Index
135
internal configuration 10
N
National Electric Code Handbook i
negative-travel limits 27
noise
defeating 96
electrical 11
externally conducted 94
ground loops 95
internal switching 94
power line 93
sensitivity 35
transmitted 95
noise, electrical 3, 64
suppression 93
suppression on I/O cables 35
O
offset balance adjustments 71
open loop commutation 73
opening the APEX615n 10
oscillatory servo response 78, 82
ouput power
frequency range 4
ouput power
current 4
voltage range 4
output saturation 76
outputs
+5V 5
general-purpose programmable 31
OUT-A 31
programmable 5
problems 66
test 50
over-damped servo response 78
overcurrent fault 62
overshoot 78, 82
overtemperature fault 62
overvoltage fault 62, 69
P
panel layout 14
peak current 7-9,122, 126
performance specifications 4
pin outs
encoder connector 26
limits connector 27
programmable inputs 31
programmable outputs 31
PIV&F gains 80
PLC connections 32
polarity
end-of-travel limit inputs 27
home input 27
programmable inputs 31
programmable outputs 31
trigger inputs 28
pole pair number 121, 124
PORT command 34
COM 2 function 10
position
actual (based on feedback device)
77
commanded 77
error 65, 77
overshoot 82
response (servo) 77
types 78
setpoint 77
tracking error 77
position range 4
positive-travel limits 27
power
wiring options 23
power connector
jumpers 22
power line noise 93
power supply
AC input connections & specs 21
for limit inputs, & trigger inputs 28
for P-CUT, limit inputs, & trigger
inputs 27
for programmable inputs & outputs
31
power-up
start-up program (startp)
problems 66
pre-installation changes 6
precautions
installation 3
mounting 11
process of installation 3
product return procedure 73
programmable I/O
connections & specs 31
programmable inputs 5
programming
debug tools 64
error messages 64
programming tools available 60
proportional feedback control (SGP) 80
pseudo-quadrature outputs 40
Q
quadrature outputs 40
R
regen fault 62, 68
regen resistor
external 130-132
regeneration 48
removing the APEX615n frontplate 10
reset
drive 64
RESET command 64
reset input 64
connections & specs 36
resistor
regeneration 48
resistor braking 46
resistors, termination/bias
calculating 25
selecting 10
resolver
accuracy 97
alignment 72
resolution 4
speed 125, 128
resolver connector 42
fault relay terminals 43
response – servo 78
return procedure 73
rise time 78
RP240
connections
test 50
RP240, connections 34
RS-232C
(see serial communication)
RS-232C communication 95
disable handshaking 67
troubleshooting 67
RS-485
(see serial communication)
S
safety 3
safety stops
(see end-of-travel limits)
saturation of the control output 75
schematics, internal
enable input 37
encoder inputs 26
fault output 37
fault relay terminals.i.resolver
connector
fault relay terminals 44
hall effect input 41
limit inputs 27
motor temperature sensor input 43
programmable inputs and outputs
31
reset input 36
resolver rotors & stators 42
tachometer output 38
trigger inputs 28
±15V output 38
serial communication
RS-232C
configuration 10
connections 25
daisy-chain connections 25
specifications 5
RS-485
configuration 10
connections 25
multi-drop connections 25
resistor calculation 25
RP240 connections 34
specifications 5
servo
control methods/types 80
sampling frequency 75, 85
tuning,
see tuning
servo sampling update period 4
setpoint 77
settling time 78
shield 20
shielding 3
I/O cables 35
ship kit 2
short circuit fault 62
single speed resolver 125, 128
sinking input device, connecting to 33
sinking output device, connecting to
28, 32
sourcing input device, connecting to
33
sourcing output device, connecting to
28, 32
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