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> Parker compumotor 2100-2-p motor drive indexer w/opt
Parker compumotor 2100-2-p motor drive indexer w/opt
Parker Compumotor 2100-2-P Motor Indexer with Position Tracking
Comes with what you see in the pictures. If you don't see it, you probably wont get it.
Specifications are from Parker and may vary slightly due to upgrades, options, or revisions this unit may or may not have.
The Unit's Serial Number Tag Reads:
Option -P - Position Tracking:
* For closed loop applications
* Interface to incremental optical encoder on motor or attached to the user's load.
The ease with which the Model 2100 Indexer can be programmed over its standard RS-232C interface has made it the most popular of Compumotor's line of microprocessor based indexers. The 2100 can be operated manually or controlled by a remote terminal or by a computer. The user can switch between the different modes of operation at will. And when used with either a remote terminal or a computer, up to 16 2100 indexers can be controlled from the same RS-232C port.
Simple ASCII commands, provided by a computer or programmable controller, determine all motor functions and can easily be programmed from high level languages such as BASIC. Additional input and output lines are also controlled by the interface and can be used to initiate or monitor other external events.
Using the 2100 Indexer, the operator can move a load to a precise position and stop, move at a constant velocity, alternately move back and forth between two positions, or use any combination of these moves. Complex sequences of these moves, time delays, status report-backs and additional actions can be programmed over the interface to control any Compumotor Motor/Drive system. The 2100 can also control standard 200/400 step translators.
Features of the 2100 Indexer Includes:
* Acceleration, velocity and deceleration indicator lights
* Switch-selectable mode setting lets the user change between preset, continuous and alternating modes.
* Easy-to-use thumbwheels set position, velocity and accel/decel values
* Large 500 character RAM memory permits downloading of complex sequences
* Position tracking option provides closed loop control with any incremental optical encoder with single or differential TTL outputs
* Standard RS-232C interface
* Three user defined inputs and one user-defined output are provided in addition to the CW and CCW limit switches
Stepping Accuracy: +/- 0 steps from preset total
Velocity Accuracy: +/- 0.02% of maximum rate above 0.01 rev/sec
Velocity Repeatibility: +/- 0.02% of maximum rate
Requirements: 105-125 VAC, 50/60 Hz, 0.25 A with built-in power supply
RS-232C Interface: 3-wire implementation (TX, RX, GND); Answer (DTE) or Originate (DCE) mode
Control Input Lines, Start, Stop:
1 K Ohm Pullup Active Low: 0.75 VDC maximum TTL
Minimum Pulse Width: 100 microseconds
CW, CCW Limit, Load Data, Motor Shutdown Request, Trigger (3 lines):
3 K Ohm Pullup Active Low or High: 0.75 VDC TTL
Minimum Pulse Width: 2 milliseconds
Encoder Specifications: Differential comparator - accepts two phase quadrature incremental encoders with differential or single ended outputs. 5 volt TTL compatible.
Step Pulse, Direction, Shutdown:
Active High: < 0.75 VDC low, > 3.5 VDC high +/- 60 mA maximum
21,600 to 50,000 Step/Rev Motors: 1 microsecond nominal duration
200 to 400 Step/Rev Motors: 15 microseconds nominal duration
CW (logic "1"): 3.5 VDC, +60 mA minimum
CCW (logic "0"): 0.75 VDC maximum, -60 mA minimum
CW, CCW step or (Open Collector): -300 mA maximum, sink current 3-40 VDC
Load Ready; Programmable Output:
Logic "0"): 0.4 VDC maximum, 8 mA sink max
Logic "1": 2.4 VDC minimum, 400 microamps
Environmental Specifications:
Operating Temperature: 32 to 122°F (0 to 50°C)
Storage Temperature:/B> -22 to 185°F (-30 to 85°C)
Humidity Range: 0 to 95% non-condensing
For More Pictures Please Click the Following:
* Picture 4 - Cable Connectors
* Standard RS-232C interface
* Optical isolation provides high electrical noise immunity
* Four user definable Registration inputs to interrupt at the highest priority level
* Motion calculation delay times as low as 500 microseconds
* A motion profiling mode allows changing velocity, following ratio or turning on an output based on a distance without stopping
* High level conditional branching programming commands such as IF/THEN/ELSE, WHILE, REPEAT/UNTIL, GOTO and GOSUB
* Complex evaluations such as checking input states and error conditions, Boolean evaluations, and variable comparisons for program branching
* Two outputs may be configured for pulse and direction to a second axis to control velocity and distance - this is referred to as the "Half Axis"
* PLC functionality and interfacing capability using the 13 programmable inputs and 8 programmable outputs
* Sequence execution via front panel pushbuttons
* Up to 8 digits plus a sign bit of BCD thumbwheels interface for entering distances, velocities, time delays, loop counts and variables.
* 8k bytes of battery backed RAM for storage of up to 100 sequences
* Program debug tools - single step trace mode allows stepping through programs one command at a time, and simulation of I/O activation.
* Separate acceleration and deceleration profiles
* Compatible with RP-240 - remote panel interface and TM8 - thumbwheel interface
* Compatible with Compumotor AL-C and AR-C absolute encoders and -E incremental encoders
* Math capabilities with 50 variables
Model 500-FOL Additional Features:
* Control a speed based at a ratio of a master axis speed
* Makes preset moves at a velocity ratio of a master axis
* Synchronize speed to a master axis based on registration marks
* Jog in the following mode to assist set-up
* Incrementally change the following ratio using the front panel pushbuttons or thumbwheels
* Change following ratios on-the-fly without affecting move accuracy
* Motion profiling capabilities based on the primary encoder position
Stepping Accuracy: +0 steps from preset total
Velocity Accuracy: +0.02% of max rate above 1 rps
Velocity Repeatability: +0.02% of max rate
Motor Resolutions: 200 steps/rev - 50,000 steps/rev
Position Range: +0 - 99,999,999 steps
Velocity Range: 25,000 steps/rev: 0.00001 - 40 rps/5000 steps/rev: 0.00001 - 100 rps
Acceleration Range: 25,000 steps/rev: 0.01 - 999.99 rps2/5000 steps/rev: 0.01 - 999.99 rps2
Current: Less than 1.3 Amps RMS max
Type: RS-232C serial type, 3 wire Implementation (Tx, Rx, Gnd)
Parameters: Selectable baud rate (300; 600; 1,200; 2,400; 4,800; 9,600) 8 data bits, 1 stop bit no parity
Configuration: Up to 16 indexers may be controlled from a single host RS-232C port in a daisy chain configuration
Programmable Inputs: 13, may be used for BCD recall of motion programs and for interactive machine control. Optically isolated 5-30 VDC
Limits, Home Enable: TTL Levels, Optically Isolated, 0-30 VDC
Encoder A, B and Z Specifications:
Encoder A, B and Z: Differential or single ended, active high, <0.5 VDC low, >3.0 VDC high
Maximum Frequency (A and B): 80 KHz (prequadrature)
Minimum Pulse Width (Z): 500 nanoseconds
Step, Direction, Shutdown: Differential Drive +3.0 VDC min +60 mA signal high +1.0 VDC max -60 mA signal low
Fault Output: Normal open or closed 2 A at 120 VA
Programmable Outputs - 8: Open collector, user must supply pull up resister with min of 100 ohms resistance
Motion Programming Specifications:
Memory Storage: 8K Battery backed RAM
Number of Programs: 100 sequences, dynamically allocated to 8K
RS-232C Execution: Program execution may be initiated from the RS-232C interface with RUN command (XR)
BCD Input Execution: Sequence select BCD inputs using thumbwheels
Power-up Auto Run: Sequences may be automatically executed (#100) on power up
Front Panel: Sequences may be executed using the front panel pushbuttons
Environmental Specifications:
Operating Temperature: 32°-122°F (0°-50°C)
Storage Temperature: -22°-185°F (-30°-85°C)
Humidity: 0-95%, non-condensing
For More Pictures Please Click the Following:
* Picture 2 - Front Controls, Up-Close
* Picture 3 - Serial Number Tag
