Catalog 8000-2/USA Drive/Controller Protection • Over temperature, over voltage, short circuit protected • Internal power dump circuit to dissipate regenerated power from motor • Motors include over-temperature sensor I/O • Home limit, positive and negative end-of-travel limits • 16 programmable inputs and 8 programmable outputs • Auxiliary high-speed, programmable inputs (2) and output (1) providing position capture or output on position to ±1 and (LVD) count at maximum encoder frequency and (LVD) Language • Dedicated hardware registers for commanded position, I/O, system status, axis status, and encoder position APEX6151, APEX6152 • Position-based following • Capability to interrupt program execution on error and APEX6154 conditions • Variable storage, conditional branching, and math capability Compumotor’s APEX6151, APEX6152 and APEX6154 are • Program debug tools—trace mode, break points, and stand-alone, single-axis servo drive/controller systems. The simulation of I/O APEX6151, APEX6152 and APEX6154 pack all the power and • Scaling of distance, velocity and acceleration reliability of the 6000 family of controllers and APEX series of • S curve or trapezoidal motion profiling drives into one convenient package. All of the I/O points, • 150,000 bytes of nonvolatile memory for storage of RS-232C control, operator interface options and following programs and paths capabilities for single-axis applications are included. The following package can perform phase shifts, electronic Software Provided gearbox, and flying cutoff functionality with ease. The • Motion Architect, Microsoft Windows-based application APEX6151, APEX6152 and APEX6154 are designed to solve development software single-axis applications cleanly and completely. For multiple- Optional Software axis applications, up to 99 APEX6151, APEX6152 and • Servo Tuner provides graphical feedback of real-time APEX6154s can be daisy chained to work together. motion information to make determining tuning gains In order to speed your application development, the simplistic APEX6151, APEX6152 and APEX6154 come standard with • Motion Toolbox library of LabVIEW virtual instruments (VIs) Motion Architect, a Microsoft Windows-based development for icon-based programming of Compumotor’s 6000 Series software. Motion Architect contains many tools which allow controllers with LabVIEW you to easily create and implement motion programs. The • Motion Builder provides a visual development environment optional Servo Tuner module for Motion Architect allows you for graphical icon-based programming of the 6000 Series to gather and display real-time move information. You can see products. the results of changing tuning values to optimize motion Interface Capability profiles. The APEX6151, APEX6152 and APEX6154 are also compatible with Motion Toolbox™ and DDE Server. • Operates stand-alone or interfaces to computers or programmable logic controllers The APEX6151, APEX6152 and APEX6154 use the 6000 Series command language. This popular language is powerful • Compatible with RP240 operator interface panel enough to implement complex motion control applications and • Two RS-232C communications ports simple enough to not overwhelm the novice programmer. The Physical APEX6151, APEX6152 and APEX6154 are your single-axis • Stand-alone package solutions! • Nine diagnostic LEDs Features • Same voltage input as APEX10/20/40 Performance • One axis of packaged servo control • Programmable update rates for servo loop as fast as 205 microseconds • Accepts brushless resolver feedback or hall effect sensors Software information is available on page B109. for commutation • Digital Signal Processor (DSP) for servo control (PIV with velocity and acceleration feed-forward) • 1.2 MHz post-quadrature position feedback frequency Parker Hannifin Corporation B22 Compumotor Division Rohnert Park, California APEX Series Catalog 8000-2/USA Drives and Drive/Controller Parameter Value Performance Position Range ±2,147,483,648 counts Velocity Range 0.001 to 200 units/sec 2 Acceleration Range 0.001 to 9999.9999 units/sec Velocity Accuracy ±0.02% of maximum rate Velocity Repeatability ±0.02% of set rate Motion Trajectory Update Period Default is 860 μs (depends on SSFR value) Servo Sampling Update Period Default is 215 μs (depends on SSFR value) System Update Period Default is 1.7 ms (depends on SSFR value) Repeatability ±5 arcmin Resolver Accuracy ±22 arcmin Resolution 4096 post-quadrature counts Output Power APEX6151 APEX6152 APEX6154 Voltage 170-340VAC; 420VDC (max) 340VDC (nominal); 420VDC (max) 340VDC (nominal); 420VDC (max) Frequency 0–400 Hz fundamental; (15 kHz PWM) 0–400 Hz fundamental; (8 kHz PWM) 0–400 Hz fundamental; (8 kHz PWM) Current (max continuous) 8A continuous per phase 12A continuous per phase 20A continuous per phase sinusoidal (5.6.5A rms); sinusoidal (8.5A rms); sinusoidal (14.14A rms); 16A peak per phase 24A peak per phase 40A peak per phase sinusoidal (11.3A rms) sinusoidal (17.0A rms) sinusoidal (28.3A rms) Input Power APEX6151 APEX6152 APEX6154 Motor Supply Voltage 120-240VAC (1-phase) 205-252VAC (1- or 3-phase) 205-252VAC (1- or 3-phase) Frequency Range 47-66 Hz 47-66 Hz 47-66 Hz Current (max continuous) 10A (rms) @ 120VAC single phase; 8A (rms) 3-phase 15A (rms) 3-phase 10A (rms) @ 240VAC single phase Power (max continuous) 3.4 KVA 4.8 KVA 8.5 KVA Fuses No internal fuses. Recommend external fuse. Isolation Transformer Not required Not required Not required Logic Supply Voltage 85-252 (1-phase) 85-252 (1-phase) 85-252 (1-phase) Frequency Range 47-66 Hz 47-66 Hz 47-66 Hz Current (max continuous) 1.0A 1.0A 1.0A Power (max continuous) 0.08 KVA 0.08 KVA 0.08 KVA Fuses 3.0A 250VAC internal fuse. Not user replaceable. Isolation Transformer Not required Not required Not required Protection Short Circuit Phase-to-phase, phase-to-ground Brownout Below 100VAC Over voltage 385VDC (provision for power dump) Over temperature Drive and motor 2 I T Motor protection Inputs (see also I/O pin-outs) Home, pos/neg limits POS NEG and HOM input switching voltage levels are determined by V_I/O. Low ≤ [1/3 x (V_I/O)] volts. High ≥ [2/3 x (V_I/O)] volts. If V_I/O is connected to a +5V power supply (internal or external), AUX-P can be connected to a supply of up to +24VDC. If V_I/O is connected to an external +24VDC power supply, then AUX-P must also be at +24VDC (or at ISO GND). External Incremental Encoder Differential comparator accepts 2-phase quadrature incremental encoders with differential (recommended) or single-ended outputs (+5VDC HCMOS-compatible**). Maximum frequency = 1.2 MHz, minimum time between transitions = 833 ns. 16 Programmable HCMOS-compatible** with internal 6.8 kΩ, pull-up (connect IN-P to GND to sink current). Voltage range = 0 to 24V, 50-pin plug is compatible with OPTO-22™ signal conditioning equipmnent. Controllable with the 6000 Series programming language. Two trigger inputs APEX6151, 6152, 6154 have HCMOS-compatible** high-speed inputs for position capture and general purpose functions Outputs (see also I/O pin-outs) 8 Programmable HCMOS-compatible,** open collector output. Can be pulled up be connecting OUT-P to +5V on the auxiliary board, or to user-supplied voltage of up to 24V. Max. current in ON state (sinking) = 300mA, 50-pin plug is comparable with OPTO-22™ signal conditioning equipment One Auxiliary Output Open collector high-speed output for output on position & general purpose functions. Environment Operating Temperature 32°F to 122°F (0° to 50°C) Storage Temperature –22°F to 185°F (-30°C to 85°C) Max Heat Sink Temperature 162°F (75°C) Max Motor Case Temperature 257°F (125°C) Motor Temperature 32°F to 104°F (0° to 40°C) Humidity 0 to 95% non-condensing * For operation from single-phase power, derate system performance as shown in motor speed torque curves. ** HCMOS-compatible voltage levels: Low ≤ 1.0V; High ≥ 3.25V Parker Hannifin Corporation B23 Compumotor Division Rohnert Park, California B Servo Systems Catalog 8000-2/USA Drive/Controller Command Language (partial list) The APEX6151, APEX6152 and APEX6154 are easily programmed with the 6000 Series language. Each command is an ASCII character mnemonic with numeric parameters for the axis following the command. The following command example sets velocity to 10 revolutions per second: V10. Conditionals Miscellaneous Command Description Command Description IF( ) If Statement ; Comment REPEAT Repeat Statement DRIVE Drive Enable WAIT( ) Wait for a Specific Condition ERRORP Error Program WHILE( ) While a Condition is True L Loop GOWHEN( ) Initiate a move based on a condition MA Absolute / Incremental Mode Enable Display [RP240] MC Preset / Continuous Mode Enable Command Description PSET Define Position Counter READ Read a Value from Terminal DCLEAR Clear Display TIMST Reset and Start Timer DPCUR Position Cursor STEP Single Step Mode Enable DREAD Read Display Entry WRITE” “ Transmit a String to Terminal DVAR Display Variable DWRITE” “ Write String to Display Motion Command Description Following Command Description A Acceleration AA Acceleration Average (for S curves) FOLEN Enable following AD Deceleration FOLMAS Define master axes ADA Deceleration Average (for S curves) FOLMD Define master move distance D Distance FOLRN Set following ratio numerator GO Initiate Motion FOLRD Set following ratio denominator S Stop FSHFD Initiate preset phase shift V Velocity FSHFC Initiate continuous shift Scaling Homing Command Description Command Description SCLA Accel / Decel Scale Factor HOM Go Home SCLD Distance Scale Factor HOMA Home Acceleration SCLV Velocity Scale Factor HOMAD Home Deceleration HOMBAC Home Backup Enable Servo Tuning HOMDF Home Direction Final Command Description HOMEDG Home Reference Edge SGAF Acceleration Feedforward Gain HOMFV Home Final Velocity SGI Integral Feedback Gain HOMLVL Home Active Level SGP Proportional Feedback Gain HOMV Home Velocity SGSET Save a Set of Servo Gains HOMZ Home to Z-channel Enable SGV Velocity Feedback Gain I/O SGVF Velocity Feedforward Gain Command Description SOFFS Servo Command Offset INFEN Enable Input Functions Subroutines INFNC Input Function Command Description OUTFNC Output Function DEF Define a Subroutine OUT Turn On/Off Outputs GOSUB Execute a Subroutine with Return Limits GOTO Execute a Subroutine without Return Command Description Transfer Information LH Hard Limit Enable Command Description LHAD Hard Limit Deceleration TAS Transfer Axis Status LHLVL Hard Limit Active Level TANV Transfer Analog Input Value LS Soft Limit Enable TIN Transfer Input Status LSAD Soft Limit Decelration TLIM Transfer Limit Status LSCCW Soft Limit CCW Range TOUT Transfer Output State LSCW Soft Limit CW Range TPER Transfer Position Error TPE Transfer Position of Encoder Software information is TPC Transfer Position Commanded available on page B109. Parker Hannifin Corporation B24 Compumotor Division Rohnert Park, California APEX Series Catalog 8000-2/USA Drives and Drive/Controller Speed/Torque Curves for SM and NeoMetric Motors oz-in(N-m) oz-in (N-m) oz-in (N-m) SM231A at 120VAC SM232A at 120VAC SM233B at 120VAC 400 (2.82) 250 (1.77) 500 (3.53) 320 (2.27) 200 (1.41) 400 (2.82) 150 (1.06) 240 (1.70) 300 (2.12) 100 (0.71) 160 (1.14) 200 (1.41) 80 (0.57) 50 (0.35) 100 (0.71) 0 0 0 0 1600 3200 4800 6400 8000 RPM 0 1200 2400 3600 4800 6000 RPM 0 1400 2800 4200 5600 7000 RPM (27) (53) (80) (106) (133) (rps) (20) (40) (60) (80) (100) (rps) (23) (46) (70) (93) (117) (rps) Speed Speed Speed lb-in (N-m) lb-in (N-m) APEX10 - N0701DR APEX10 - N0701FR 20 (2.26) 18.0 (2.03) 16 (1.81) 14.4 (1.63) 12 (1.36) 10.8 (1.22) 8 (0.90) 7.2 (0.81) 4 (0.45) 3.6 (0.41) 0 0 1600 3200 4800 6400 8000 0 1600 3200 4800 6400 8000 Speed (rpm) Speed lb-in (N-m) lb-in (N-m) APEX10 - N0702ER APEX10 - N0702FR 40 (4.52) 40 (4.52) 32 (3.62) 32 (3.62) 24 (2.71) 24 (2.71) 16 (1.81) 16 (1.81) 8 (0.90) 8 (0.90) 0 0 0 0 0 1600 3200 4800 6400 8000 0 1600 3200 4800 6400 8000 Speed (rpm) Speed (rpm) Speed (rpm) lb-in (N-m) lb-in (N-m) APEX10 - N0703FR APEX10/20 - N0703GR 50 (5.65) 60 (6.78) 40 (4.52) 48 (5.42) APEX20 Peak 30 (3.39) 36 (4.07) APEX10 Peak 20 (2.26) 24 (2.71) 10 (1.13) 12 (1.36) APEX10/20 Cont. 0 0 0 0 0 1400 2800 4200 5600 7000 0 1600 3200 4800 6400 8000 Speed (rpm) Speed (rpm) Speed (rpm) lb-in (N-m) lb-in (N-m) APEX10 - N0704FR APEX10/20 - N0704GR 60 (6.78) 70 (7.91) 48 (5.42) 56 (6.33) APEX20 Peak 36 (4.07) 42 (4.75) APEX10 Peak 24 (2.71) 28 (3.16) 12 (1.36) 14 (1.58) APEX10/20 Cont. 0 0 0 1400 2800 4200 5600 7000 0 1600 3200 4800 6400 8000 Speed (rpm) Speed (rpm) All APEX torque/speed data assume the following conditions: • the performance of APEX10 = APEX6151; APEX20 = APEX6152 • 620 through 640: motor on aluminum heat sink and APEX40 = APEX6154 = 12.0" x 12.0 " x 0.75" •40°C ambient temperature All SM motor speed/torque data obtained with APEX10 or APEX6151 • nominal K of motor at 120VAC. All NeoMetric motor speed/torque data obtained with t • SM-231A through 610: motor on aluminum heat sink indicated drive at 240VAC. = 8.0" x 12.0 " x 0.25" Parker Hannifin Corporation B25 Compumotor Division Rohnert Park, California Torque Torque Torque Torque Torque Torque Torque Torque Torque Torque Torque B Servo Systems Catalog 8000-2/USA Drive/Controller APEX10/20/40 Speed/Torque Curves lb-in (N-m) APEX10-N0921F lb-in (N-m) APEX10/20-N0921G 60 (6.72) 60 (6.72) 50 (5.60) 50 (5.60) APEX20 Peak 40 (4.48) 40 (4.48) APEX10 Peak 30 (3.36) 30 (3.36) 20 (2.24) 20 (2.24) APEX10/20 Cont. 10 (1.12) 10 (1.12) 0 0 0 1400 2800 4200 5600 7000 0 1600 3200 4800 6400 8000 Speed-RPM Speed-RPM lb-in (N-m) APEX10/20-N0922G lb-in (N-m) APEX20/40-N0922J 120 (13.44) 120 (13.44) 100 (11.20) 100 (11.20) APEX40 Peak APEX20 Peak 80 (8.96) 80 (8.96) 60 (6.72) 60 (6.72) APEX10 Peak APEX20 Peak 40 (4.48) 40 (4.48) APEX10/20 Cont. APEX20/40 Cont. 20 (2.24) 20 (2.24) 0 0 0 1200 2400 3600 4800 6000 0 1600 3200 4800 6400 8000 Speed-RPM Speed-RPM lb-in (N-m) APEX20/40-N0923H lb-in (N-m) APEX40-N0923K 160 (17.92) 100 (11.20) 133 (15.03) 83 (9.38) APEX40 Peak 106 (11.98) 67 (7.57) APEX20 Peak 80 (9.04) 50 (5.65) 53 (5.99) 33 (3.73) APEX20/40 Cont. 27 (3.05) 17 (1.92) 0 0 0 1200 2400 3600 4800 6000 0 1600 3200 4800 6400 8000 Speed-RPM Speed-RPM lb-in (N-m) APEX20/40-N0924J lb-in (N-m) APEX40-N0924K 200 (22.40) 160 (17.92) APEX40 Peak 167 (18.87) 133 (15.03) 132 (14.92) 106 (11.98) APEX20 Peak 100 (11.3) 80 (9.04) 67 (7.57) 53 (5.99) APEX20/40 Cont. 33 (3.73) 27 (3.05) 0 0 0 800 1600 2400 3200 4000 0 1200 2400 3600 4800 6000 Speed-RPM Speed-RPM Parker Hannifin Corporation B26 Compumotor Division Rohnert Park, California Torque Torque Torque Torque Torque Torque Torque Torque APEX Series Catalog 8000-2/USA Drives and Drive/Controller Motor-Only Technical Data SM and 70 mm NeoMetric Resolver Feedback N0701 N0702 N0703 N0704 Parameter Symbol Units SM231A SM232A SM233B or N0341 or N0342 or N0343 or N0344 Winding Selection AA B DF E F F G F G 1 Stall Torque Continuous T lb-in/oz-in 3.5/56 6.7/107 10.2/163 6.4/102 11.9/190 18.0/288 22.2/355 cs 1,2 Stall Current Continuous I amperes-rms 2.0 2.0 3.9 2.65 4.14 3.05 4.24 4.17 5.79 4.3 5.96 cs Rated Speed w rpm 7,500 4,250 76,000 7,500 7,500 6,480 7,500 5,850 7,500 4,900 7,000 r 1,6 Peak Torque T lb-in/oz-in 17.5/280 33.4/535 50.9/815 19.2 35.6 54.0 66.6 pk 1,6 Peak Current, rms I amperes 10 10 19.5 7.9 12.4 9.1 12.7 12.5 17.4 12.9 17.9 pk 1 Torque @ Rated Speed T lb-in/oz-in 2.8/46 6.0/96 9/145 5.8 5.8 9.4 10.4 14.5 15.4 17.5 17.5 c 1 Rated Power–Output Shaft P watts 250 302 643 510 515 718 919 1,004 1,367 1,014 1,450 o 3,4 Voltage Constant K volts/radian/sec 0.161 0.31 0.242 0.221 0.14 0.353 0.253 0.392 0.282 0.468 0.338 b 3,4 Voltage Constant K volts/KRPM 16.86 32.45 25.33 23.11 14.67 36.97 26.52 40.99 29.54 49.02 35.36 e 3,4,7 Torque Constant K oz-in/amp rms 27.82 53.54 41.76 38.88 24.8 62.24 44.8 69.12 49.76 82.72 59.68 t 3 Resistance R ohms 5.22 7.5 2.58 5.52 2.27 5.22 2.7 3.36 1.74 3.47 1.80 5 Inductance L millihenries 1.64 2.9 1.06 12.98 5.23 15.86 8.16 12.13 6.30 14.50 7.55 1 Thermal Resistance R °C/watt 2.23 1.58 1.26 1.44 1.15 0.96 0.87 th Motor Constant Km oz-in watts 9.97 15.99 21.25 13.28 16.48 27.2 27.2 37.76 37.76 44.32 44.48 Viscous Damping B oz-in/Krpm 0.565 0.525 0.459 0.701 0.800 0.90 1.00 Torque/Static Friction T oz-in 1.2 2.0 2.25 1.4 2.1 2.8 3.5 f Thermal Time Constant τ minutes 30 35 40 45 45 45 45 th Electrical Time Constant τ milliseconds 0.31 0.3 0.41 2.35 3.03 3.61 4.19 e Mechanical Time Constant τ milliseconds 13.7 14.5 7.0 1.6 0.88 0.62 0.56 m 2 Rotor Inertia J lb-in-sec 0.00048 0.00084 0.00119 0.000128 0.000196 0.000262 0.000329 Weight # pounds 2.6 3.5 4.4 3.54 4.53 6.04 7.28 Winding Class H H H H H H H 92 mm NeoMetric Resolver Feedback Parameter Symbol Units N0921 N0922 N0923 N0924 Winding Selection FG G J H K J K 1 Stall Torque Continuous T lb-in 17.7 34.3 46.6 62.5 cs 1, 2 Stall Current Continuous I amperes-rms 3.77 5.22 5.60 8.67 7.89 13.85 8.64 12.07 cs Rated Speed w rpm 5700 7500 4375 6975 4350 7500 3325 4825 r 1 Peak Torque T lb-in 53 103 140 188 pk 1, 6 Peak Current, rms I amperes 11.3 15.7 16.8 26 23.7 41.6 25.9 36.2 pk 1 Torque @ Rated Speed T lb-in 14.0 14.7 27.0 27.0 36.2 36.3 49 47.7 c 1 Rated Power–Output Shaft P watts 946 1305 1397 2231 1864 3222 1930 2731 o 3, 4 Voltage Constant K volts/radian/sec 0.427 0.309 0.556 0.360 0.540 0.305 0.657 0.47 b 3, 4 Voltage Constant K volts/KRPM 44.66 32.27 58.18 37.69 56.54 31.96 68.83 49.17 e 3, 4 Torque Constant K lb-in/amp rms 4.71 3.41 6.13 3.97 5.96 3.37 7.25 5.18 t 3 Resistance R ohms 3.72 1.94 2.32 0.96 1.28 0.42 1.22 0.62 5 Inductance L millihenries 17.11 8.99 14.72 6.18 14.95 4.78 20.60 10.51 1 Thermal Resistance R °C/watt 1.06 0.77 0.70 0.62 th Motor Constant Km lb-in watts 1.96 2.45 4.03 4.04 5.26 5.22 6.58 6.57 Viscous Damping B lb-in/Krpm 0.075 0.087 0.100 0.1125 Torque-Static Friction T oz-in 4 6 8 10 f Thermal Time Constant τ minutes 60 60 60 60 th Electrical Time Constant τ milliseconds 4.6 6.4 11.5 16.9 e Mechanical Time Constant τ milliseconds 1.13 0.64 0.5 0.41 m 2 Rotor Inertia J lb-in-sec 0.000532 0.000792 0.00106 0.00132 Weight # pounds 8.1 11.7 15.1 18 Winding Class H HHH 1 5 @ 25°C ambient with 10 x 10 x 0.25 in. mounting plate, 150°C winding ±30%, line-to-line, inductance bridge measurement @ 1 kHz 6 temperature. At 40°C ambient, derate phase currents and torques by 12%. Peak current for 2 second maximum with initial winding temperature of 40°C 2 7 RMS current through a single motor phase of a sinusoidally driven motor. Effective torque constant when applied with a sinusoidal amplifier. 3 ±10% line-to-line All specifications are subject to engineering change. 4 Peak value Parker Hannifin Corporation B27 Compumotor Division Rohnert Park, California B Servo Systems Catalog 8000-2/USA Drive/Controller Motor SM231A, SM232A, SM233B Dimensions ( ) denotes millimeters Size 70 Brushless Servo Motor Dimensions N0701, N0702, N0703, N0704 Brake Option -B MS Connectors Cable Flying Leads Shaft Options -MS -10, -25 -FL 0.197 (5) Ş0.43 (11) 0.409 (10.4) - N (None) - F (Flat) 0.500 2.05 Feedback Conn (12.7) (52.1) Motor Conn 0.158 MS 14 - 18 0.492 MS 14 - 12 (4.01) (12.49) 4 x Ş0.228 (5.8) Thru Holes Eq Spaced on a Ş 2.953 (75.00) - K (Sq. Key) 0.910 (23.1) Bolt Circle for 5mm or #10 Bolt 0.093 (2.36) Motor Sizes Motor Length Model 10.00 (254.00) N0704 w/ Brake + 0.0005 Ş2.3622 3.26 - 9.00 (228.60) N0703 w/ Brake 0.0003 (82.8) ) 0.012 + (60 8.00 (203.20) N0702 w/ Brake - 0.007) 7.00 (177.80) N0701 w/ Brake 7.94 (201.68) N0704 6.94 (176.28) N0703 0.003 0.530 2.75 + Ş0.4331 - 0.001 (13.46) (69.85) Sq. 5.94 (150.88) N0702 + 0.007) Motor Length (11.001 4.94 (125.48) N0701 - 0.002) Size 92 Brushless Servo Motor Dimensions N0921, N0922, N0923, N0924 Brake Option -B MS Connectors Flying Leads Shaft Options -MS, -FL 0.25 (6.4) Ş0.5512 (14) 0.521 (13.23) - N (None) - F (Flat) 0.63 (16) 0.197 Feedback Conn 0.63 Motor Conn (5) 2.350 MS 14 - 18 (16) MS 18 - 5 (59.7) - K (Sq. Key) 4 x Ş0.281 (7.14) Thru Holes Eq Spaced on a Ş 3.937 (100) Bolt Circle for 6mm or 1/4" Bolt Motor Sizes 1.180 (29.97) 0.093 (2.36) Motor Length Model 13.50 (342.90) N0924 w/ Brake 12.00 (304.80) N0923 w/ Brake 0.0005 + 4.1 10.50 (266.70) N0922 w/ Brake Ş3.1496 - 0.0003 (104.9) 9.00 (228.60) N0921 w/ Brake + 0.012) (80 - 0.007) 11.13 (282.70) N0924 9.63 (244.60) N0923 8.13 (206.50) N0922 + 0.0003 Ş0.5512 6.63 (168.40) N0921 - 0.530 0.0001 3.62 (13.46) + 0.007) (91.95) Sq. (14 - Motor Length 0.002) Parker Hannifin Corporation B28 Compumotor Division Rohnert Park, California APEX Series Catalog 8000-2/USA Drives and Drive/Controller Speed/Torque Curves Note: Parker recommends using SM, 70 mm and 92 mm The following APEX Series motors are available for existing NeoMetric motors whenever possible for new applications. applications and higher torque requirements. Parker Hannifin Corporation B29 Compumotor Division Rohnert Park, California B Servo Systems Catalog 8000-2/USA Drive/Controller APEX Motor Only Technical Data APEX602 APEX603 APEX604 APEX605 APEX606 Continuous Stall Torque lb-in 13.9 21.6 20 22 40 @ 40° ambient oz-in 222 346 315 346 634 Nm 1.57 2.44 2.22 2.44 4.48 Peak Torque lb-in 39.4 65.4 56 68 122 oz-in 630 1,046 899 1,085 1,957 Nm 4.45 7.38 6.35 7.66 13.82 Rated Power hp 1.5 1.3 2.0 2.0 2.1 k Watts 1.12 1.0 1.5 1.5 1.6 Rated Speed rpm 7,500 3,800 7,500 6,200 3,600 rps 125 63 125 103 60 Rated Current A (rms) 4.2 3.0 6.0 5 5.3 Peak Current A (rms) 12.6 9.6 18.0 16.6 17.2 2 Rotor Inertia oz-in (mass) 2.52 4.02 4.18 5.43 9.44 2 oz-in-sec 0.006 0.01 0.01 0.01 0.02 2 -6 kg m x 10 46.1 99.6 76.5 99.6 172.9 Motor Weight lbs 7.0 9.0 8.5 10.0 13.4 kg 3.2 4.1 3.9 4.5 6.1 Recommended APEX Drive APEX10 or APEX6151 APEX20 or APEX6152 APEX610 APEX620 APEX630 APEX635 APEX640 Continuous Stall Torque lb-in 58 116 164 154 274 @ 40° ambient oz-in 922 1,862 2,630 2,458 4,378 Nm 6.51 13.15 18.57 17.36 30.92 Peak Torque lb-in 164 331 468 438 779 oz-in 2,630 5,299 7,488 7,008 12,461 Nm 18.6 37.4 52.9 49.5 88.0 Rated Power hp 4.5 6.0 5.7 6.1 6.3 k Watts 3.3 4.5 4.3 4.5 4.7 Rated Speed rpm 7,000 3,700 2,500 3,000 1,600 rps 117 62 42 50 27 Rated Current A (rms) 14 14 14 14 14 Peak Current A (rms) 45 45 45 45 45 2 Rotor Inertia oz-in (mass) 13.72 35.87 50.79 56.1 111.0 2 oz-in-sec 0.04 0.09 0.13 0.15 0.29 2 -6 kg m x 10 251.2 656 929 1,028 2,034 Motor Weight lbs 16.4 29.0 32.0 37 51.0 kg 7.4 13.2 14.5 16.8 23.2 Recommended APEX Drive APEX40 or APEX6154 *These are Compumotor stock motors. Please contact Compumotor for alternative motor windings. Parker Hannifin Corporation B30 Compumotor Division Rohnert Park, California APEX Series Catalog 8000-2/USA Drives and Drive/Controller APEX Motor Dimensions ( —) denotes millimeters APEX602, APEX604 ( ) A 0.003 TIR 0.08 A max 1.18 – .02 B (30.0 – .5) 0.093 (2.36) 0.375 2.720 0.79 (20.0) (9.54) (69.0) min A 0.003 TIR (0.08) + 0.0005 0.06 + 2.362 2.76 - 0.0003 - 0.00 0.012) + + 1.5) (60.00 (70.0 - 0.007) - 0.0) 2.11 – 0.004 (53.6 – 1.0) 0.0003 + 0.551 - + 0.06 0.0001 2.76 - 0.00 + 0.008) (14.00 0.07 (1.8) + 1.5) - 0.003) (70.0 - 0.0) -A- Dimension—inches (mm) ( ) 0.0014 0.035 Ş0.228-Ş5.80 thru four holes equally spaced on Ş2.953 (Ş75.00) Dia. B.C. Tolerances unless otherwise specified: 1.53 .XXX –.005 (38.9) 0.197 (5.00) .XX –.010 0.196 (4.97) .X –.030 Angles –1° Motor A Max B – 0.08 (2.0) APEX602 8.41 (213.6) 5.28 (134.1) APEX604 Keyway 9.61 (244.2) 6.48 (164.6) Detail 0.433 (11.00) 0.429 (10.90) Brake Option APEX603, 605, 606, 610 A 0.003 (.08) TIR 0.276 +.01 -.00 (7.00 +.36 -.00)) dia. thru (4) holes eq. spaced on "A" Max 3.937 (100.00) dia. B.C. + 1.18 0.02 - + "B" 0.06 (1.5) + - (30.0 0.5) Resolver and - Thermostat Receptacle 0.69 (17.5) 0.78 A 0.003 (0.08) TIR Motor (19.8) Receptacle 0.25 (6.3) min 0.44 (11.2) 0.098 (2.49) 0.12 3.14 max (3.0) (79.8) + 2.54 0.04 - + (64.6 1.0) - +0.0005 3.167 (80.44) 3.150 -0.0003 3.165 (80.39) +0.012) (80.00 -0.007) +0.20 3.62 square -0.00 3.077 (78.16) +5.00) 3.075 (78.11) (92.0 -0.00) +0.0003 0.0014 (0.035) 0.3932 (9.987) 0.551 -0.0001 0.3922 (9.962) -A- +0.008) 0.197 (5.00) (14.00 -0.003) 0.196 (4.97) M5 x 0.032 (0.8) tap x 0.39 (10.0) Min DP (4) holes eq spaced on 0.433 (11.00) Keyway Detail 3.937 (100.00) dia B.C. 0.429 (10.90) Motor A Max B – 0.06 (1.5) C Max D Max APEX603 9.30 (236.2) 4.87 (123.7) 3.14 (79.8) 2.56 (65.0) APEX605 9.30 (236.2) 4.87 (123.7) 3.14 (79.8) 2.56 (65.0) APEX606 6.42 (163.1) 10.86 (275.8) 3.14 (79.8) 2.56 (65.0) 7.23 (183.6) APEX610 12.42 (315.4) 3.42 (86.8) 2.62 (66.5) Parker Hannifin Corporation B31 Compumotor Division Rohnert Park, California B Servo Systems Catalog 8000-2/USA Drive/Controller APEX Motor Dimensions (— ) denotes millimeters APEX620, 630 0.004 (0.10) TIR A 0.369-0.354 (9.36-9.00) dia. thru (4) holes eq. spaced on "A" Max 5.118 (130.00) dia. B.C. + 1.967 0.02 - + "B" 0.08 (2.0) + - (50.00 0.5) - Resolver and Thermostat 0.69 (17.5) Receptacle 1.457 0.004 (0.10) TIR A (37.00) 0.25 (6.3) Motor min Receptacle 0.49 0.098 (2.49) (12.5) 0.14 + 3.98 0.08 (3.5) - + (101.0 2.0) - 3.04 (77.10) +0.0005 4.103 (104.22) 4.331 -0.0003 4.101 (104.17) +0.013) (110.00 -0.009) +0.15 4.53 -0.00 4.006 (101.75) 4.004 +3.8) (101.70) (115.0 -0.00) +0.0004 0.0016 (0.040) 0.3932 (9.987) 0.945 -0.0002 -A- 0.3922 (9.962) +0.009) 0.3149 (8.000) (24.00 -0.004) 0.3135 (7.964) M5 x 0.032 (0.8) tap x 0.55 (14.0) 0.787 (20.00) Min DP (4) holes eq spaced on Keyway Detail Motor A Max B – 0.08 (2.0) 5.118 (130.00) dia B.C. 0.780 (19.80) APEX620 12.55 (318.8) 8.30 (210.9) APEX630 14.65 (372.1) 10.41 (264.3) APEX635, 640 A 0.004 (0.10) TIR 4.33 (11.00) dia. thru (4) holes eq. spaced on A 6.496 (165.00) dia. B.C. + 1.967 0.02 + - 8.17 (2.0) - + (50.00 0.5) + 0.69 (17.5) - (207.6) (0.08) - Resolver and Thermostat Receptacle 0.25 (6.3) 1.457 0.004 (0.10) TIR A (37.00) Motor min 0.098 (2.49) Receptacle 0.71 (18.0) 0.14 + 5.23 0.08 - (3.5) + (132.9 2.0) - 3.93 (99.8) +0.0005 5.103 (129.62) 5.118 -0.0004 5.101 (129.57) +0.014) (130.00 -0.011) +0.13 5.59 square -0.00 5.006 (127.15) +3.3) 5.004 (127.10) (142.0 -0.0) +0.0004 0.0016 (0.040) 0.3932 (9.987) 0.945 -0.0002 0.3922 (9.962) -A- +0.009) 0.3149 (8.000) (24.00 -0.004) 0.3135 (7.964) M5 x 0.032 (0.8) tap x 0.55 (14.0) 0.787 (20.00) Min DP (4) holes eq spaced on Keyway Detail 6.457 (164.00) dia B.C. 0.780 (19.80) Motor A Max B – 0.08 (2.0) APEX635 11.78 (299.2) 5.47 (139.0) APEX640 14.78 (375.4) 8.17 (207.6) Parker Hannifin Corporation B32 Compumotor Division Rohnert Park, California APEX Series Catalog 8000-2/USA Drives and Drive/Controller Ordering Information APEX10, APEX20 and APEX40 Connections and (LVD) Model No. Description Control Connections Drive: 13-Pin Removable Connector Pin No. Type Signal APEX10 10 Amp analog servo drive APEX20 20 Amp analog servo drive 1 Input Reset APEX40 40 Amp analog servo drive 2 Gnd Gnd 3 Input Velocity Integrator Enable Motors: 4 Input Enable SM231AR-NMSN Size 23 brushless motor with resolver 5 Output Fault SM232AR-NMSN Size 23 brushless motor with resolver 6 Gnd Gnd SM233BR-NMSN Size 23 brushless motor with resolver 7 Input Command+ N0701DR-NMSN Size 70 mm brushless motor with resolver 8 Input Command- 9 Output Tach out N0701FR-NMSN Size 70 mm brushless motor with resolver 10 Gnd Gnd N0702ER-NMSN Size 70 mm brushless motor with resolver 11 Output +15V N0702FR-NMSN Size 70 mm brushless motor with resolver 12 Gnd Gnd N0703FR-NMSN Size 70 mm brushless motor with resolver 13 Output -15V N0703GR-NMSN Size 70 mm brushless motor with resolver Power Connections N0704FR-NMSN Size 70 mm brushless motor with resolver 7-Pin High Power Removable Connector N0704GR-NMSN Size 70 mm brushless motor with resolver Pin Signal No. Type APEX20/40 APEX10 N0921FR-NMSN Size 92 mm brushless motor with resolver N0921GR-NMSN Size 92 mm brushless motor with resolver 1 Input Line 1 Line 1 N0922GR-NMSN Size 92 mm brushless motor with resolver 2 Input Line 2 Line 2 3 Input Line 3 Earth N0922JR-NMSN Size 92 mm brushless motor with resolver 4 Input Earth Earth N0923HR-NMSN Size 92 mm brushless motor with resolver 5 Input Earth Earth N0923KR-NMSN Size 92 mm brushless motor with resolver 6 Input Control L1 Control L1 N0924JR-NMSN Size 92 mm brushless motor with resolver 7 Input Control L2 Control L2 N0924KR-NMSN Size 92 mm brushless motor with resolver Motor-to-drive cables: Resolver Connections 71-014675-10 SM-231A, -232A, -233B MS motor (10' cable) 13-Pin Removable Connector 71-014675-25 SM-231A, -232A, -233B MS motor (25' cable) Pin No. Type Signal 71-015531-10 70 mm, MS 10-foot motor cable 1 Input Shield 71-015531-25 70 mm, MS 25-foot motor cable 2 Input Stator 3 71-015532-10 92 mm, MS 10-foot motor cable 3 Input Stator 1 4 Input Stator 2 71-015532-25 92 mm, MS 25-foot motor cable 5 Input Stator 4 71-013863-XX APEX602, 603, 604, 605, 606 motor cable 6 Output Rotor 1 71-013864-XX APEX610, 620, 630 motor cable 7 Output Rotor 2 71-013865-XX APEX635, 640 motor cable 8 Input Motor Temp+ (XX can be 25', 50' or 100') 9 Input Motor Temp- Resolver-to-drive cable: 10 Output Fault Relay+ 11 Output Fault Relay- 71-015019-10 SM-231A, -232A, -233B resolver (10') 12 Input Feedback+ 71-015019-25 SM-231A, -232A, -233B resolver (25') 13 Input Feedback- 71-015019-10 70 mm and 92 mm MS 10' resolver cable 71-015019-25 70 mm and 92 mmMS 25' resolver cable 71-013862-XX Resolver-to-drive cable for APEX600 Series Motor Connector motors (XX can be 25', 50' or 100'). Encoder Connections 8-Pin Screw Terminal 7-Pin Removable Connector Cables for SM size 23 motors NeoMetric motors are available as a set. These sets consist of 1 motor cable and 1 resolver cable. Standard lengths are 10' Pin No. Type Signal Pin No. Signal and 25'. Please consult factory for options on cable lengths and motor shaft 1 Output CHA+ 1 V Bus + modifications for all SM and NeoMetric Series motors. 2 Output CHA- 2 Regen Resistor Cable Part No.: 3 Output CHB+ 3 V Bus - 23RS Cable-10 1 set of 10' cables for SM size 23 motor 4 Output CHB- 4 Phase A 5 Output CHZ+ 23RS Cable-25 1 set of 25' cables for SM size 23 motor 5 Phase B 6 Output CHZ- 6 Phase C 70RS Cable-10 1 set of 10' cables for NeoMetric size 70 mm motor 7 Output Gnd 7 Motor Ground 70RS Cable-25 1 set of 25' cables for NeoMetric size 70 mm motor 8 Shield 92RS Cable-10 1 set of 10' cables for NeoMetric size 92 mm motor 92RS Cable-25 1 set of 25' cables for NeoMetric size 92 mm motor Parker Hannifin Corporation B33 Compumotor Division Rohnert Park, California B Servo Systems Catalog 8000-2/USA Drive/Controller Programmable I/O Pin Outs Model APEX6151, APEX6152 and APEX6154 Connections 50-Pin Header Pin No. I/O Connector External Encoder Auxiliary 1 Input #16 27 Input #7 9-Pin Screw Terminal 11-Pin Screw Terminal 3 Input #15 29 Input #6 Pin No. Signal Pin No. Signal 5 Input #14 31 Input #5 1 Shield 1 Reserved 7 Input #13 33 Output #4 2 ISO Ground 2 Reserved 9 Input #12 35 Output #3 3 Z- Channel 3 Trigger A 11 Input #11 37 Output #2 4 Z+ Channel 4 Trigger B 13 Input #10 39 Output #1 5 B- Channel 5 Output -A 6 B+ Channel 6 ISO Ground 15 Input #9 41 Input #4 7 A- Channel 7 +5VDC (out) 17 Output #8 43 Input #3 8 A+ Channel 8 Output Pull-Up 19 Output #7 45 Input #2 9 +5VDC (out) 9 Input Pull-Up 21 Output #6 47 Input #1 10 Auxiliary Pull-Up 23 Output #5 49 +5VDC 11 V___ I/O 25 Input #8 COM 2 COM 1 5-Pin Screw Terminal 3-Pin Screw Terminal Signal Pin No. Signal Pin No. RP240 RS485 1Rx 1 +5V Rx+ 2Tx 2 ISO GND Rx- 3 ISO Ground 3 Rx Tx+ Ordering Information 4 Tx Tx- 5 Shield ISO GND Part No. Description and (LVD) Power Connections Drives: 7-Pin High Power Removable Connector APEX6151 10 Amp analog servo drive Pin Signal APEX6152 20 Amp analog servo drive No. Type APEX6152/6154 APEX6151 APEX6154 40 Amp analog servo drive 1 Input Line 1 Line 1 Motors: 2 Input Line 2 Line 2 SM231AR-NMSN Size 23 brushless motor with resolver 3 Input Line 3 Earth SM232AR-NMSN Size 23 brushless motor with resolver 4 Input Earth Earth SM233BR-NMSN Size 23 brushless motor with resolver 5 Input Earth Earth 6 Input Control L1 Control L1 N0701DR-NMSN Size 70 mm brushless motor with resolver 7 Input Control L2 Control L2 N0701FR-NMSN Size 70 mm brushless motor with resolver Limits N0702ER-NMSN Size 70 mm brushless motor with resolver Motor Connector N0702FR-NMSN Size 70 mm brushless motor with resolver 4-Pin Screw Terminal 8-Pin Screw Terminal N0703FR-NMSN Size 70 mm brushless motor with resolver Pin No. Signal Pin No. Signal N0703GR-NMSN Size 70 mm brushless motor with resolver 1 ISO Ground 1 V Bus + N0704FR-NMSN Size 70 mm brushless motor with resolver 2 Home 2 Regen Resistor N0704GR-NMSN Size 70 mm brushless motor with resolver 3 Negative 3 V Bus - N0921FR-NMSN Size 92 mm brushless motor with resolver 4 Positive 4 Phase A 5 Phase B N0921GR-NMSN Size 92 mm brushless motor with resolver 6 Phase C N0922GR-NMSN Size 92 mm brushless motor with resolver 7 Motor Ground N0922JR-NMSN Size 92 mm brushless motor with resolver 8 Shield N0923HR-NMSN Size 92 mm brushless motor with resolver N0923KR-NMSN Size 92 mm brushless motor with resolver N0924JR-NMSN Size 92 mm brushless motor with resolver N0924KR-NMSN Size 92 mm brushless motor with resolver Parker Hannifin Corporation B34 Compumotor Division Rohnert Park, California APEX Series Catalog 8000-2/USA Drives and Drive/Controller Ordering Information (continued) Motor-to-drive cables: Accessories 71-014675-10 SM-231A, -232A, -233B MS motor (10 foot) Part No. Description 71-014675-25 SM-231A, -232A, -233B MS motor (25 foot) VM24S 24V input/output module. See page B138. 71-015531-10 70 mm, MS 10-foot resolver cable RP240 Operator interface. See page B140. 71-015531-25 70 mm, MS 25-foot resolver cable RP240-NEMA4 NEMA rated operator interface. Flat panel 71-015532-10 92 mm, MS 10-foot resolver cable mounted. See page B140. 71-015532-25 92 mm, MS 25-foot resolver cable Servo Tuner Motion Architect’s Servo Tuning module. 71-013863-XX APEX602, 603, 604, 605, 606 motor See page B109. 71-013864-XX APEX610, 620, 630 motor DDE 6000 DDE server for APEX6152 and APEX6154. 71-013865-XX APEX635, 640 motor Includes software disk with instructions. See (XX can be 25, 50 or 100 feet) page B109. Resolver-to-drive cable: Motion Builder Graphical icon-based software. 71-015019-10 SM-231A, -232A, -233B resolver (10 foot) See page B109. 71-015019-25 SM-231A, -232A, -233B resolver (25 foot) 71-015019-10 70 mm and 92 mm MS 10-foot resolver cable 71-015019-25 70 mm and 92 mmMS 25-foot resolver cable 71-013862-XX Resolver-to-drive cable for APEX600 Series motors (XX can be 25, 50 or 100 feet) Software information is available on page B109. Cables for SM size 23 motors NeoMetric motors are available as a set. These sets consist of 1 motor cable and 1 resolver cable. Standard lengths are 10 ft and 25 ft. Please consult factory for options on cable lengths and motor shaft modifications for all SM and NeoMetric Series motors. Cable Part No.: 23RS Cable-10 1 set of 10-ft cables for SM size 23 motor 23RS Cable-25 1 set of 25-ft cables for SM size 23 motor 70RS Cable-10 1 set of 10-ft cables for NeoMetric size 70 mm motor 70RS Cable-25 1 set of 25-ft cables for NeoMetric size 70 mm motor 92RS Cable-10 1 set of 10-ft cables for NeoMetric size 92 mm motor 92RS Cable-25 1 set of 25-ft cables for NeoMetric size 92 mm motor Parker Hannifin Corporation B35 Compumotor Division Rohnert Park, California B Servo Systems Catalog 8000-2/USA 0.179 1.055 (4.55) (26.8) Drive/Controller 3.0 9.20 (233.7) (76.2) Unpainted for APEX10 and grounding APEX6151 Dimensions 15.0 (381) 14.25 (362) 12.89 (327.4) 4x clearance for #10 (M5) mounting screw 1.50 0.75 (38.1) (19.05) 1.000 0.33 10.750 4.500 (114.3) (25.4) (8.4) APEX20 and (273) 2.00 1.250 (50.8) (31.7) APEX6152 Dimensions Unpainted for Grounding 14.250 (361.9) 15.375 (390.5) 16.250 (412.7) Dimensions in 4 x clearance for inches (millimeters) #10 (M5) mounting screw 0.33 1.000 10.750 5.875 (149.2) APEX40 and (25.4) (8.4) (273) 1.438 3.000 (36.5) (76.2) APEX6154 Dimensions Unpainted for Grounding 14.250 (361.9) 15.375 (390.5) 16.250 (412.7) 4 x clearance for Dimensions in #10 (M5) mounting screw inches (millimeters) Parker Hannifin Corporation B36 Compumotor Division Rohnert Park, California