FIG. 1

DRIVE ENDWITH 704-106CONNECTOR 12 - 15 MM

PIN 1 2 3 BLK 4 WHT 5 GRN

FIG. 6

EITHER ENDWITH NOTERMINATION

LPC-XYZMMM

FIG. 2

LENGTH IN METERS 051=0.5M [1.6 FT] 101=1M [3.3 FT] 201=2M [7.6 FT] 301=3M [9.8 FT] 401=4M [13.1 FT]

DRIVE ENDWITHWURTH 69135100005CONNECTOR

PIN 1 BLU + 2 BLU/WHT 3 GRN E

ENCODER CABLE TYPE

A=3 CONDUCTOR, SJEOOW-18-3BK250 D=3 CONDUCTOR, BLU,BLU/WHT,GRN

WIRE RELEASE TOOL

DRIVE ENDTERMINATION

A=734-103 (FIG. 3 & 4) B=69135100005CONNECTOR (FIG. 2) C=734-106CONNECTOR (FIG. 1) D=NOTERMINATION (FIG. 6)

FIG. 3

DRIVE ENDWITH 704-103CONNECTOR

12 - 15 MM

POWER ENDTERMINATION A=FERRULES (FIG 5) B=NOTERMINATION (FIG. 6)

PIN 1 BLK 2 WHT 3 GRN

LPC=LUMINARY POWER CABLE WIRE RELEASE TOOL

CABLE PART NUMBERTABLE

FIG. 4

DRIVE ENDWITH 704-103CONNECTOR

INDUSTRIAL INDEXING SYSTEMS, Inc.

TITLE

www.iis-servo.com DIMENSIONS ARE MM [INCHES]

TOLERANCES

X.XX± --

X.XXX± --

CABLE, POWER

DRAWING NUMBER

LPC-XYZMMM ± --

REV 0

ECN 18-076

DATE 07JUN12

SH.

1 OF 1

Figure B.14 - LPC Power Cable Selection Guide

PAGE B - 22

OCTOBER 2018

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

Figure B.15 - LIC-XYZMMM Drawing

See Section B.2.2 for connector kits

OCTOBER 2018

PAGE B - 23

IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

50MM MAX

PIN 1

BLK

PIN 1

BLK

PIN 2

GRN

PIN 2

GRN

PIN 3

RED

PIN 3

RED

PIN 4

WHT

PIN 4

WHT

PIN 5

SHLD

PIN 5

SHLD

DRIVE ENDWITH 734-105CONNECTOR

FIG. 1

EITHER ENDWITH NOTERMINATION

FIG. 2

FIG. 3

MOTOR ENDWITH 734-305CONNECTOR

LPAC-XYZMMM LENGTH IN METERS 101=1M [3.3 FT] 201=2M [7.6 FT] 301=3M [9.8 FT] 401=4M [13.1 FT]

ARMATURE CABLE TYPE

A=5302UE: 4COND. W/ SHLD, 18 AWG

DRIVE ENDTERMINATION A=5 PIN FEMALE PLUG (FIG .1) WAGO 734-105CONNECTOR B=NOTERMINATION (FIG. 2)

MOTOR ENDTERMINATION A=5 PINMALE RECPTACLE (FIG 3) WAGO 734-305CONNECTOR B=NOTERMINATION (FIG. 2)

LPAC=LUMINARY STEPPER ARMATURE CABLE

CABLE PART NUMBERTABLE

INDUSTRIAL INDEXING SYSTEMS, Inc.

TITLE

www.iis-servo.com DIMENSIONS ARE MM [INCHES]

TOLERANCES

X.XX± --

X.XXX± --

CABLE, ARMATURE

DRAWING NUMBER

LPAC-XYZMMM ± --

REV 0

ECN 13-072

DATE 02JUN13

SH.

1 OF 1

Figure B.16 - LPAC-XYZMMM Drawing

PAGE B - 24

OCTOBER 2018

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

Figure B.17 - LPEC-XYZMMM Drawing

OCTOBER 2018

PAGE B - 25

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

Cable, Communications C-885YYY

IB-30B001 USER’S GUIDE

Figure B.18 - C-885YYY Drawing

PAGE B - 26

OCTOBER 2018

2) MARK PER OP-08-0001.

A PIN 1

1) CRIMPCABLE (ITEM 2)TO ENDS (ITEM 1)WITH MODULAR CRIMP TOOL, PART No. 1005-6P6C.

NOTES:

BLU

YEL

GRN

RED

BLK

WHT

C-987YYY

FINISH

---------

MATERIAL

APP ROVED BY

J.C.

APP ROVED BY

E. BAIER

CHECKED BY

PIN 1

SEE NOTE 2

DATE

8/31/92

DATE

8/31/92

DATE

X.XXX± ---

X.X± --X.XX± ---

TOLE RANCES

± ---

ERTURK

SCALE

---

DATE

13AUG92

Q:\DF TG\CABLES\C-9 XX

AutoCAD FILE LOCATION

DRAWN BY

CABLE, DATA, MODULAR

INDUSTRIAL INDEXING S YSTEMS, Inc.

ANGULAR

UNLESSOTHERWISE SPECIFIED DIMENSIONS ARE INCHES (mm)

TITLE

DR CWB

www.iis-se rvo.com

98-270/99-027

REVISION RECORD PER ECN

C-987YYY 1 OF 1

SHEET NO.

DRAWING NUMBER

CK CDR

REVISION

INDUSTRIAL INDEXING SYSTEMS,Inc.

SYM

THIS DRAWING, ANDTHEDATA CONTAINEDTHEREIN, ARE F;OINDUSTRIAL PROPRI ETARY INFOR MATION INDEXING SYSTEMS,Inc. AND IS ISSUED IN STRI CT CONFIDENCE, AND IT SHALL NOT BE REPRODUCED, COPIED, OR USED FOR ANY PURPOSEWHATSOEVER, WITHOUTTHE PRIORWRITTEN PERMISSION OF;

29JAN99

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES IB-30B001 USER’S GUIDE

Figure B.19 - C-987YYY Drawing

PAGE B - 27

PAGE B - 28 PC-AT DB-9F

3.) COLORS IN (*) ARE A LTERNATE COLORS.

2.) MARK PER QP-08-0001.

NOTES: 1.) INSULATE UNUSED WIRES.

SEE NOTE 2

RJ11 JACK

FINISH

MATERIAL

--------

ELS

APP ROVED BY

10MAY96

DATE

15AUG96

DATE

APP ROVED BY

ELS

DATE

N.C.

CHECKED BY

SEE NOTE 1

COM 5

RX TX

PC-AT DB-9F

DATE

RED GRN WHT BLK BLU

(GRN) (RED) (WHT) (YEL) (BRN)

www.iis-se rvo.com

TOLE RANCES

X.XXX± --

X.X± -X.XX± --

INDUSTRIAL INDEXING S YSTEMS, Inc.

± --

ANGULAR

BOWMAN

09MAY96

DATE

NTS

SCALE

Q:\DF TG\CABLES\C-8 XX

AutoCAD FILE LOCATION

DRAWN BY

C-822000 1 OF 1

SHEET NO.

DRAWING NUMBER

CABLE ADAPTOR, 9P, FE, STANDARD UNLESSOTHERWISE SPECIFIED DIMENSIONS ARE INCHES (mm)

TITLE

DR EB

CK CDR

REVISION

INDUSTRIAL INDEXING SYSTEMS,Inc.

01-070

REVISION RECORD PER ECN

RJ11 JACK

SYM

THIS DRAWING, ANDTHEDATA CONTAINEDTHEREIN, ARE F;OINDUSTRIAL PROPRI ETARY INFOR MATION INDEXING SYSTEMS,Inc. AND IS ISSUED IN STRI CT CONFIDENCE, AND IT SHALL NOT BE REPRODUCED, COPIED, OR USED FOR ANY PURPOSEWHATSOEVER,WITHOUTTHE PRIORWRITTEN PERMISSION OF;

YEL (BLK)

13MAR01

IB-30B001 USER’S GUIDE INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

Figure B.20 - C-822000 Drawing

OCTOBER 2018

C-822000

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

B.2.2 CONNECTOR KITS As an alternative to purchasing complete cable sets, customers can assemble the system’s cables using the Luminary connector kits. Luminary Drive Type Connector Kits

LD-330/XZ LD-500/XZ LD-CONKIT-MTR LD-CONKIT-I/O

LD-101/XZ

LD-500/T

LD-CONKIT-MTR10A LD-CONKIT-I/O

LPD-CONKIT-MTR LD-CONKIT-I/O

Connector Kit

Parts

Description

Quantity

LD-CONKIT-MTR -

102387-3 1-87523-6 734-104 734-106

16 Pin Ribbon Connector Female Pins (note 1) 4 Pin Female Connector 6 Pin Female Connector

1 16 1 1

LD-CONKIT-MTR10A

102387-3 1-87523-6 734-104 691351500005

16 Pin Ribbon Connector Female Pins 4 Pin Female Connector 5 Pin Female Connector

1 16 1 1

LD-CONKIT-I/O -

22-01-3037 22-01-3077 22-01-3127 08-55-0102

3 Pos Connector 7 Pos Connector 12 Pos Connector Socket Pins (note 2)

1 1 1 25

LPD-CONKIT-MTR -

102387-3 1-87523-6 734-103 734-105

16 Pin Ribbon Connector Female Pins (note 1) 3 Pin Female Connector 5 Pin Female Connector

1 16 1 1

LD-CONKIT-ANA -

22-01-3067 08-55-0102

6 Pos Connector Socket Pins (note 2)

1 6

Note 1: Use crimping tool AMP 91516-1 Note 2: Use Molex MINI-KK crimp tool (63811-8200)

OCTOBER 2018

PAGE B - 29

IB-30B001 USER’S GUIDE

B.3

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

ACCESSORIES

 ISOCOM

Isolated serial port for LD drive

 LDCA-001

Drive network interface for use with the LMC-400 controller (See Appendix C)

 LDAA-001

Analog output for the LD drive (See Appendix C)

 OPI-4.3

4” Touch screen

 OPI-7.0

7” Touch screen

 L-Drive

Configuration and tuning PC software

 EDE

Motion controller development software

 Firmware downloader

PAGE B - 30

OCTOBER 2018

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

APPENDIX C - OPTION CARDS C.1

OPTION CARD OVERVIEW

The Option cards described here are used to extend the functionality of Luminary Series Drives. Only one option card can be installed at one time. Other option cards may be available, check with factory. Custom option cards can be engineered to fulfill your external interfacing needs, Consult IIS sales to discuss the details of your application.

The SBI Network Device Communications interface is for use with the LMC-400 Luminary Controller allowing up to four Luminary devices to be networked in a single application.

The Analog Output Interface gives the user an analog representation of the selected output. By configuring with the L-Drive PC toolkit, select either motor velocity or motor torque as an analog output. The output is scaled to the industry standard of –10Vdc to +10Vdc

The Option Cards are securely installed onto the LD drive. The option card size and shape can vary depending on the customization requirements.

The option card interface port resides on the main board at J2 using three standoff posts.

MARCH 2016

PAGE C - 1

IB-30B001 USER’S GUIDE

C.2

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

OPTION CARD SPECIFICATIONS

C.2.1 SBI NETWORK DEVICE COMMUNICATION INTERFACE Used to connect the Luminary Drive as a slave device to a Luminary Motion Controller LMC-400. Up to four LD drives can be networked to create a synchronized and coordinated multi-axis motion control system. (ref: IB-30B002 manual for the LMC-400 controller)

Figure C.1 - LMC-400 Connected to The LD Drive With The C-885YYY Cable

LDCA-001 (J2) SBI Network Device Port Specifications: Input Type: Differential Input Voltage range: 0 to 5V Output Type: Differential Output Voltage range: 0 to 5V Output Current (per channel): 20mA Connector type: RJ-45 shielded

Figure C.2 - LMC-400-21 Controller Wired to Four LD Drives With The LDCA-001 Option Card Installed

PAGE C - 2

MARCH 2016

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

C.2.2 ANALOG OUTPUT OPTION CARD (LDAA-001) To convert an internal signal of an LD drive to an analog value, to be monitored by external means. Power supply rails of ±12Vdc are available for use by external equipment. Specifications: Output Type: Analog Output resolution: 12 bit Output Voltage range: -12V to +12V maximum, -10V to +10V rated Output Current: 10mA maximum Output short circuit: Temporary, less than 5 seconds Output zero offset: 0.1V maximum, 0.05V typical Output gain error: 0.5V maximum, 0.1V typical Power supply output: Output voltage: ±12V dc Output current: 40mA per channel maximum Connections to J2: Pin 1 – Analog Output Pin 2 – Analog Ground Pin 3 – Shield Pin 4 – (+12V) Output Pin 5 – Analog Ground Pin 6 – (–12V) Output

Note: Do not apply power to the +12V or –12V pins or damage may occur to the analog output card.

Figure C.3 - LDAA-001 Connection For Analog Signal Plus a Small 12 VDC Power Source For Interfacing to AUX System Option Card Setup: Configuring of the device is necessary before use of the Analog Output card. This can be done by the customer using the L-Drive tool kit and the USB option, or by IIS at time of shipment using a setup file created for your application. Consult IIS Factory for more details. Programming parameters: See Section 6 for more details. IDN-0062 – Analog Output Selection IDN-0064 – Analog Output Zero Offset IDN-0066 – Analog Output Slew Rate

MARCH 2016

IDN-0063 – Analog Output Scaling IDN-0065 – Analog Output Mode IDN-0067 – Analog Output Filter

PAGE C - 3

IB-30B001 USER’S GUIDE

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

C.2.3 USB COMMUNICATIONS OPTION CARD (LDUSB-01) The USB option card configures the LD drive as a digital controlled device by using a serial USB connection. The USB interface option uses a serial protocol call Modbus RTU to read and write the internal registers outlined in Section 6 of this manual. The USB option card can be used to read and write drive parameters regardless of the drives mode setting. However, to control the drives motion profile using the USB option card, the mode must be set to “6”. Note: The LD drive application mode must be set to mode 6 to enable this functionality. See Appendix D for details outlining the use of USB option. See Section 2.1 for ordering this option for the LD servo drive. Figure C.4 USB Communications Interface Specifications: Communications Type: USB 2.0 slave USB voltage input: 4.0V minimum, 5.25V maximum. LED descriptions: GREEN: 5V power from the USB master (PC) YELLOW: USB communications activity Programming parameters: See Section 6 and Appendix D for more details

PAGE C - 4

MARCH 2016

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

IB-30B001 USER’S GUIDE

C.2.4 RS-485 COMMUNICATIONS OPTION CARD (LD485-01) The RS-485 option card configures the LD drive as a digital controlled device by using a serial RS-485 connection. The RS-485 interface option uses a serial protocol call Modbus RTU to read and write the internal registers outlined in Section 6 of this manual. Note: The LD drive application mode must be set to mode 6 to enable this functionality. See Appendix D for details outlining the use of RS-485 option. See Section 2.1 when ordering this option for the LD servo drive. Figure C.5 - RS-485 Communications Interface

J3 Interface Specifications: Communications Type: RS-422 / RS-485 slave Signal voltage input differential: 0.2V minimum, 7V maximum. Signal voltage output differential: 1.5V minimum, 5V maximum. Output Drive current: 60mA Output short circuit protected: Yes Status LED descriptions: GREEN: Communications ready, flashing indicates communications activity on this drive RED: Communications timeout YELLOW: Communications active on the RS485 Ring Mode Switch SW1 settings: Switch 1 - Baud setting 0 Switch 2 - Baud setting 1 Switch 3 - Baud setting 2 Switch 4 - Half duplex Switch 0 Switch 5 - Half duplex Switch 1 Switch 6 - Pull Up terminating resistor (1K ohm) Switch 7 - Terminating resistor (165 ohm) Switch 8 - Pull Down terminating resistor (1K ohm) Baud rate 9600 19200 38400 57600 115200

Baud switch 0 off ON ON off ON

Baud switch 1 off off ON off off

Duplex mode

Half duplex Switch 0 ON off

Half duplex Switch 1 ON off

Half Full

MARCH 16, 2016

Baud switch 2 off off off ON ON

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C.2.4 RS-485 COMMUNICATIONS OPTION CARD (LD485-01) (cont’d) Termination Resistors: Enable resistors according to the network configuration. At a minimum switch 7 should be set on for the last slave interface on your network Modbus address SW2 switch setting: Dial setting from 0 to F (0 to 15 decimal value) J3 Interface Connections: Half Duplex: Pin 1 - SIG + Pin 2 - SIG – Pin 3 - GND Pin 4 - No connect Pin 5 - No connect Pin 6 - SHIELD

Full Duplex: Pin 1 - TX + Pin 2 - TX – Pin 3 - GND Pin 4 - RX + Pin 5 - RX – Pin 6 - SHIELD

Note: RS-485 GND (Pin 3) is biased to Earth (Pin 6 on drive power connector) with a 150 Ohm resistor. For more information on RS-485 networking refer to this link: http://www.ti.com/lit/an/slla272c/slla272c.pdf Programming parameters: See Section 6 and Appendix D for more details

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IB-30B001 USER’S GUIDE

APPENDIX D - USING LUMINARY DIGITAL DRIVE D.1

OBJECTIVE

This section will explain the process of communicating with, setting up, and using a Luminary Drive in digital mode. Two ways you can access the Luminary drive digitally are the USB option card or the RS485 option card. To set the initial parameters of the drive, IIS provides a PC based software tool called LDrive that uses the USB option card. The L-Drive PC tool allows read and write access to all the tuning registers and displays the real-time velocity and torque responses in chart form. When accessing the digital drive with a PLC controller the RS-485 option allows the user to network multiple Luminary Drives to control Velocity and/or Torque. Both interfaces use the Modbus protocol.

D.2

INSTALLING THE SOFTWARE AND DRIVERS

D.2.1 INSTALLING LDRIVE AND THE USB DRIVER 1. Install LDRIVE on your computer; call IIS for this free application if you need it. During part of the install, you will be asked to install the USB driver for the CP210X USB to UART bridge. Select install.

NOTE: The CP2102/9 Virtual COM Port (VCP) device drivers allow a CP2102/9-based device to appear to the PC's application software as a COM port. Application software running on the PC accesses the CP2102/9-based device as it would access a standard hardware COM port.

2. The driver can also be found at: https://www.silabs.com/products/development-tools/software/usb-to-uart-bridge-vcp-drivers 3. Now install a USB A/B cable from the Luminary drive to the PC. The USB to UART driver should now finish installing. 4. Once fully installed, the USB to UART device should show up as an available COM PORT under the device manager of your PC. The COM port number listed here is what you will need to use to communicate with LDRIVE or your own application program. 5. Reference instruction manual IM-3289 for information on LDRIVE software.

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D.3

INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

MODBUS COMMUNICATIONS

D.3.1 SUPPORTED MODBUS FUNCTIONS 1. The Luminary Drive Series uses the RTU (Remote Terminal Unit) transmission mode with the drive set to address node 1. 2. Currently, there are three supported Modbus functions: 4 (READ_INPUT_REGISTERS), 6 (WRITE_SINGLE_REGISTER), and 16 (WRITE_MULTIPLE_REGISTERS). 3. The data is stored as 16 bit values. Some data ranges are 32 bits in length. To properly read and write these values, please see Section D.4. 4. The communications is fixed at 19200 baud, 8 data bits, even parity and 1 stop bit. 5. To read data use MODBUS function 4 READ_INPUT_REGISTERS). The Input Registers are at reference 3x. The address is then the 4-digit number found in Section 6. 6. To write data use MODBUS functions 6 and 16. (PRESET_SINGLE_REGISTER) and (WRITE_MULTIPLE_REGISTERS). The Holding Registers are at reference 4x. The address is then the 4-digit number found in Section 6. 7. Examples: Read Input Registers SERIAL REQUEST

Function Starting Address Hi Starting Address Lo No. of Registers Hi No. of Registers Lo

SERIAL RESPONSE

(hex) 04 00 02 00 01

Function Byte Count Input Register 2 Hi Input Register 2 Lo

(hex) 04 02 00 02

Table D.1 - Reading The Drive’s Revision Number Write Single Register SERIAL REQUEST

Function Register Address Hi Register Address Lo Register Value Hi Register Value Lo

SERIAL RESPONSE

(hex) 06 00 36 00 01

Function Register Address Hi Register Address Lo Register Value Hi Register Value Lo

(hex) 06 00 36 00 01

Table D.2 - Writing to The Drive’s Digital Inputs 8. For more information about the Modbus protocol, go to http://www.modbus.org/specs.php.

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D.4

IB-30B001 USER’S GUIDE

BASIC PROGRAMMING

D.4.1 SETTING THE DRIVE INTO DIGITAL MODE 1. To set the Luminary drive into digital control mode, set the Application Mode (IDN 0005) to “6”. Changing of the application mode will set all motor parameters and tuning parameters back to factory default settings.

2. Whenever the application mode is changed, all default settings for this application mode are written to flash, so there will be a delay and communications may be interrupted. Reconnecting back to the device will be possible again within 3 seconds.

D.4.2

SETTING MOTOR PARAMETERS 1. There are 11 parameters associated with defining the motor to run with the Luminary Digital drive. These parameters define the motor protection values, current response, and Attributes of the motor. 2. Parameter definitions: NOTE: These MUST be set properly, or damage to the motor or driver board is possible. See Section 6 of the manual for more information on these parameters.

IDN

Name

Length

Definition

0021

Motor Poles

16bit

Number of electrical poles in the motor.

0025

Encoder Line Count

16bit

The line count of the AB phases of the motor encoder.

0022

PWM Frequency

16bit

PWM frequency the drive will use 8KHz or 16KHz. Note: 16KHz will reduce the drives output current capabilities, but will reduce the audible noise of the motor. See section 4 of the manual for details.

0015

Curr Loop Int Time 1

16bit

Set this to a value of 3142 always

0016

Curr Loop Int Time 2

16bit

Set this to a value of 3142 always

0127

Curr Loop Gain 1

32bit

Calculated from the Winding Inductance of the motor. (2000 * Winding Inductance (mH))

0129

Curr Loop Gain 2

32bit

Set the same as IDN 0127

0131

Motor Rated Curr

32bit

Amps RMS peak (ARMS * 1.414) (Continuous rated current)

0133

Motor Max Curr

32bit

Amps Max RMS peak (ARMS Max * 1.414) (intermittent rated current)

0141

Motor Rated Vel

32bit

RPM (Continuous rated velocity)

0139

Motor Max Vel

32bit

RPM (intermittent rated velocity)

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D.4.3 SETTING MOTOR TUNING PARAMETERS 1. There are 14 parameters associated with the tuning to run with the Luminary drive. 2. Parameter definitions: IDN 0014

Name Vel Loop Int

Length 16bit

Definition The gain used to add the accumulated velocity error to the current control loop. (Normal range is between 18.0ms and 120.0ms)

0018

Vel Loop Diff

16bit

The gain used to add in the slope of the velocity error to the current control loop. (Normal 0.0ms)

0028

Curr Rej Frequency

16bit

Frequency at which the current feedback is rejected (Normal range is 300Hz to 900Hz)

0029

Curr Rej Bandwidth

16bit

Bandwidth at which the current feedback is rejected (Normal range is 150Hz to 300Hz or disabled at 0)

0030

Vel Cmd Low Pass

16bit

Frequency at which the velocity command change is allowed. Acts like a low pass filter. (Normal range is 150Hz to 450Hz or disabled at 0)

0031

Vel Fbk Low Pass

16bit

Frequency at which the velocity feedback change is allowed. Acts like a low pass filter. (Normal range is 150Hz to 450Hz or disabled at 0)

0007

Drive On Delay

16bit

Delay time from when the drive is enabled to when first motion can occur (Normal range is 25ms to 150ms)

0008

Drive Off Delay

16bit

Delay time allowing a decel before the motor is disabled (Normal range is 25ms to 150ms)

0019

Pos Torque Limit

16bit

Maximum allowable torque applied in the CW direction (Normal range 30.00% to 100.00%)

0020

Neg Torque Limit

16bit

Maximum allowable torque applied in the CCW direction (Normal range -30.00% to -100.00%)

0125

Vel Loop Prop Gain

32bit

The gain that adds in a proportional value of the instantaneous error to control loop (Normal range 0.100 to 10.000)

0119

Accel Feed Forward

32bit

The percent of acceleration error fed directly back into the control loop (Normal range 0.0%)

0123

Bipolar Acc Limit

32bit

Acceleration/Deceleration limit (Normal range 25.000 to 6300.000)

Note: See Section 6 of the manual for more information on these parameters.

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D.5

IB-30B001 USER’S GUIDE

DRIVE OPERATION

D.5.1 BASICS OF THE DIGITAL DRIVE 1. In the Digital Control mode, the drive commands are precise and repeatable. Unlike the analog version instead of looking at the state of the pins of the drive and using analog to digital conversions, it uses the register values addressed as IDNs. Ten registers are used to control the basic operation of the drive in Digital Control Mode. IDN 0011

Name Torque Command

Length 16bit

Definition Percentage of peak torque applied to the motor

0033

Digital Outputs 1

16bit

Read to see the state of the drive. A value of 0 is normal, 1 is faulted.

0036

Digital Inputs 1

16bit

Set the state of the 4 inputs to the drive. Input 1 (bit 0): Drive Enable Input 2 (bit 1): Velocity/Torque Mode. When bit 1 is on, the drive will be in Torque Mode Input 3 (bit 2): Not defined at this time Input 4 (bit 3): Not defined at this time

0046

Velocity Command

16bit

Sets the speed of the drive in RPM.

0069

Watchdog Timeout

16bit

The number of milliseconds before the comm port indicates a communications fault (F87). The fault is disabled when set to 0.

0070

Watchdog Reset

16bit

Resets the counter that’s used by IDN 00 69 for communication faults. Any value written to this register will set the count to 0.

0072

Number of Average

16bit

Sets number of average cycles for IDN 151.

0073

Select Velocity Command Source

16bit

Set source for Velocity command, either IDN 46 or IDN 153.

0151

High Precision Velocity Feedback

32bit

Averaged Velocity feedback value. Amount of averaging is set by IDN 72, and has one inferred decimal place. Example: a value of 2996 means 299.6 RPM

0153

High Precision Velocity Command

32bit

Sets the command speed of the drive in RPM, with one inferred decimal place. Example: a value of 3005 means 300.5 RPM.

2. If the drive is in the faulted state, the Enable Input needs to be toggled to clear the fault.

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

D.5.2 VELOCITY MODE 1. When input 2 (bit 1) in IDN 36 is OFF when the drive is enabled the drive will be in Velocity mode. IDN 0036 = 0000, Drive OFF, Velocity Mode IDN 0036 = 0001, Drive ON, Velocity Mode 2. The register Digital Outputs 1 IDN 0033 bit 0 defines if the drive is in normal state or faulted state. IDN 0033 = 0001, Drive in normal state IDN 0033 = 0000, Drive in faulted state To clear this faulted state, Input 1 (bit 0) needed to be toggled in IDN 0036 3. To command the drive to run as velocity, first set the tuning to a safe region. So the tuning should be as follows for a safe running system, then adjustments can be made to fit your application. IDN 0014 0018 0028 0029 0030 0031 0007 0008 0019 0020 0125 0119 0123

Name Vel Loop Int Vel Loop Diff Curr Rej Frequency Curr Rej Bandwidth Vel Cmd Low Pass Vel Fbk Low Pass Drive On Delay Drive Off Delay Pos Torque Limit Neg Torque Limit Vel Loop Prop Gain Accel Feed Forw Bipolar Acc Limit

Setting 310 0 900 0 300 300 25 0 10000 -10000 150 0 25000

Decimal places 1 1 0 0 0 0 0 0 2 2 3 1 3

4. Now select the source for commanding the motor velocity by setting IDN 0073. A value of 0 for IDN 0072 means the velocity command will be set using IDN 0046. A value of 1 for IDN 0072 means the velocity command will be set using IDN 0153. 5. Now set the velocity command you wish the motor to run at, either by IDN 0046 or by IDN 0153, as selected by the value of IDN 0073. Example for IDN 0046: A value set to IDN 0046 of 305 means to run the motor at 305 RPM. Example for IDN 0153: A value set to IDN 0153 of 305 means to run the motor at 30.5 RPM. 6. Reading the velocity feedback of the motor is able to be read by IDN 0047 and/or by IDN 0151. IDN 0047 is an instantaneous reading with accuracy of up to 1 RPM. IDN 0151 is an averaged reading with accuracy of up to 0.1 RPM. The amount of averaging is set with IDN 0072 set to its maximum averaging of 256 cycles in IDN 0072, the reading of the velocity feedback using IDN 0151 will be very stable, but sacrificing response time of the change in IDN 0151. Response time is calculated by: (0.25ms) X (IDN 0072). A value of 256 cycles, it will take IDN 0151 64ms to respond to motor shaft velocity changes.

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IB-30B001 USER’S GUIDE

D.5.2 VELOCITY MODE (cont’d) 7. Now set the motor to Enable by setting IDN 0036 to 1. NOTES ON SYSTEM TUNING 8. Once all the parameters are setup for the motor, you can tune the system using Velocity mode. Just be careful on changing the settings for the tuning and try not to make large changes in a value while motor is running. 9. If the motor is growling or making a lot of noise, most likely the Vel Loop Prop Gain IDN 0125 is set too high. If the motion is sluggish then the value of Vel Loop Prop Gain IDN 0125 is most likely set too low. 10. Bring the value of integral portion (Vel Loop Int IDN 0014) lower will reduce the following error, but reducing it too far can make the system unstable. A value of 0 is valid and will disable the integral portion of the velocity loop. 11. If you are getting following errors, this means the following error is above the Monitoring Window IDN 0115. It is common to the encoder count per rev of the motor. Which is calculated as (Encoder Line Count IDN 0025 * 4). You may decrease this value for precision applications, increasing this value above 2 times the encoder count per rev is not recommended as a system fault may go undetected for an unsafe period of time.

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INDUSTRIAL INDEXING SYSTEMS, Inc. LUMINARY SERIES MOTORS & DRIVES

D.5.3 TORQUE MODE 1. When input 2 (bit 1) in IDN 36 is ON when the drive is enabled the drive will be in Torque mode. IDN 0036 = 0002, Drive OFF, Torque Mode IDN 0036 = 0003, Drive ON, Torque Mode 2. The register Digital Outputs 1 IDN 0033 bit 0 defines if the drive is in normal state or faulted state. IDN 0033 = 0001, Drive in normal state IDN 0033 = 0000, Drive in faulted state To clear this faulted state, Input 1 (bit 0) needed to be toggled in IDN 0036 3. Before operation of the system is set into torque mode. The tuning of the system should be completed as described in Section D.5.2 Velocity Mode. The velocity parameters will not matter, but its good practice to leave reasonable values in the tuning parameters. CAUTION: It is possible to damage the motor by commanding an excess amount of current. As it uses peak current not rated current of the motor. 4. To use torque mode, set Torque Command IDN 0011 in percent of the Motor or drive’s peak torque value. The peak motor current is defined as Motor Peak Current IDN 0131 or Amplifier Peak Current IDN 0135, which ever is less. Typically the value of Motor Peak Current IDN 0131 is 3 times the rating of Motor Rated Current IDN 0133. This means the maximum value that should be set as the Torque Command IDN 0011 is 3300 (33.00%). This would be equal to the rated current of the motor and the drive will hold this current continuously.

D.6

COMMUNICATIONS WATCHDOG This mode has the safety feature of a communications watchdog, so if the commanding device (PC or other) fails to update the watchdog register within the watchdog timeout value, the drive will shut down with a fault code 87. To enable the watchdog feature, set Watchdog Timeout IDN 0069 with a time period in ms. Recommended to be 3 seconds, a value of 3000. The Commanding device must then continuously set Watchdog Counter IDN 0070 to a value of 0 within this time frame (IDN 0069). To clear the fault, Disable and re-enable the drive as defined in Section D.5 Drive Operation. It is possible to disable the watchdog feature by setting the Watchdog Timeout IDN 0069 to a value of 0. But this is not advisable, as the drive will then continue to do whatever the last command was when the communications between the drive and the controller stops or disconnects. IIS only recommends Watchdog Timeout IDN 0069 to be a value between 500 and 3000.

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IB-30B001

INDUSTRIAL INDEXING SYSTEMS, INC. 626 FISHERS RUN VICTOR, NEW YORK 14564 (585) 924-9181 FAX: (585) 924-2169 www.IIS.servo.com