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DIP Switch Settings

for APEX Series Motors

see page 7-9

DANGER

HIGH VOLTAGE

Earth

Control L1

Control L2

123456781234567812345678

Off 1 SW1 8 1 SW2 81 SW3 8

AC INPUT

202 – 252 VAC

47 – 66 Hz

3-ph or 1-ph

(Use L1 & L2

MT±

Color Code:

APEX

Resolver

Cable

Short MT+ and MT- if motor

has no temperature sensor

pg 41

Resolver: Resolution is 4096 counts/rev

Flt Relay± Relay type: Normally Open

Max Current: 5A at 24VDC or

5A at 120VAC

see page 42 for more info

see

Motor Braking

on pg 42-44

Shield

Stator 3

Stator 1

Stator 2

Stator 4

Rotor 1

Rotor 2

Motor Temp+

Motor Temp–

------

Red

Black

Green

Blue

Brown

White

Yellow

Orange

Connector Wire Color

RESOLVER CONNECTOR

DRIVE AUXILIARY CONNECTOR

1024 counts, pre-quadrature

Ch A leads Ch B

Ch Z pulse width is 90°

pg 37, 38

for 1-ph)

pg 5, 23

4096 counts, post-quadrature

Counts/Rev:

CW Rotation:

Ch Z:

ENCODER OUTPUT

Enable Indicates drive is enabled.

Disable Indicates drive is disabled.

Over Voltage Bus voltage exceeded 420VDC.

Regen Fault Drive faulted–excess regen.

Regen Active Regen resistor on, and

dissipating excess power.

I2T Limit I2t Limit exceeded. Drive is in

foldback. Output limited to

continuous current setting.

Drive Fault Motor short circuit.

Control board overtemp.

Undervoltage (brownout).

Motor Fault Resolver not connected.

Motor overtemperature.

Motor thermostat not

connected.

Bridge Fault Power stage overtemp.

Power stage overcurrent.

Name Description/Problem

pg 60

LEDs

PROGRAMMABLE I/O

I/O Number

Input #16

Input #15

Input #14

Input #13

Input #12

Input #11

Input #10

Input #9

Output #8

Output #7

Output #6

Output #5

I/O NumberPin

Input #8

Input #7

Input #6

Input #5

Output #4

Output #3

Output #2

Output #1

Input #4

Input #3

Input #2

Input #1

49 +5VDC

Even numbered pins connect to ISO GND.

I/O are; optically isolated; HCMOS compat-

ible.* Plug is compatible with OPTO-22.

INPUTS: Connect internal 6.8KΩ pull-ups

through In-P to +5V or 0 – 24V supply.

OUTPUTS: Open-collector outputs. Con-

nect internal 4.7KΩ pull-ups through Out-P

to +5V or 0 – 24V supply.

COM 1

Set-up: 9600 baud, 8 data bits,1 stop bit,

no parity, full duplex.

see page 25

AUXILIARY

Name Description

ANI+ Analog Input. Not applicable.

ANI–

TRG-A Input #17. Optically isolated. In-

ternal 6.8 KΩ pull-ups through

AUX-P to 5V or external 0–24V.

see pg 28.

Use for position

capture input (INFNC).

TRG-B General purpose input #18.

Otherwise same as Trg-A.

OUT-A Output #9. Use for output on

position (OUTFNC). Circuit iden-

tical to prog. outputs.

pg 28, 29

+5V Connect to OUT-P, IN-P, and/or

AUX-P to power I/O. 100mA

limit.

see pg 27, 28, 30, 31

OUT-P Pull-up resistors for prog. outputs

and OUT-A.

pg 29,31

IN-P Pull-up resistors for programma-

ble inputs.

pg 29, 31

AUX-P Pull-up resistors for Home, Neg,

Pos, Trg-A, Trg-B

pg 27, 28, 30

Connect V_I/O, Out-P, In-P, Aux-P to +5V for

HCMOS compatability.* Connect to 0 – 24V

supply for other compatibility.

pg 5, 6, 27-31

ISO GND Isolated ground.

see pg 18, 19

EXTERNAL ENCODER INPUT

Optically isolated. Encoder must be: Incre-

mental; 2-ph. quadrature;differential (recom-

mended) or single-ended; HCMOS com-

patible*; Max. freq.=1.2MHz; Min. between

transitions = 833 ns.

see page 26

COM 2

Connections – see pages 25 & 32

Configuring for RS-485 – see page 10

LIMITS

Home, Pos, Neg: V_I/O sets switching volt-

age levels; internal 6.8 KΩ pull-ups through

AUX-P to 5V or ext. 0–24V supp.

see pg 27

See I/O Device Interface – pages 29-31

*HCMOS-compatibility: Low

≤

1.0V, High

≥

3.25V

**Optical isolation between I/O GND and internal

microprocessor ground, but not between inputs and outputs.

49 50

Programmable Inputs/Outputs

CHA+

CHA -

CHB+

CHB -

CHZ+

CHZ -

Gnd

Encoder Output

Shield

Red

Blk

Grn

Blu

Brn

Wht

Yel

Org

Flt Relay+

Flt Relay -

Reset

Gnd

Enable In

Fault Out

Gnd

Tach Out

Gnd

+15 V

Gnd

-15 V

Enable

Disable

Bridge Fault

Drive Fault

Motor Fault

Over Voltage

T Limit

Regen Fault

Regen Active

Torque Cmd

Test Point

Offset

Balance

Tach Output

Calibration

Shield

Iso Gnd

Z -

Z+

B -

B+

A -

A+

+5V

Iso Gnd

Home

Neg

Pos

ANI+

ANI–

Trg-A

Trg-B

Out-A

Iso Gnd

+5V

Out-P

In-P

Aux-P

V_I/O

Auxiliary Limits

External Encoder Input

+5V

Gnd

Shld

Rx+

Rx-

Tx+

Tx-

Iso Gnd

COM 2

COM 1

Iso Gnd

Compumotor

RESET

ENABLE IN

FAULT OUT

±15V

GND

TACH OUT

Active Low, ≤1.0V

pg 34, 62

Active Low, ≤1.0V

page 35, 63

Active HIGH (floats if faulted)

(Output is held low if no fault)

page 35

10 mA at ±15V

page 36

Internally isolated from EARTH

terminal.

see page 18, 19

1V/1000 rpm for 1-speed re-

solver. Scale by DIP SW3-#5

page 36, 70

OFF

APEX604

APEX610

APEX620

APEX630

APEX635

APEX640

APEX605

APEX606

123456781234567812345678

SW 1

18 SW 318SW 218

SW 118 SW 318SW 218

OFF

APEX6152

APEX6154

DANGER

HIGH VOLTAGE

V Bus +

Regen Resistor

V Bus –

Phase A

Phase B

Phase C

Motor Ground

Shield

V Bus +

Regen Res/NC

V Bus -

Phase A

Phase B

Phase C

Motor Ground

Shield

MOTOR CONNECTOR

(Underneath unit)

page 45

Orange

Blue

Gray

Green &

Shield

Color

Code

APEX

Motor

Cable

TROUBLESHOOTING TIPS

TO ALLOW MOTION:

– Power must be on. (Is at least one LED on?)

– ENABLE IN must be grounded.

– Connect (or disable) limits. LH (LHØ) command.

– Set (or disable) position error. SMPER (SMPERØ)

– Set reasonable gains for system. (

see Tuning

)

– Check encoder (TPE); increments for CW move?

– Check A, V, D. (If D = Ø, no motion will occur.)

PROBLEM REPORT: TAS command reports prob-

lems. TFS command reports Following status.

INPUTS or OUTPUTS not working:

Programmable input (INFNC) functions and drive

fault detection will not operate until you enable

input functions with the INFEN1 command.

EXAMINE LEDs for indication of problem.

pg 60

•

Programmable output (OUTFNC) functions will not

operate unless enabled with OUTFEN1 command.

see page 69

1 volt = 3 amps cmd. torque

1 volt = 5 amps cmd. torque

TEST POINT

APEX6152

APEX6154

SinRef Cos

Iso

SinRef Cos

Earth

Control L1

Control L2

APEX6152 &APEX6154 Servo Controller/Drive Quick Reference

See Reverse for APEX6151 Quick Reference

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Brand	Parker
Model	Compumotor APEX615 Series
Category	Servo Drives
Language	English

Parker Compumotor APEX615 Series User Manual

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Parker Compumotor APEX615 Series Specifications

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