Download T161 Series Rack Mount Digital Brushless Motor Controller
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m 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 BRUSHLESS TECHNOLOGY BRUSHLESS TECHNOLOGY BRUSHLESS TECHNOLOGY BRUSHLESS TECHNOLOGY BRUSHLESS TECHNOLOGY BRUSHLESS TECHNOLOGY 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] BRUSHLESS TECHNOLOGY BRUSHLESS TECHNOLOGY BRUSHLESS TECHNOLOGY BRUSHLESS TECHNOLOGY BRUSHLESS TECHNOLOGY BRUSHLESS TECHNOLOGY BRUSHLESS TECHNOLOGY 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