Download T161 Series Rack Mount Digital Brushless Motor Controller

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T161 Series
Rack Mount Digital
Brushless Motor Controller
CONTROLLER AND POWER SUPPLY SYSTEM FEATURES
Microprocessor Based
Standard Euro Rack (6U) 19 Inch Rack
1, 2, 3, 4 or 6 Axes PCB Backplanes
Simple Set-Up and Tuning with Hand Held Terminal
PC Set-Up via “WinDrive” Graphical User Interface
Software or “MOOGTERM” Software.
RS232/RS485 Serial Port
Compact Size
1 Phase or 3 Phase Operation
Direct 220 VAC Line Operation
Custom Configurations Available - Consult Factory
CONTROLLER FEATURES
CONTROLLER PROTECTION
Sinusoidal Three Phase Drive
Built-In Heat Sink
Programmable Velocity or Current Control
Diagnostics, Function Generator for Tuning
Resolver Based System
Quick Change Modular Construction
Extended Function Card (Option)
- Programmable Encoder Simulator
Programmable Analog Test Points
Configuration Stored In Non-Volatile E2PROM
Watchdog Timer
Power Supply Fault Monitor
Over Current
Short Circuit
Motor Temperature
Controller Overtemperture
Feedback Loss
Commutation Fault
Logic Voltage
Extended Function Card
Optional Encoder Simulator
SPECIFICATIONS
Output Ratings (A rms)
EXTENDED
FUNCTION
CARD
Model
Continuous*
Peak*
T161-901
3.0
5.0
T161-902
5.0
10.0
T161-903
8.0
20.0
T161-904
12.0
40.0
Switching Frequency:
10KHz (-001, -002), 5KHz (-003, -004)
Operating Temperature:
0° - 55°C ambient
Model
Height
Width
Depth
T161-901
T161-902
T161-903
10.35 in.
[262.9]
2.40 in.
[61.0]
9.75 in.
[247.7]
T161-904
10.35 in.
[262.9]
3.60 in.
[91.44]
9.75 in.
[247.7]
Weight:
5.0 lbs. [2.3 kg] (-901, -902, -903)
7.6 lbs. [3.5 kg] (-904)
*NOTE:
Fan tray minimum 300 C.F.M. [8.49 Cubic Meters/Minute]
Total Required at 2.0 Inches Water Column [.469 kPa].
Refer to installation drawing for fan installation specifications.
Unless otherwise specified, dimensions in brackets are in millimeters.
TOP/BOTTOM CONNECTION BACKPLANE INSTALLATION
1
2
3
4
5
1
2
3
1
X3 AC POWER INPUT
1
2
2
3
XA4
4
5
6
7
1
2
3
XB4
4
5
6
7
1
2
3
XC4
4
5
6
7
1
2
3
XD4
4
5
6
7
1
2
3
XE4
4
5
6
7
1
2
3
XF4
4
5
6
7
X4
EXT.REGEN
3
1.75 MAX
[44.5]
X7
DC BUS
.268 TYP
[6.8]
BRUSHLESS TECHNOLOGY
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T161 CONTROLLER
T161 CONTROLLER
T161 CONTROLLER
T161 CONTROLLER
T161 CONTROLLER
T161 CONTROLLER
160 POWER SUPPLY
AX36
AX36
AX36
AX36
AX36
AX36
10.47
[266.0]
3.00
[76.2] 7.50
[190.5]
DEPTH
11.60 MIN
[279.4]
2.25
[63.5]
OK
>400V
3
1.49
[37.8]
1
2
3
1
2
3
X9
5
6
7
1
XA6
RESOLVER CONNECTOR
2 3 4 5 6 7 8 9
1
XB6
RESOLVER CONNECTOR
2 3 4 5 6 7 8 9
1
XC6
RESOLVER CONNECTOR
2 3 4 5 6 7 8 9
1
XD6
RESOLVER CONNECTOR
2 3 4 5 6 7 8 9
1
XE6
RESOLVER CONNECTOR
2 3 4 5 6 7 8 9
1
XF6
RESOLVER CONNECTOR
2 3 4 5 6 7 8 9
1
XA7
EF/ESM CONNECTOR
2 3 4 5 6 7 8 9
1
XB7
EF/ESM CONNECTOR
2 3 4 5 6 7 8 9
1
XC7
EF/ESM CONNECTOR
2 3 4 5 6 7 8 9
1
XD7
EF/ESM CONNECTOR
2 3 4 5 6 7 8 9
1
XE7
EF/ESM CONNECTOR
2 3 4 5 6 7 8 9
1
XF7
EF/ESM CONNECTOR
2 3 4 5 6 7 8 9
3.5 MAX
[88.9]
1
6
FAN
3 PLACES
4
X10
8 9 10 11 12 13 14 15
X6
1
6
XA5-1 INPUT/OUTPUT CONNECTOR
1 2 3 4 5 6 7 8
9 10
XA5-2 INPUT/OUTPUT CONNECTOR
11 12 13 14 15 16 17 18 19 20 21
XB5-1 INPUT/OUTPUT CONNECTOR
1 2 3 4 5 6 7 8
9 10
XB5-2 INPUT/OUTPUT CONNECTOR
11 12 13 14 15 16 17 18 19 20 21
XC5-1 INPUT/OUTPUT CONNECTOR
1 2 3 4 5 6 7 8
9 10
XC5-2 INPUT/OUTPUT CONNECTOR
11 12 13 14 15 16 17 18 19 20 21
XD5-1 INPUT/OUTPUT CONNECTOR
1 2 3 4 5 6 7 8 9 10
XD5-2 INPUT/OUTPUT CONNECTOR
11 12 13 14 15 16 17 18 19 20 21
XE5-1 INPUT/OUTPUT CONNECTOR
1 2 3 4 5 6 7 8
9 10
XE5-2 INPUT/OUTPUT CONNECTOR
11 12 13 14 15 16 17 18 19 20 21
XF5-1 INPUT/OUTPUT CONNECTOR
1 2 3 4 5 6 7 8
9 10
XF5-2 INPUT/OUTPUT CONNECTOR
11 12 13 14 15 16 17 18 19 20 21
AIR FLOW
16.80 [426.7]
18.11 [460.0]
.312 [7.9]
4 PLACES
X3
1
2
3
4
5
Ø1
Ø2
Ø3
X4
1
2
3
220VAC
50/60 Hz
CANBUS +
CANBUS –
RS485 +
RS485 –
X5-2
8
9
10
11
12
13
14
15
NC
NC
VCC
X7
1
2
3
3
CANBUS +
CANBUS –
RS485 +
RS485 –
NC
NC
VCC
X#7
5
1
8
4
7
3
6
2
9
+24V EXT
–24V EXT
+24V EXT
–24V EXT
RLY PIN 1
RLY PIN 2
BRAKE POWER
SUPPLY (OPTION)
DC EXT LOGIC
POWER (OPTION)
PWR SPLY
OK (– –)
+5V
+15V
–15V
ANALOG GND
DIGITAL GND
RLY PIN 1 SYSTEM READY
RLY PIN 2 (– –) (OPTION) 1
GROUP AUTO/MAN MODE (OPTION)
DC BUS+
DC BUS–
2
ESM + VEXT
PWR
ESM – SPLY
A
A/
B
B/
MARKER
MARKER/
X9
1
2
3
X#6 2
1
2
3
4
5
6
7
8
9
Ø1 FAN(S)
220 VAC
Ø2 50/60 Hz
SIN +
MOT THRM
COS +
REF +
DGND
SIN –
(SHLD)
COS –
DGND (REF–)
X#5–1 2
1
RLY PIN 1 AXIS
2
RLY PIN 2 OK (– –)
3
PRGM ANLG TP OUTPUT
4
I DC CURRENT MONITOR
5
ANLG GND
6
CW LIMIT SW
7
CCW LIMIT SW
8
9
AUTO/MAN MODE
10
DRIVE ENABLE
X#5–2 2
11
12
TORQ/VEL SELECT
13
EXT V +
14
EXT GND
15
RLY PIN 1 THERM LIM
16
RLY PIN 2 ACT (– –)
TORQUE LIMIT +
17
18
TORQUE LIMIT –
REF IN +
19
REF IN –
20
ESM AN VEL (OPTION)
21
X#4
1
2
3
4
5
6
7
2
BRAKE +
BRAKE –
ØA MOTOR
ØB MOTOR
ØC MOTOR
Unless otherwise specified, dimensions in brackets are in millimeters.
1
2
3
4
5
1
X3
2
3
X4
AC POWER INPUT
1
2
1
2
3
EXT.REGEN
3
4
5
6
7
XA4
DC BUS
X7
1
2
3
1
2
3
4
2
1
EF/ESM CONNECTOR
2 3 4 5 6 7 8
9
XA6
5
6
7
X5-1
9
XA7
8 9 10 11 12 13 14 15
X5-2
1
6
RESOLVER CONNECTOR
3 4 5 6 7 8
1
X9
INPUT/OUTPUT CONNECTOR
1 2 3 4 5 6 7 8
9 10
XA5-1
X6
X10
1
2
3
4
5
6
7
8
9
X5-1
1
2
3
4
5
6
7
PIN 1 EXT
PIN 2 REGEN
X6
1
2
3
4
5
6
7
8
9
19.00 [482.6]
INPUT/OUTPUT CONNECTOR
11 12 13 14 15 16 17 18 19 20 21
XA5-2
NOTES:
1
SYSTEM READY IS A
FAULT INDICATOR FOR THE
POWER SUPPLY AND ANY OF
THE 6 CONTROLLER AXES (OPTION).
2
THESE CONNECTORS ARE IDENTICAL
FOR EACH OF THE 6 CONTROLLER AXES.
EX. FOR AXIS A. X#1 = XA1
FOR AXIS B. X#1 = XB1
3
WHEN USING MULTIPLE RACK SYSTEMS
REFER TO USER MANUAL FOR PROPER
RS 485 TERMINATIONS.
AXIS
BRAKE (OPTION)
REAR CONNECTION BACKPLANE INSTALLATION
.268 TYP
[6.8]
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T161 CONTROLLER
T161 CONTROLLER
T161 CONTROLLER
T161 CONTROLLER
T161 CONTROLLER
T161 CONTROLLER
160 POWER SUPPLY
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
DEPTH
11.60 MIN
[279.4]
10.47
[266.0]
3.00
[76.2]
7.50
[190.5]
2.25
[63.5]
OK
>400V
3
1.49
[37.8]
AIR
FAN
3 PLACES
1.75 MAX
[44.5]
FLOW
16.80 [426.7]
18.11 [460.0]
.312 [7.9]
4 PLACES
19.00 [482.6]
TERMINAL 1
TERMINAL 1
TERMINAL 1
X3
X9
XB4
X3
1
2
3
4
5
X4
1
2
3
4
X6
1
2
3
4
5
6
7
8
9
X9
1
2
3
4
5
6
Ø1
Ø2
Ø3
X5
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
220VAC
50/60 Hz
PIN 1 EXT
PIN 2 REGEN
NC
CANBUS +
CANBUS –
RS485 +
RS485 –
NC
NC
NC
Ø1
Ø2
Ø1
Ø2
Ø1
Ø2
FAN(S)
220 VAC
50/60 Hz
X7
1
2
3
X#7
5
1
8
4
7
3
6
2
9
XA4
X4
TERMINAL 1
TERMINAL 1
X7
+24V EXT
–24V EXT
+24V EXT
–24V EXT
RLY PIN 1
RLY PIN 2
BRAKE POWER
SUPPLY (OPTION)
DC EXT LOGIC
POWER (OPTION)
PWR SPLY
OK (– –)
+5V
+15V
–15V
ANALOG GND
DIGITAL GND
RLY PIN 1 SYSTEM READY
RLY PIN 2 (– –) (OPTION) 1
GROUP AUTO/MAN MODE (OPTION)
DC BUS+
DC BUS–
2
ESM + VEXT
PWR
ESM – SPLY
A
A/
B
B/
MARKER
MARKER/
X#6 2
1
2
3
4
5
6
7
8
9
SIN +
MOT THRM
COS +
REF +
DGND
SIN –
(SHLD)
COS –
DGND (REF–)
XB5
TERMINAL 1
X6
XA5
X5
XA7
XC6
X#5
2
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
TERMINAL 1
XB7
XB6
XA6
X#4
RLY PIN 1 AXIS
RLY PIN 2 OK (– –)
PRGM ANLG TP OUTPUT
I DC CURRENT MONITOR
ANLG GND
CW LIMIT SW
CCW LIMIT SW
AUTO/MAN MODE
DRIVE ENABLE
TORQ/VEL SELECT
EXT V +
EXT GND
RLY PIN 1 THERM LIM
RLY PIN 2 ACT (– –)
TORQUE LIMIT +
TORQUE LIMIT –
REF IN +
REF IN –
(REAR VIEW)
2
1
2
3
4
5
6
7
BRAKE +
BRAKE –
AXIS
BRAKE (OPTION)
ØC MOTOR
ØB MOTOR
ØA MOTOR
NOTES:
1
SYSTEM READY IS A
FAULT INDICATOR FOR THE
POWER SUPPLY AND ANY OF
THE 6 CONTROLLER AXES (OPTION).
2
THESE CONNECTORS ARE IDENTICAL
FOR EACH OF THE 6 CONTROLLER AXES.
EX. FOR AXIS A. X#1 = XA1
FOR AXIS B. X#1 = XB1
Unless otherwise specified, dimensions in brackets are in millimeters.
North American Drives Operations
Moog Inc., East Aurora, NY, 14052-0018 • Telephone: 716/655-3000 • Fax 716/687-4870 • Toll Free: 1-800-272-MOOG
500-281 298