ORION/ServoWire Product Catalog - Ormec

ORION ® PRODUCTSINDUSTRIAL PC-BASED CONTROLLERSOverview on pages 3, 8-9.Check out Institute the ORION for®Advanced Products Motion Overview Controlbeginning on page 3.ServoWire TM AxisModule (pg. 19)ORION ® Industrial PC-based ControllersThe ORION ® family of products is a fully integrated set ofhardware and software products for servo-driven automationcontrol projects. ORION ® utilizes industry-standard hardware (PCmotherboards including Intel architecture processors up to thePentium 233 MMX and Ethernet adapters) plus open standards(IEEE-1394, PC Cards and TCP/IP communications) to createvalue for customers. (pgs. 8-9,16)MotionBASIC ®System Card (pg. 25)ServoWire TM Drive NetworkORION ® controllers utilize the ServoWire TM drivenetwork to implement a 200 Mbps all-digital network forreal-time servo communications. ServoWire TM eliminatesthe +10 volt analog interface & dramatically reduces totalinstalled system cost. (pgs. 8, 43-46)ORION ® Machine I/O(pgs. 5, 21)Check out ourEthernet I/O support(pages 23-24)HMIs Overview on page 7.SOFTWARE Overview on pages 3, 10-15.rrrrORION ® Software Development & Programming ToolsORMEC provides an integrated set of Windows-based development tools for motioncontrol project development and touchscreen interface design. All software required for anORION ® application is stored on removable Flash System PC Card.MotionDesk TM development environment for motion projects .............. pg. 27QuickDesigner touchscreen panel layout and object editor ................ pg. 32MotionBASIC ® to program motion, I/O and communication needs ....... pg. 29MotionBASIC ® Extensions (MBXs) provide software connectivityto AB Ethernet, Modbus TCP, Profibus DP and more. ........................ pg. 36COMMUNICATIONS Overview on page 6.SERVOS Overview on page 4.QuickPanel TouchscreensHardware panels and design software for creatingeffective touchscreen interfaces. Available in sizesfrom 5 to 12.1 inches, QuickPanel touchscreensprovide a cost effective interface that is highlyintegrated with the ORION ® controller. (pg. 34)ORION ® Connectivity OptionsThe combination of TCP/IP and standard Ethernethardware and protocols provide outstandingconnectivity to PLCs and PCs running popular HMIsoftware --- plus popular Ethernet I/O products.Plus ORION ® will co-exist on any TCP/IP Ethernetnetwork already implemented.Ethernet I/O Support ........... pg. 23Snap Ethernet I/O ............... pg. 24A-B Ethernet ...................... pg. 36Modbus TCP ..................... pg. 38Profibus DP .....................pg. 41ServoWire TM Digital Drives &AC Brushless Servomotors“Servos on FireWire TM ” brings a new level ofperformance, ease of use and low cost to servosystems using IEEE-1394 communications.ServoWire TM drives provide all-digitaltorque mode operation, and excellent performancewith two series of brushless servomotorsServoWire Digital Drives ....... pg. 43Servomotor Overview ............ pg. 47G-Series Servomotors ........... pg. 51D-Series Servomotors ............ pg. 64Pacer Encoders ..................... pg. 75-4-

Combining Open Standards, Industrial PC-based Control, Servos, Machine I/O, Human-Machine Interfaces (HMIs) & ConnectivityThe goal of ORION ® automationcontrol is to offer an industrialPC-based platform for multi-axismotion control applicationsincluding servos, machine I/O,Human-Machine Interfaces(HMIs) and connectivity.A fully-integrated controlsolution provides hardware andsoftware building blocks that areengineered to plug together andwork as a system.ORMEC utilizes industrystandardPC hardware(motherboards and EthernetAUTOMATION CONTROLadapters) and open standards(IEEE-1394, PC Cards and TCP/IP) to create increased value for its customers.ORION ® and the ServoWire TM Drive Network providestate-of-the-art automation and motion control for up to 32axes --- and provides solutions for interfacing the servosystem with machine I/O, HMI & connectivity requirements.Industrial PC-Based Controller4 Fully-integrated, Industrial PCbasedplatform for effective multiaxisservo control of up to 32 axes4 Pentium Power: a family of X86compatible microprocessors up to233 MHz Pentiums4 Two PC Card slots: one dedicatedfor Flash RAM MotionBASIC ®System Card; one available formemory card or communications.4 Industrially-hardenedNo customer configurable jumpers to set.4Optional four or eight 12-bit analog inputs4TCP/IP development communicationssupport serial connections, standardWindows Networking and a variety ofstandard Ethernet hardware.DSP-based Axis Control4 ServoWire TM Axis Modulecontrols 1 to 8 axes. Servoloop update rates selectablebased on applicationrequirements (2 kHz for 8servos; 4 kHz for 4 servos)4 ServoWire TM interface provideshigh speed serial bus forservodrive network.4 Plug-N-Play: No Axis Moduleswitches to set. Axis IDs areselected on ServoWire Drivesas assigned in MotionDesk.4 Multi-processor architecture: ORION ® tightly integrates main Intel processor toServoWire TM Axis Modules via dual port RAM. A high-speed Texas Instrumentsdigital signal processor (DSP) on axis card provides real-time servicing of servosystem.Integrated Software ApproachAll ORION ® software loads and runs fromthe MotionBASIC ® System Card. Boththe MotionBASIC ® real-time operatingsystem and user application softwareare stored on the Flash RAM PC Card.As user applications are developed, program modules,supporting files (e.g., touchscreen panels) andconfiguration files are loaded on the PC Card. Since all thesoftware for the system is on the Flash Card, users candeploy, monitor and upgrade software worldwide (includingoperator adjustments) --- via a remote TCP/IP link or bychanging the PC card at the machine location.ORMEC provides a suiteof software development toolsto help create, manage andmaintain motion controlprojects. (1) MotionDesk is aWindows compatible integrateddevelopment environmentfor motion control; (2)MotionBASIC ® is a superset ofMicrosoft BASIC with enhancements for motion and I/Ocontrol; (3) QuickDesigner is a potent tool for developingtouchscreen panel applications and; (4) MotionBASIC ®Extensions (MBXs) add language capabilities includingsoftware for connectivity.MotionDesk TM : Integrated Software DevelopmentOutstanding software tools4for motion project management.Wizards simplify set-up/4configuration of machine andsystem parameters.Powerful MotionPad Editor4includes dynamic “data tips”for variables and multidocumentsearching.Integrated tools for tracing,4debugging, consolecommunicationsAutomatic synchronization between development computer & ORION ®4Dynamic display and4adjustment of tuningparametersEffective tools to4upgrade software viaORMEC User website.VCR-like icons used4to control programexecution.MotionDesk TM can be4run remotely overEthernet or by usingstandard WindowsNetworking.Complete desktop for developing motion control applications.QuickDesigner: Touchscreen Panel DevelopmentEasy to use panel layout and4object editor allows you tobuild graphical panels with“drag and drop” objects.Panel objects easily mapped to4variables (bit & word data,strings, I/O) for elegantbackground communications toboth ORION ® and PLCs thatsupport RS-485 Modbus.Outstanding design tools,4control objects library, project management toolsMotionBASIC ® : Power, Flexibility & Ease of UseSimple, flexible, modern4MotionBASIC ® programmingprovides software for motion andI/O control -- plus communicationsneeds.Motion control software ideally4suited for high-speed, line-oriented,repetitive manufacturing operations.MotionBASIC ® gearing has added4software programmability tothousands of electronic lineshafts.Delivers precise, repeatableperformance with ability to easilysuperimpose motion. Configurablefor a variety of gearing topologies.Unique motion profiles can be dynamically displayed using“AxisTune” -- and adjusted for optimal system performance.4 Concurrency: Software is simplified by designingindependent machine operations as program threads.Priorities assign processing power to individual threads--effectively distributing the processing power of ORION ® .4 The Power of MotionBASIC ® : The world’s most widelyused programming language---BASIC---enhanced forindustrial automation applications. Ability to get the jobdone when other programming methods can’t. Easy tolearn and master, easy to support in the field.MotionDATA TM broadcasts real-timeposition data between Axis Modulesduring each position loop update forprecise master/slave, multi-axis control.Electronic cams:4Position-based camsand time-basedprofilesBlended moves:4Ability to “movethrough” definedpositions providespower for cartesiancoordinatematerialhandling, metalworkingand roboticapplications.Check out ORMEC’s website for the latest on softwareproducts, applications literature, presentations & more!SERVOWIRE TM OFFERS PERFORMANCE, EASE OF USE & LOW COSTORMEC offers apowerful approach tonetworking servodrivesusing open standardIEEE-1394 communications… “Servos onFireWire TM ”.The ServoWire TMDrive network providesa high-speed (200megabits per second),real-time, serialcommunications linkbetween each ORION ®ServoWire Axis Module and up to eight servodrives andservomotors.ServoWire replaces the standard plus/minus 10 voltsanalog servodrive interface with a new all-digital interface.This high response, digital control network incorporates bothservos, pacer encoders, high speed sensors, I/O and programmablelimit switches … offeringperformance, flexibility and ease of use.ServoWire TM OverviewServodrive network implemented using open4standard IEEE-1394 (also known as FireWire TM )communications technology.High performance: ServoWire’s “tree-structured”4network operates at 200 Mbps. The servo loopupdate is selectable from 1-5 kHz based on number of servodrives perServoWire Axis Module. IEEE-1394 provides isochronous data transfers toguarantee real-time network determinism. Asynchronous communicationsprovide application flexibility.Easy to Use: IEEE-1394 provides true Plug N Play functionality. All motion4control and drive parameters are software-driven. No configuration jumpersor DIP switches. Field replacement of drives has never been easier.Low cost: Digital interface replaces bulkier drive interfaces. Wiring costs are4dramatically reduced and installation is simplified.ORMEC’s AC brushlessservomotors andServoWire TM digital torquemodeservodrives offertested and guaranteedperformance with theORION ® controllers. Theresult is maximum performancefrom a tightlyServoWire TM digital servodrives.integrated, pre-engineered package that simplifies everythingfrom system integration to maintenance.Fully digital control offers compelling benefits---eliminating manual servodrive set-up and providing real--3- -4-

time software access to all parameters. ServoWire drivesprovide motor output torque proportional to a 16-bit drivecommand variable. In an ORION ® positioning system,position and velocity loops are closed by digital signalprocessors on theServoWire ® Axis Modules.Velocity observer softwareeliminates the need foranalog tachometers, andpotentiometers are eliminatedsince all gain andG-Series AC Brushless Servomotors.compensation parametersare set in software. All loopadjustments are automatically computed when a motor andits load inertia are specified in MotionDesk TM --- greatlysimplifying servo system tuning.ServoWire ® drives offer output current from 3/6 to 60/120amps (continuous/peak current), and feature sinusoidal ortrapezoidal commutation, smart IGBT power blocks andtotally software configured operation.Drive I/O provides high speed sensors, hardwareovertravel switches and programmable limit switch outputs.Full Range of Servomotors and DrivesContinuous stall torques from 3 to 665 lb-in (0.32 to 75 N-m)4Speeds up to 7,000 RPM; feedback up to 32,768 counts/rev4Performance: High torque-to-inertia ratios and excellent continuous/peak4torque performance in a compact packageDrive I/O: three high speed sensors, hardware overtravel switch inputs and4six programmable outputs per driveDrives offer optional auxiliary encoder interface for pacer position4feedback, analog velocity and torque monitors and support for delaycountersOptional multi-rev absolute encoder tracks position while power is off.4UL and CE Approvals4SPEED, FLEXIBILITY & OPTIONS FOR I/O INTERFACESORION ® provides a multitiered,flexible approach tomeeting machine I/Orequirements. It offers aunique ability to interfacehigh speed drive-based I/Ofor microsecond levelresponse to registrationsensors. It also providessub-millisecond programmablelimit switch outputsthat are tightly coupled tothe motion control.General purpose I/O resources include 16 integraldiscrete I/O (can serve as high-speed MotionBASIC ® interrupts)and an Extended I/O interface for 24 additionaldiscrete I/O.Ethernet I/O options are fully supported in bothORMEC’s developmentand programmingsoftware.Use a variety ofindustry -standardEthernet hardwarelike Opto 22 SnapSnap Ethernet I/OEthernet I/O, MomentumTSX or Sixnet EtherTrak, and take advantage of ORION’sEthernet communications features.Options for Machine I/O Control16 built-in discrete I/O, software configuration options include usage as4MotionBASIC ® interruptsEthernet-based I/O options fully supported by ORMEC software include4Opto 22 Snap Ethernet I/O, Momentum TSX and Sixnet EtherTrak.Optional I/O expansion connector provides access to 16 or 24-slot racks4Each ServoWire Drive provides high speed sensor inputs, programmable4limit switch outputs, additional configurable outputs and hardware travellimit inputs. ServoWire Axis Modules provide optional analog inputs.ORION ® Connectivity Options include cost-effective Allen-Bradley4Ethernet, Modbus TCP and Profibus for access to a wide variety ofpopular PLCs. PLC registers are easily mapped to MotionBASIC ®variables providing elegant background communications.-5-

EVERY MACHINE CAN BENEFIT FROM CONNECTIVITYStandard factory networks and PC-basedhardware solutions are creating morefactory connectivity options than everbefore. ORION ® not only supports standardPC hardware, but also provides the softwareconnectivity to simplify communications inyour application.Standard Ethernet factory networkprotocols provide connectivity to:4 Popular PLCs like the A-B SLC and Modicon Quantum4 PC-based HMI packages like Wonderware, Intellution(Fix), US Data (FactoryLink) and CI Technologies.4 Vision systems like DVT SmartSensorsEthernet I/O and a4growing number of otherdevices from a widevariety of automationcontrol suppliers.MotionBASIC ExtensionsThe most recentadditions to ORMEC’s factoryconnectivity line-up areMotionBASIC ® Extensions(MBXs) for Allen-BradleyEthernet and Modbus TCPcommunications. Utilizingindustry-standard Ethernethardware — an ISA bus or PCCard adapter — A-B Ethernetor Modbus TCP communicationsprovides an inexpensiveand fast connectivity solution.Using the A-B Ethernet orModbus TCP communicationsORION ® Connectivity OverviewMBX, ORION ® can simultaneously operate in client andserver modes. The architecture allows peer-to-peer communications,high performance and low cost. The Modbus TCPcommunications scheme is similar to Modbus, using registerbasedmapping to access variable values including long,float and strings.Benefits and Uses of ConnectivityInterface to a variety of PLCs: integrate ORION ® into system architectures4that incorporate industry standard PLCs --- and other compatible factorynetwork devices.Communicate with standard HMI packages: PC-based HMI packages4integrate seamlessly with ORION ® . ORMEC’s MAP software implementseffective communications using register-based background communications.Remote Development, Maintenance and Reporting: the benefits of remote4development communications, diagnostics and maintenance, andproduction scheduling, monitoring and reporting. Use of widely acceptedprotocols using TCP/IP as a base network technology.Options Speed Cost Uses AdvantagesAllen-Bradley Ethernet 10M Low Versatile**Low cost, fast, standard, versatile,A-B PLC, HMI & remote connectivityModbus TCP 10M Low Versatile**Low cost, fast, standard, versatile,Quantum PLC, HMI & remote connectivityProfibus DP Slave 12M Medium I/O, DataSiemens PLC, HMI connectivity, interfacewide range of Profibus devicesData Highway/Plus 230.4K High Data, I/OConnectivity to Allen-Bradley PLCs andHMI optionsModbus 115.2K Low Data, I/OLow cost, master/slave protocol, Modbus& HMI connectivityA-B SLC-500 (DF1) 19.2K Low Data, I/OLow cost, low performance point-to-pointinterface to A-B SLC-500 PLCsGE Genius 153K High Data, I/OGlobal data/datagram communications toGE 90-70 and 90-30 PLCsS908 Remote I/O 1.5M High I/O, DataRemote I/O communications extendedwith Modbus messaging**Unlike typical factory networks, A-B Ethernet or Modbus TCP communications can co-exist on a corporate LAN orintranet, combining usual factory network functionality with remote development, maintenance and reporting over the LAN.Remote Development, Maintenance & ReportingThe combination of TCP/IP, Ethernetand standard Windows networking isradically changing the cost andattractiveness of remote connectivityfor factory automation.Nearly all automation systemscan benefit from the ability to performremote development, maintenanceand reporting, but now the cost &complexity of achieving these goals islow.BenefitsHigh-speed development communications ---4from your office desktop computer to supportautomation anywhere in the world.Use ORMEC’s development tools on a remote4link (LAN, intranet or modem connection) toupgrade firmware, tune servo loops, updatesoftware, change machine set-up & more.Continue to perfect machine application4software after machine is in production.Reduce service calls by running diagnostic4software & implement software changes viaremote link.View/monitor system operation while machine is4operating.Download production schedules and recipes to4ORION ® controller using standard FTP software.Browse your ORION ® controller using Internet4Explorer or Netscape Navigator. New ORMEC“Web Tools” eliminate programming and areeasily integrated into any project.Collect production management and statistical4reports: access via browser or interface todatabase.Utilize built-in TCP/IP sockets and interface to4Visual BASIC, Java, Access, Excel and otherprograms.-6-

Using Ethernet Factory Networks for HMI, Soft Control, Remote Connectivity & I/OWORKSTATIONSDevelopment communications to4ORION ® using MotionDesk TMMonitor ORION ® controller using4standard browserPRODUCTION SERVER:4 Schedules jobs / manages product recipes4 Collects production information from controllereach machine cycleINDUSTRIALCOMPUTER:Running HMI, Soft Control,4SCADA or SQC softwareRegister-based data and I/O4communications interface toORION ® at 10 Mbps;communications occurs inbackground, transparent touser’s programOptional gatewayor routerMACHINE CONTROL NETWORK:Ethernet physical layer4TCP/IP communications enables multichannelcommunications on single4physical layerA-B Ethernet or Modbus TCP protocol4for data and I/O communicationsRestricts machine control networktraffic to specific IP addressesETHERNET NETWORKCorporate LAN, intranet or4whatever infrastructure existsin your company...PLCManages machine I/O and4other control functionsETHERNET I/O4 Digital or analog I/OORION CONTROLLERUtilizes TCP/IP as fundamental communications technology4MotionBASIC ® Extension (MBX) implements network communications4Multi-processor architecture handles real-time needs of servos4The architecture of an ORION ® -based automation system can be easily adapted to individual system requirements by using one of ORMEC’s connectivity options.The example above illustrates an Ethernet network, and how ORION ® can be interfaced to a wide variety of factory automation applications including PLCs, popularHMl packages and others. ORION ® and either A-B Ethernet or Modbus TCP communications (implemented in ORION ® as a MotionBASIC ® Extension) has the addedadvantage that, since the physical layer is industry-standard Ethernet hardware, it will co-exist on any TCP/IP Ethernet network already implemented. It providesconnectivity for remote development, maintenance and reporting, and takes full advantage of your company’s computer infrastructure.GRAPHICAL TOUCHSCREEN INTERFACESORMEC’s QuickPaneltouchscreen panels offeran outstanding, costeffectiveoperatorinterface for servocontrol applications.QuickPanels and theQuickDesigner development system are fully integratedwith MotionDesk TM and ORION. They provide theability to develop and maintain attractive panels toincrease operator effectiveness, and add programmablefunctions to your machine design.Open standards and ORMEC’s connectivity optionsalso make it simple to interface ORION ® with popularPC-based HMI products (Wonderware, Intellution, U.S.Data, CI Technologies, etc.) by utilizing industrystandardfactory communications.Human-Machine InterfacesQuickPanel touchscreens available in sizes from 5-inches to 12.1 inches,4and resolutions up to 800 x 600 pixels. Options for monochrome/color.RS-422/485 communications with ORION ® .Handheld QuickPanel provides effective teach pendant solution.4Keypad adds 15 data entry & 26 function keys to 5/6-inch models.4ORION ® Connectivity (A-B Ethernet, Modbus TCP, Profibus DP, Data4Highway/Plus, Modbus, GE Genius and others) can be used to communicatedata and I/O to industrial PCs running popular HMI software.Mapping PLC registers to MotionBASIC ® variables provides elegantbackground communications transparent to user’s program.ORMEC, ORION, ServoWire and MotionBASIC are registered trademarks of ORMEC Systems Corp.MotionDesk and MotionDATA are trademarks of ORMEC Systems Corp. Firewire is a trademark of AppleComputer, Inc. All trademarks are property of their respective companies.FREE CD-ROMFree Multimedia CD-ROMOur new ORMEC Multimedia CD-ROM includes a 31-minutepresentation of our ORION Industrial PC-based controllersand new ServoWire Drive Technology. The presentation isinteractive, and allows you to explore factory automationtopics at your leisure using a exciting, information-packedenvironment. Here is a listing of the topics covered:ORION Overview (approximately 13 minutes)r Introduction to Industrial PC-based Controllersr Motion Control Software and Development Toolsr Solutions for Operator Interfaces-7-Factory networking solutions using Ethernet & TCP/IPrRemote connectivity to ORION automation systemsrServoWire Overview (approximately 18 minutes)Introduction to ORMEC’s new drive networkingrtechnologyWhat is IEEE-1394?rHow ServoWire Works, Architectural overviewrServoWire Technology: Fast, Digital, Consistent,rFlexible, Plug N Play, Easy to Install, Low CostCall ORMEC today at: 1 (800) 656-7632In Europe, call: +41 (1) 420-1300

All-digital, scalable architectureSystem architecture offers all-digital performance, ease of use, scalability and distributed processing.The combination of ORION ® Industrial PC-based controllersand the ServoWire ® network provides a unique andeffective architecture for automation control systems.Most importantly, it provides compelling benefits forservo-driven automation:4 All-Digital Operation: All drive setup and motioncontrol parameters are defined in software and aremanaged on a high speed serial network. Manualadjustments, jumpers and switches are eliminated.Flexibility & Scalability: Use of industry standards4provides you choices on selection of machine I/O,PLCs, operator interfaces and factory networkconnectivity. Plus, an ORION ® system easily andcost-effectively expands up to 32 axes withoutsacrificing servo performance.Distributed, real-time control: ORION ® utilizes a4multi-processor architecture featuring Intel architecturemain processors and DSP-based axis control forservicing the real-time needs of the servo system.Low Cost: The digital interface replaces bulkier4traditional drive interfaces --- dramatically reducingwiring costs and providing installation simplicity.ServoWire TM is all-digital.The ServoWire TM Drive Network provides a high-speed(200 Mbps), real-time, serial communications link betweenan ORION ® controller and up to 32 axes. Each ServoWire TMAxis Module interfaces up to eight servomotors and/orDSP-basedDigitalMotionControlDSP-basedDigitalMotionControlTraditional Analog InterfacePosition FeedbackA ChannelB ChannelZ ReferenceDrive EnableDrive FaultFault Code (3-bit)Drive ResetServoWire TM InterfaceBi-directionalHigh-speedDigitalCommunicationsOne thin cablesupports multiple drives!SingleDSP-basedDigitalDriveMultipleDSP-basedDigitalDrivespacer encoders.ServoWire TMreplaces the standardplus/minus 10volts analog driveinterface with a newall-digital interface.This high response,digital controlnetwork supportsservos, pacerencoders, highspeed sensors, I/Oand programmablelimit switches …offering performance,flexibility &ease of use.No more digitalto-analogconversions at the controller, and no moreanalog-to-digital conversions at the servodrive. Whenmost controllers are powered by DSPs, and all the modernservodrives are also DSP-based, it’s obvious that digitalcommunications between them makes sense. But untilnow, high cost and lack-of-speed have kept most servoinstallations mired in analog transmission of servodrivecommands, and using phase-quadrature position feedback.Digital communications allow all drive parameters in aAServoWire TM System At a Glance4 High speed serial bus operates at 200 Mbps (megabits per second)4 Isochronous communications guarantee consistent loop updates (2kHz for eight servos; 4kHz for four servos)4 Asynchronous communications used to manage command and status communications on bus.4 By using True Plug N Play functionality, no computer is needed to configure new or replacement servodrives.4 Thin, inexpensive serial cables replace bulkier interfaces and provide an all-digital interface.BDCAServoWire TM replaces all physicalsettings --- jumpers, potentiometers,ID switches --- with software storedon a removable PC Card.BServoWire TM Axis Moduleprovides DSP power for up toeight servos --- and optional12-bit analog inputs.CConvenient interfaces forposition feedback fromremote encoder andfeedback from servomotor.DServoWire TM Drive I/O provides tenhigh-speed I/O points to supportsensors, hardware overtravel limits,programmable limit switches, etc.-8-

Fully Networked Machine and Motion ControlTCP/IP CommunicationsDevelopment communications via TCP/IP andstandard Windows networking. Remote developmentcommunications is easily accomplished via modem oran Ethernet TCP/IP network.RS-422/485CommunicationsOPERATORMODULE 1START STOPJOG HOMEOperator InterfacesUse inexpensive serialcommunications to interfaceQuickPanel touchscreens.Or utilize Ethernet communicationprotocols to interface to popularHMI software packages.MotionDesk TMSoftwareIBM PC-compatibleDevelopment ComputerDrive I/OServoWire TM drives offer highspeed “Motion I/O” includingprogrammable limit switches, highspeed sensors and hardwareovertravel limits.LineshaftPacerEncoderRS-232 orEthernetTCP/IPconnectionServoWire Drive NetworkEthernet (10 Mbps)(IEEE-1394 at 200 Mbps)Ethernet I/O or PLCsThe Ethernet I/O or PLC of yourchoice can be interfaced to ORION ®using industry-standard factorynetwork protocols.Ethernet protocols such asModbus TCP and A-B Ethernet useoff-the-shelf hardware, and are costeffectiveoptions for managing registerbasedI/O communications to ORION ®and/or operator interfaces.Up to 32 axesAn ORION ® controllersupports up to 32 servomotorsand/or remote encoders.Each ServoWire TM AxisModule can control up to 8 axes.Servo loop update rates areselectable based on applicationrequirement (2 kHz for eightservos; 4 kHz for four servos).Use of industry standard hardware and software (ISA bus, Ethernet adapters, TCP/IP, IEEE-1394 and standard factory network protocols) in an ORION ® system provides flexibility andscalability when specifying your solution for machine I/O control, operator interfaces, PLCs and factory network connectivity.ServoWire TM Loop ArchitectureAxisCommandsPositionCommand+ServoWire Axis ModuleAcceleration CommandVelocity Command-ServoWire Axis ModulePositionLoopPositionLoopVelocityLoopVelocityLoopUp to 8 Control Loops+ +- -Velocity ObserverMemoryMappedVariablesServoWireDigitalNetworkUp to8 ServosPosition Loop Velocity Loop Torque LoopServoWireDigitalNetworkServoWireDigital DrivesMemoryMappedVariablesMemoryMappedVariablesTorqueLoopTorqueLoopServoWire DriveTorqueLoopPosition FeedbackAuxiliary EncoderPosition FeedbackAuxiliary EncoderUp to 8 Servosper ServoWire Axis ModulePosition FeedbackAuxiliary EncoderPosition Loop Velocity Loop Torque LoopServoWire TM (top diagram) uses IEEE-1394 to create a potent architecturefor multi-axis motion control and synchronization. The system uses an IEEE-1394 memory mapped model where all drive setup and motion controlparameters are defined as software variables and communicated in real-time.Position and velocity loops (bottom) are closed in the ServoWire AxisModule by transmitting digital torque control and reading position feedbackover the ServoWire network. Up to 8 simultaneous torque commands aretransmitted to the drives digitally as 16-bit variables, eliminating the cost andlimitations of traditional D-to-A converters and analog torque signals.-9-ServoWire TM system to be defined in software ... not bypotentiometers. At startup, setup parameters are deliveredautomatically by the controller if required --- readingthem from the system PC Card --- a fact that greatlysimplifies installation of a replacement drive in the field.Advantages of ORION ® /ServoWire TM Architecture4 Networked Servodrives: Servodrive network communicationsimplemented using open standard IEEE-1394 (FireWire TM ) communicationstechnology eliminates traditional +10 volt analog drive interface.4 Performance: Serial bus operates at 200 Mbps. Servo loop updatesbased on number of drives on network (2kHz for 8 axes; 4kHz for 4 axes)as well as software features enabled. IEEE-1394 guarantees real-timenetwork determinism & provides bandwidth for communication transfers.4 Ease of Use: IEEE-1394 provides true Plug N Play. All motion control& drive parameters are software-driven. No physical settings or off-linecomputer setup required---simplifying field replacement of drives.4 Multi-processor architecture: Main Intel architecture processorprocesses MotionBASIC ® and is interfaced to digital signal processor(DSP) on the ServoWire TM Axis Module via a shared memory interface.The DSP handles the real-time servicing of the servo system.4 Flexibility and scalability: ORION ® architecture and use of PCtechnology provides wide range of options when specifying machine I/O,operator interface and factory network connectivity.4 Industry-standard factory networking: Use of standard PC hardwareprovides cost effective physical layer. Industry-standard factory networkprotocols --- especially A-B Ethernet and Modbus TCP --- provideconnectivity to major PLC and HMI suppliers such as Wonderware,Intellution, U.S. Data and CI Technologies.4 Remote Connectivity: The combination of TCP/IP, Ethernet andWindows networking provide a low cost method to implement remotecommunications for development, maintenance and reporting.

Easy to use software toolsSoftware tools provide integrated development environment for automation control projects.ORION ® software isdeveloped using an elegant,easy to learn and master,Windows interface.QuickPanelscreens areeasilyintegrated intoan ORION ®project.The MotionBASIC ®System Card storesall the softwarerequired for yourapplication.ORION ® supportsstandard hardware for avariety of communication needs.User-friendly, integrated software is a key distinctive thatmakes ORION ® a potent solution for multi-axis control.At the center of ORMEC’s integrated software environmentis MotionDesk TM --- our Windows 95/98/NT/2000 baseddevelopment tool. MotionDesk TM provides a graphical userinterface (GUI) and effective tools to help create, manageand maintain motion control projects. It plays the centralrole in integrating motion and I/O programming withoperator touchscreen panels and communication needs.Motion Control “Projects”MotionDesk TM offers a“project-oriented interface”where all the softwarecomponents required for anapplication are created,maintained and managed.The “Project Navigator” (atright) provides an overall“roadmap” to all the hardwareand software componentsrequired for your application.Project Navigator: Graphical4user interface simplifies set-up &organization of your motionprojects. All software components, including touchscreen panels, areconveniently integrated into your project for easy editing and updating.Project Printing: Easy way to produce system documentation.4Project Archival: All project files automatically “zipped” into an archive4file -- simplifying the process of transferring files to another computer.“Wizards” Simplify Setup & ConfigurationOnce a system component is added to the ProjectNavigator, MotionDesk TM provides a comprehensive groupof “setup wizards” to simplify system configuration. Each-10-hardwarecomponentadded to theProject Navigatoris customized(by editing its“Properties”) forthe specificneeds of yourapplication.When an“axis” is added, aseries of wizardsleads you through defining default configuration of theservos in the system.4 ORION ® Unit and I/O Properties: Defines configuration of controllerincluding Axis Modules, I/O setup and Ethernet communications adapter.4 Axis Configurator: Series of wizards to configure all system parametersfor Axis Modules, servodrives, servomotors and encoders. ORMECservomotors and encoders are selected from database. User-definedmotors can be added to database.Integrated Software Development ToolsMotionDesk TM offers a complete set of integrateddevelopment tools --- a program editor, trace and debugtools and an outstanding Help System --- to simplifysoftware development, debug and management.4 MotionPad Editor: Powerful program editor with sophisticated textediting capabilities. Provides bookmarks, error reporting, programexecution control featuring single step and setting breakpoints andcontext-sensitive help. Dynamic “data tips” allow you to query real-timestatus of variables and program labels from within the editor.4 Debug & Diagnostic Tools: Integrated tools include program tracewindow, console communications and direct mode windows. Tightlyintegrated with MotionPad editor to speed system development.

MotionDesk TM FeaturesWindows Look & Feel:4Familiar software environment iseasy to learn, master and use.Provides software elegance thatboosts productivity.Project management tools:4Intuitive software makes itsimple to effectively manageyour software projects.Powerful editing:4State-of-the-art software,integrated editor and debug areall fully integrated into theinterface.4 Local or remote operation:Use the power of MotionDesk TMand TCP/IP to communicate toyour ORION ® controller via adirect cable connection, modemor Ethernet LAN.System/Version Information: Provides detailed informaton on4ORION ® system components and software revision levels.Axis TuneWhen selecting a motor and specifying a load inertia,MotionDesk TM automatically adjusts tuning parameters tomeet most application requirements.Axis Tune provides a color scope to report real-timefeedback on position error, velocity command, actualvelocity and torque response. After exercising the motorusing a trapezoidal motion profile and viewing the results,Axis Tune allows fine-tuning of motor loop parametersusing floating menu selections. Adjustments to motorloop parameters are conveniently saved in your project.Custom motion profiles can also be used to tune loop parameters to your4specific application needs.Upgrade DirectorIt’s simple toupgrade an ORION ®controller in the fieldto a new version ofMotionBASIC ® , a newMBX, or newServoWire TM drivefirmware usingUpgrade Director.Software updatesare available on theORMEC Userwebsite, and can becommunicated to an ORION ® controller via either directcable connect, an Ethernet LAN or Windows networking.Integrate QuickDesigner PanelsA MotionDesk TM project provides aconvenient way to integrate QuickDesignertouchscreen panel layout files. Screen filesare managed by MotionDesk TM , stored onthe ORION ® PC Card, and are available fordownload to the QuickPanel.TCP/IP CommunicationsAll communications betweenMotionDesk TM and the ORION ® controllerutilize industry-standard TCP/IP protocols.As a result, MotionDesk TM can be usedeffectively on desktop or laptop computersand can access ORION ® controllers via amodem or Ethernet LAN using standardWindows networking.-11-

The Basics of MotionBASIC ®An industrialized superset of Microsoft BASIC enhanced for motion control applicationsMotionBASIC ® System Cardprovides solid state memory forORION ® , and stores all the softwarerequired for your application.On the software side, ORION ®provides the world’s mostwidely used programminglanguage—BASIC—nowenhanced with features forhigh performance real-timemotion control.Motion + BASIC =MotionBASIC ®Initially developed atDartmouth in 1962, BASICis the most widely usedprogramming language inthe world. Virtually all engineering students worldwide,and many high-school students, take courses in BASIC. Ithas been under continuous development throughout itshistory, resulting in many improvements over the years.Unlike many other programming languages developedsince, BASIC continues to play a vital role in computing.ORMEC’s MotionBASIC ® is a superset of MicrosoftBASIC representing more than 40 man-years of development.Designed and built from the ground up to integratemotion control and industrial I/O with a widely used implementationof BASIC, it uses English-like motion statementsand pre-defined variables. MotionBASIC ® builds on BASIC’sstrengths—its standardization, its completeness as alanguage, as well as the simplicity, user protection andpower of an interpreter, plus English-like keywords andsyntax—to create a comprehensive software solution forindustrial motion control.BASICs of MotionBASIC ®Variables, Operators & FunctionsStandard BASIC offers a full set of variable typesrincluding integers, strings, floating point and doubleprecision floating point; we added long integers and sets.An array of operator and function support is also included.Long integers provide speed and compactness forruse with wide-range integer parameters (i.e. axis position).”Set variables” are 32-bit variables for dealing withr“groups of items”, and their primary use in MotionBASIC ®is to define “groups of axes” for multi-axis operations.MotionBASIC ® includes IEEE standard single andrdouble precision floating point. If required, real-timefloating point math performance rivaling that of integersand longs is provided by an integral math co-processor.A rich set of arithmetic, trigonometric, relationalrand logical operators work with multiple variable types.More than 50 functions are provided to supportrarithmetic, string, conversion, I/O and system operations.Many competitive products provide only fixed pointrnumeric variables and extremely limited capabilities withrespect to functions and operators in their "languages".Programmingr Block programming structures including WHILE ...WEND & multi-line IF ... THEN ... ELSEIF ... ELSE ... ENDIFsimplify development and minimize programming errors.r Symbolic program labels both speed programexecution and enhance the development environment byeliminating program references to line numbers.How MotionBASIC ® coordinates with the ORION ® controller's multi-processor architectureThe combination of adistributed architecture &interpretive MotionBASIC ®provides high performancesoftware which combines speedwith ease of useMain processor interpretsMotionBASIC ® MOVE andGEAR statements & writesdata packet(s) in a sharedmemory FIFO motion queueData packets conciselydefine distances, speedsand accelerations for theAxis Module(s) fromMotionBASIC ® parametersThe processing power andnumerical precision of the DSPmakes it ideal for high performancereal-time loop control ... freeing themain processor for other tasksEach DSP updates positionand velocity up to 5,000times per second andhandles all the real-timeservicing of the servo systemMotionBASIC ®ProgramMOVE FOR 90 IN 30Texas InstrumentsDSPServoWire Axis ModuleServodrive faultdiagnostics and systemerror reporting are fullyintergrated withMotionBASIC ®MotionBASIC ® access to real-timeinformation is simplified bypre-defined parameters for eachaxis or group of axes and includesautomatic user unit conversionKey motion parameters such asspeed, torque and positionmaintained in dual-port RAMby the DSP can be accesseddirectly by the main processorEach ServoWire Axis Module hasanalog inputs, and each drivehas high speed sensor inputs andprogrammable limit switch outputswhich can be coordinated with motion-12-

Flexibility of MotionBASIC ® Motion StatementsConditional MovesAll motion commands can include an input condition for the purpose ofholding off the execution or interrupting the progress of a motion. Combiningan ‘Until’, ‘After’, or ‘Stop’ conditions together with a high speedServoWire TM drive I/O on the end of a MotionBASIC ® statement provides ahigh degree of flexibility and control over all motion commands.MOVE axis FOR 2700 in 50 after ASEN@Repeat MovesThe REPEAT prefix added to any motion command will allow the commandto stay in the command queue and repeat its execution. MotionBASIC ®allows multiple motion commands to be added to the queue to form a loopthat will repeat for as many times as needed. Execution within the repeatloop can be controlled with the input conditions.REPEAT MOVE axis FOR 270 by 50,10 after ASEN@270.0 degrees50 millisecondsASEN - ServoWire Drive sensor inputSensor input, driven from a photo eye, starts a move command which isready and waiting in the command queue.Superimposed MovesSuperimposition is the process of combining a motion command to anaxis that is already being driven by another source through the GEARcommand. The command is added to the motion based on time ordistance traveled by the source axis.MOVE axis FOR 600 in 20 after BSEN@Axis Speed0Axis geared to arunning pacer.20 milliseconds60.0 degree position moveBSEN - ServoWire Drive sensor inputSensor input, driven from a programmable limit switch (PLS), superimposesthis MOVE command onto a running axis. It modifies relative positions by60 degress at a precise point determined by the PLS.ASEN ---ServoWireDrive inputBlended Moves30 milliseconds Repeating 27.0 degree movesSensor input, driven from a photo eye, repeats the move contained in the queue.Blended moves provide a method to construct motion profiles that allowboth speed changes and/or changes to final position targets while themotion command is executing. With blended moves, multiple axes can betime-synchronized to reach multiple target points forming a complexcontinuous path in multi-dimensional space.1. MOVE axis FOR 1800 at 10002. BLEND MOVE axis FOR 600 at 15003. BLEND MOVE axis FOR 600 at 500 stop BSEN@12 3BSEN - ServoWire Drive sensor inputSensor input, driven by a registration mark sensor, is enabled at start of section 3. andstops execution of the motion command when sensor is true.Hardware interrupt processing using the ON EVENTrGOSUB statement provided for the 16 integral discrete I/O.PC Card TM standard memory cards are supported byrBASIC compatible disk commands and file operations.Operator I/ODevice drivers redirect screen-oriented program I/Orto alternate consoles such as a flatpanel touchscreenError Handling and Safety InterlocksMotionBASIC ® offers built-in, run-time error handlingto protect user programs ... always maintaining safermotion controller operation.Extensive error checking fully integrates built-inrhardware features such as “Emergency Stop”, “Drive Fault”,“Encoder Wire Open”, “No Fault” and “Watchdog Timers” withthe MotionBASIC ® error handling facility.The Motion in MotionBASIC ®For simplicity, a minimum number of statements arerequired to specify and initiate motion in MotionBASIC ® .The English-like syntax and a rich complement of optionsinsure that these statements have sufficient flexibility toallow you to easily create single or multi-axis motion whichmeets your application’s objectives.-13-User UnitsAll MotionBASIC ® parameters are expressed in the unitsof your choice ... degrees, inches, millimeters, RPM, msec,etc., making your BASIC program easy to understand. Forexample: MOVE FOR 90 (degrees) IN 30 (msec). User unitsare exact because they are always converted to the units ofthe individual position transducers using a ratio of integers.MOVE statementThe MOVE statement provides a powerful way tocommand motion for one or more servomotors. It can beused to MOVE AT a specified speed, MOVE FOR a desireddistance or MOVE TO an absolute position. Accelerationand deceleration can be specified independently as afunction of time, distance, or directly as rates.The MOVE statement can be used to simultaneouslyMOVE multiple axes AT independent speeds, FOR independentdistances or TO independent positions.MotionBASIC ® supports S-curve acceleration profiles forMOVE statements. Shape is adjusted by specifying thepercentage of the acceleration and deceleration zoneswhich should use S-curve.S-curve is functionally derived & updated at eachposition loop update (3,000 to 5,000 times per second). Itautomatically maintains the S-curve shape for all motionsindependent of the specified distances, speeds & accelerations.

The Motion in MotionBASIC ®System architecture offers all-digital performance, scalability and advantages of distributed processing.ORION ® is particularly well suited to control line-orientedapplications common to packaging, web processing,assembly and textile machines. These types of machineshave traditionally relied on mechanical lineshafts, gearboxes& complex mechanical devices such as differentials,geneva mechanisms, cams, linkages and crank mechanisms.The combination of state-of-the-art control,concurrent MotionBASIC ® and advanced electronic gearingin ORION ® offers an alternative with unparalleled flexibility,speed, accuracy and reliability ... as well as simplicity.A Superior Electronic LineshaftNot all electronic lineshafts are created equal ...especially when it comes to building one that consistentlyprovides higher accuracy than sophisticated mechanicalsystems. This is accomplished in ORION ® using a directDSP-to-DSP broadcast communications network we callMotionDATA TM . MotionDATA TM employs synchronous errorcorrecting broadcast communications to transmit real-timeposition information. These data packets are processedby a virtually unlimited number of servo axes within a fewmillionths of a second of each other during each positionElectronic Gearing using the MotionDATA TM Broadcast Network12354MotionDATA TM NetworkEach ServoWireAxis Modulecontrols up to 8servos.loop update. This highly precise coordination occurs 1,000to 4,000 times per second and is integral to electronicgearing precision.In addition to providing unparalleled precision,MotionDATA TM guarantees integrity and prevents occasionalspurious electrical interference from compromising theaccuracy of your automation and the quality of the productsit produces. These capabilities simply can’t be provided byproducts which utilize quadrature signals as the basis fortheir electronic lineshaft.ORION ® allows you to configure your machine drivesystem in software, allowing all the servo axes to be linkedto the same source of information, or alternatively establishingsub-lineshafts as appropriate. In addition, eachelectronic lineshaft (or sub-lineshaft) can be driven bycommanded or actual position from its “pacer” axis to meetthe needs of your application.GEAR statementThe GEAR statement provides an elegant way tocoordinate the motion of one or more servo axes to themotion of an electronic lineshaft pacer encoder or masteraxis. User unit conversion12345Each pacer encoder isinterfaced as an “axis”---allowing ORMEC predefinedvariables to be usedfor configuration and status.Any or all of the Servo Axesin the system can beelectronically geared to theirindividual pacer input and/or operate independently.Pre-defined MotionDATA TMmode variables configurethe overall electronicgearing topology. Each axiscan monitor or ignoreincoming MotionDATA TM .It can also configure itsMotionDATA TM output topass-thru input packets orprovide either its own orcommanded position.MotionDATA TM packets aresent synchronous to eachposition loop update andprovide pacer movementand error correctioninformation.Each Drive I/O interfaceterminal block provideslocal, high-response I/Osuch as one microsecondposition capture registrationsensors & ProgrammableLimit Switches.factors allow a GEAR AT 1 TO1 statement to maintainperfect synchronization of theoutput shafts of servo-drivengearboxes even if the servoshave different positiontransducer resolutions and/orgear ratios.The GEAR statement alsoallows the follower servo toengage an intermittentmotion to the pacer as afunction of travel of either thepacer or the follower axis. Foruser-units of degrees, thestatement GEAR FOR 180 IN360 causes the follower torotate for 180 o during 360 o ofpacer rotation.Motion ContouringFor motion control applicationswhich require contouring,ORION ® provides the combinationof processing muscle,elegant system architectureand flexible MotionBASIC ®software to get the job done.MotionBASIC ® supportsboth position-based (CAMstatement) and time-based(PROFILE statement)contouring.-14-

ORION ® Architecture Ideal for ContouringBoth the CAM and PROFILE statements utilize motiontables (up to 32,000 entries) to define a series of sequentialmotion segments. These MotionBASIC ® arrays can beloaded from CAD systems, spreadsheet programs orgenerated by a MotionBASIC ® program.The motion tables are prepared and downloaded intothe Motion Memory on the Axis Module ready for execution.The DSP processes these arrays in real-time at rates up to5,000 per second to create complex motion contours.Multiple arrays stored in motion memory, the ability toswitch between motion tables in real-time and motion tablequeuing and repeating allows maximum versatility fortough applications---but are also simple to implement insoftware.Error codes and diagnostic information are alsoprovided to help debug motion execution, table placement,and linking.Position-based ContouringThe MotionBASIC ® CAM statement generates motionprofiles on a FOLLOWER axis based on the position of aPACER axis (another servomotor or a remote encoder).The relative speed and distance covered by the FOLLOWERaxis depends on PACER motion.CAM commands execute motion that is linked to thecycle of the machine. As the machine speed increases ordecreases, the PACER speed increases or decreases aswell, causing the CAM motion profile to stay synchronizedwith the machine cycle.Generating position-based motion tables electronicallysimulates complicated mechanical cam action. Datasegments in the cam table can be interpolated forsmoother segment transition during execution.Time-based ContouringThe MotionBASIC ® PROFILE statement generatesmotion profiles that are defined by an array of position andtime parameters.PROFILE statements are used when one or more servoaxes must follow a specified contour in a fixed amount oftime. PROFILE statements can be used to execute motionthat is time-independent of machine speed, but can alsobe triggered to start at a pre-determined point in themachine cycle. As the machine speed increases or decreases,the execution time of the motion profile staysconstant.Executing Contoured Motions Defined in ArraysWhen the application calls for implementing motionwith special move requirements, contouring provides amethod to place a customized array of motion segments inthe DSP motion memory, and execute it.Special move requirements include speed and/ordistance contours that cannot be performed using simpletrapezoidal motion profiles. This information is loaded byMotionBASIC ® into the on-board motion memory of theappropriate Axis Module(s).When a CAM or PROFILE statements is executed, theAxis Module(s) begins processing the data in the motionmemory, executing the defined motion.Versatile ways to initiate table execution are availablewith MotionBASIC ® contouring. The point to start and stopPosition-based Electronic Cam Profiles04590135PACER DISTANCE(degrees)180225The CAM statement provides the ability to execute a position-basedmotion curve replicating the operation of a mechanical CAM-followermechanism. Programmable CAMs generated in software are faster todevelop, easily modified and can be adapted to the specific needs ofthe application.270Time-based Velocity ProfilesVELOCITY (RPM)3000250020001500100050000200TIME(milliseconds)The PROFILE statement provides the ability to generate customizedvelocity profiles that are always completed in a specific cycle time.Motion segments (defined by an array of distance and time parameters)allow you to create highly customized velocity contours.motion is specified as a command variable with automaticwraparound or one-shot execution capability.Contouring Development EnvironmentMotion segments contained in a motion table areincremental distances to be moved during the execution ofthat segment. Different motion table formats are providedto handle regularly spaced segments, and also irregularlyspaced segments. Diagnostic variables are providedcontaining status about loading, conversion and executionof contouring commands.400315360600105321098764FOLLOWER DISTANCE (inches)-15-

Models 30, 50 & 70ORION ® Motion ControllersORMEC's Model 30, 50 &70 motion controllersare the heart of theORION ® family ofproducts.Each motion controllerfeatures a PC/ATbackplane and userexpansion slots for avariety of system configurations.The Models30/50/70 feature three,five and seven expansionslots respectively.ORION ® ControllersThe ORION ® motioncontrollers feature highperformance computingcapability. Using theindustry standard familyof X86 & Pentium 32-bitprocessors with fivespeed options providescost-effective computepower for multi-axisapplications. Intensivemath calculationsperformed in MotionBA-SIC ® take advantage ofthe processor’s highspeedintegral floatingpoint hardware.Memory accessspeed adds to theperformance of thecontroller. The X86ORION ® has a memorybus that is 32 bits widefeaturing four megabytesof main memory and256K byte cache memoryand the Pentium modelsfeature a 64 bit wide bus,eight megabytes of mainmemory and 512K byte cache memoryto enhance access speed betweenprocessor and memory.Open PC Bus StandardUse of the 16-bit ISA PC busstandard provides an effective platformfor building multi-axis motion controlsystems. PC/AT ISA bus expansionslots interface to ServoWire TM AxisModule(s) plus adapters for factoryAnatomy of an ORION ® Motion Controller1. ControllerMotherboardIntel architecturemicroprocessor(Pentium MMX 233MHz, Pentium/133,80586/133, 80486-DX2/66 or DX4/100)PC-AT bus with up toseven expansion slots4 Mbytes DRAM256K external cacheKeyboard connector2. ORION ®System ModulePC Card SlotsSlot 1: MotionBASIC ®System Card & additionaluser memory for mostmotion control programsSlot 2: Additional memorycard, communications cardor hard driveCommunicationsRS-232 development portsTwo RS-422/485 serial portsSupports standard Ethernethardware using TCP/IP andWindows 95/NT dial-upnetworkingSystem ResourcesReset and user pushbuttonsSystem Status LED, WatchdogTimersMonitoring & Diagnostic LEDsNo-Fault Relay OutputNon-volatile memory for machineconfiguration parameters3. Discrete I/O Board16 Opto-22 G4 discrete I/OExpansion connector to 16 or 24-slot I/O rack orOpto-22’s Pamux standard for up to 512 analogand/or digital I/Onetwork connectivity.An industry standard PC BIOS isinstalled for booting the operatingsystem to RAM from PC-card flashmemory and performing power-onsystem testing for the motherboardbackplane.Battery-backed time and datehardware is used to log applicationevents during system operation andfor dating DOS file directory updates.5. ServoWire TMAxis ModuleServo ControlInterfaces up to eightservos usingServoWire TM drivenetwork. Servo loopupdate rates selectablebased on applicationrequirements (2kHz for8 servos; 4 kHz for 4servos).Digital signalprocessor operating at80 MHz provides realtimeservicing of servosystemsDual port RAM sharedmemory interface tomain Intel microprocessorMotionDATA TM DSPto-DSPcommunicationsfor highlycoordinated, multi-axismotion performanceMotion I/OAnalog inputs (4 oreight channels of 12-bit analog inputs)available as optionHigh-speed drive I/O(programmable limitswitches, high-speedsensors) communicatedto Axis Modulevia ServoWire TMinterface at loopupdate rate.4. MotionBASIC ® System Card6 to 136 Mbytes Flash RAMDOS Operating System extended for real-time, multi-taskingMotionBASIC ® Programming LanguageMotionBASIC ® Extensions (MBX) which provide additionalsoftware---primarily support for a variety of factory networkcommunications (A-B Ethernet, Modbus TCP, Profibus DPSlave, Modbus TM , S908, Data Highway/Plus TM GE Genius andconnectivity to Allen Bradley SLC-500 series PLCs).Integral Industrial Power SupplyProviding clean and consistentvoltage while isolating the motioncontroller from industrial powersources is achieved by the integralpower supply design. ORION ® motioncontrollers include industrial grademulti-voltage power supplies, EMI linefilters, transient protection and fuses.Input voltage selection is automatic,allowing the user to simply attachORMEC -16- ORION ® MOTION CONTROLLERS

either 115 or 230 VAC, 50/60 Hz powerto the removable terminal blockconnector.ORION ® System ModuleThe System Module integrates anumber of important features forindustrial control into ORION ® .A dual slot PC Card TM (PCMCIA)interface provides access to massmemory that is nonvolatile, removable,compact and reliable. A Type IIslot is provided for the MotionBASIC ®System Card (6-136 Mbytes of FlashRAM) which normally includes alloperating system and user software. AType III slot provides the ability to adda second memory card or hard drive.32K bytes of battery-backedmemory can be used for nonvolatileMotionBASIC ® variables, which arekept intact while power is off andavailable when the system is back online.A removable terminal blockprovides access to the fail-safe,optically-isolated “Emergency Stop”input and the “No Alarm” output,which is a normally-open, held-closeddry relay contact. Overall systemintegrity and safety are preserved bythe fact that the No Alarm relaycontact is held closed only if there iscurrent in the input circuitry of theEmergency Stop input and the mainprocessor continues to strobe the onboardWatchdog Timer circuit.System integrity is further insuredby individual watchdog timers on eachServoWire TM Axis Module, open-wiredetection from each motor’s positionfeedback, and fail-safe, opto-isolated“No Alarm” signal to each servodrive.Ten status LEDs and a singlecharacter,alphanumeric displayprovide maintenance personnel withclear diagnostic indication of alarms,faults and operating status.ORION ® TCP/IP communications support serialconnections, Windows 95/NT dial-up networkingand a variety of standard Ethernet hardware.Ordering Guide --- ORION ® Motion ControllersORN - 30 / A F D HBase Unit, 115/230 VAC, 50/60 Hz30/ - 3 slot ISA adapter bus50/ - 5 slot ISA adapter bus70/ - 7 slot ISA adapter busMicroprocessor Type*A - 80486-DX2 66 MHzB - 80486-DX4 100 MHzC - 80586 133 MHzD - Pentium 133 MHzE - Pentium MMX 233 MHzI/O Power SupplyF - 24 volt DC at 1500 milliampsX - No 24 volt supply*Note: The Pentium type selections are only available with the ORION ® Model 30 controllers.Operating System SoftwarePCC-SYS5/xxxx MotionBASIC ® System Card, PC-Card flash memory, contains operating system.For ordering details, reference page 25. For an overview of the MotionBASIC ®Programming Language, see page 29.Motion ControlORN-SW-AM/xxxServoWire TM Axis Module -- see page 19 for ordering details & available options.Application Program Development SoftwareMDK-SW/C MotionDesk Servo Developer’s Kit, an integrated development environment thatruns on Windows 95/NT platforms (see page 27 for details)Additional Serial Communications AccessoriesORN-ENE2000 Ethernet ISA Adapter, with RJ45 & BNC connectorsORN-E3C509X Ethernet ISA Adapter, with RJ45, BNC & AUI connectorsPCC-E3C589E Ethernet PC Card Adapter, with extension cable for RJ45 & BNC connectorsORN-422 Dual RS-422/485 Serial Communications ISA AdapterORN-232 RS-232 Serial Communications ISA AdapterFor factory networking options available for the ORION ® controller, refer to pages 36 - 42.A Reset pushbutton clears faultsand automatically reloads the interruptedprogram from Flash memory.A program override pushbutton(PB1) allows the user to controlprogram loading from the front panel,simplifying software distribution and/or machine diagnostics.An RS-232 serial DevelopmentPort is used to communicate with anIBM-compatible PC running ORMEC’sMotionDesk TM software.Two RS-422/485 serial communicationports can be used to interface theORION ® controller to a touchscreen orcompact industrial terminal and/orprovide connectivity to a Modbus TMfactory network or Allen-Bradley SLC-500 PLCs.Four status LEDs for each serialport simplify troubleshooting.A CAN interface, includingremovable terminal blocks and statusMiscellaneous OptionsH - Integral cooling fanS - Delete CAN interface hardwareDiscrete I/O Board OptionsD - Pluggable terminal block connectorsE - Pluggable terminal block connectorswith Extended I/O support hardwareU - Fixed terminal block connectorsT - Fixed terminal block connectorswith Extended I/O support hardwareFor a detailed description of Discrete I/O Boardoperation, refer to page 21.LEDs, is optionally provided for futureconnectivity. Call ORMEC for details.Machine I/OMachine I/O connectivity andflexibility is accomplished through theDiscrete I/O board located behind theORION ® front cover. The Discrete I/Oboard conveniently integrates machineapplication inputs, interrupts andoutput configurations into theMotionBASIC ® language structure.Machine I/O is optically isolated andcan accept AC or DC input modules.Additional I/O can be added using theExtended I/O interface.User Expansion SlotsThe Models 30/50/70 feature three,five and seven 16-bit ISA expansionslots designed to accommodateServoWire TM Axis Modules and/or PCcompatible adapters such as factorynetwork communications boards.ORMEC -17- ORION ® MOTION CONTROLLERS

ORION ® Motion Controller SpecificationsMULTI-PROCESSOR ARCHITECTUREr Model 30/50/70 controllers provideservo control, operator interface,machine I/O & communicationsr Unique multi-processor architecturefeatures Intel x86 and Pentium familymain processors, and the TexasInstruments TMS320C52 digital signalprocessors for motion control.r 256K & 512K bytes of cache memorybetween program memory and mainprocessorr Non-volatile memory for setup anduser defined program variablesr Shared memory interface to DSPsprovide fast access.MOTION CONTROLAll-digital servo control algorithmsrfeaturing velocity and accelerationfeedforward eliminating following errorServo loop update rates up to 5 kHzrHigh speed sensor inputs routedrdirectly to DSP axis processorHigh speed position capture hardwarer(

Add-in ModulesServoWire Axis ModuleThe ServoWire Axis Module provideshigh performance motion controlutilizing up to eight axes of servomotorsand/or remote encoders.ServoWire TM Axis Modules aremetal-edged printed circuit boardswhich plug conveniently into the 16-bitISA backplane of the ORION ® motioncontroller, and use a 80 Mhz TexasInstruments digital signal processor(DSP) to provide axis control algorithms.The Axis Module also includesdiagnostic LEDs, MotionDATA electronicgearing, ServoWire TM networkinterfaces, and optional analog inputs.Depending on the requirements ofthe application, the servo loop updateon the Axis Module can be configuredup to 2kHz (eight servos) or 4kHz (fourservos).Strengths of the Axis ModuleMulti-Processor Architecture: TheDSP on the Axis Module is interfacedto the main Intel architecture processorthrough a 16K byte shared memoryfor maximum speed and flexibility.The resulting multiprocessorarchitecture, combined with theoverall power of the DSP, enablesORION ® to operate effectively at highsampling rates to provide accuratepositioning via robust motion controlalgorithms. It also eliminates analogcomponents including tachometers.ServoWire TM Network Interface:Reliable, simple to configure, scalable,all digital control interface to theServoWire TM motor/drive axes.MotionDATA TM : For multi-axistightly synchronized motion controlapplications, MotionDATA TM provides adirect axis module to axis modulecommunications link to share motionreference information at loop updaterates. This synchronous data communicationschannel operates at 625 Kbitsper second and utilizes user-transparenterror correction techniques.MotionDATA TM speed and flexibilityallows large systems to be preciselyelectronically geared to a singleelectronic lineshaft or multiple sublineshaftsin a cascaded controlconfiguration.ServoWire TM Axis Module: At A GlanceORMEC’s ServoWire TM Axis Module: controls up to eight servomotors and/or remote encoders.ServoWire TM Axis Module OptionsAnalog Inputs: This option providesfour or eight12-bit analog inputs thatallow external devices to interface toORDERING GUIDEServoWire TM Axis Modules & AccessoriesORN-SW-AM/XPlug and Play Convenience4No address jumpers to set. Axis Modules areautomatically recognized and configured by theORION ® controller. Dual port multiprocessorarchitecture interfaces the MotionBASIC ®programming language to the on-board DigitalSignal Processor (DSP) through the ISA bus.Diagnostic LEDs4Three system status LEDs (DSP OK,MotionDATA active, and ServoWire TM network)plus eight dual-color axis status LEDs giveconsistent indication of system integrity.MotionDATA TM Electronic Gearing4Axis module to Axis module link transportingservomotor or encoder position informationbetween multiple drives on different networks.ServoWire TM Drive Network4Standard IEEE-1394 cables, high-speednetwork communication to eight servodrives.All drive parameters downloaded at power-up.Straightforward drive setup process, real-timedrive parameter changes allowed. Extensivealarm and fault status reporting for each drive.Analog Inputs4Option to add four or eight channels of 12-bitanalog to digital converters with digital filtersprovided to interface external control devices.ServoWire TM Axis Module, ISA adapter for up to 8 servo axesAnalog Inputs Option: (Must be specified; append to model number.)0 No4 Four channels of 12-bit Analog to Digital Converter8 Eight channels of 12-bit Analog to Digital Converterthe servo control loop. Softwareconfigured digital filtering eliminateshaving to install external filteringcomponents on the analog input.CBL-SW/x ServoWire TM Cable, where x =1 ft. (0.3 m), 2 ft. (0.7 m), 6 ft. (2.0 m) or 14 ft. (4.5 m)CBL-MOD8/3 MotionDATA TM Cable, 8-wire modular, 3 ft.ORN-SW-TB8 ServoWire TM Axis Module Analog I/O (TB8 & TB9) terminal block plugORMEC -19- ORION ® MOTION CONTROLLERS

ServoWire TM Axis Module Loop ArchitecturePosition CommandPOS.CMD@(x)Where (x) is 1 to 8 axesand 'VAR@()s' areMotionBASIC accessiblevalues.Kp ... Ka are softwareconfigurable gain valueswhich default per motorselected and are scaledbased on system inertiafor best performance.Acceleration Feedforward CommandACL.CMD@(x)Velocity Feedforward CommandVEL.CMD@(x)Kp(x) + Kpi(x) dtKvh(x)Kvf(x)VEL.ACT@(x)Velocity ObserverApplying feedforward increasesresponse by eliminating thetime delay waiting for changesin the position to propagatethrough the loopKvha(x)Kv(x) + Kvi(x) dtKaf(x)Axis Analog InputAIN1@(x)Ka(x)ServoWire TMDrive InterfaceDrive (Torque)CommandDRV.CMD@(x)Maximum Drive(Torque)CommandDRV.MAX@(x)Actual MotorPositionPOS.ACT@(x)ServoWire TM NetworkServoWire TM uses IEEE-1394 tocreate a potent architecture for multiaxismotion control and synchronization.The system uses the IEEE-1394memory mapped model where all drivesetup and motion control parametersare defined as software variables andcommunicated in real-time over theIEEE- 1394 bus.Servo loops are managed in realtimeover the bus, implementing adigital torque control network for up to8 axes and eliminating all digital-toanalogconversions. Actual torquecommands to the drives are transmitteddigitally as 16-bit variables,eliminating the cost and limitations oftraditional 12-bit, D-to-A converters andanalog torque signals.Digital torque control combinesthe fundamental advantages of torquemodecontrol (greater control flexibility,acceleration feedforward andtorque information) with the advantagesof digital networking and performance.In this digital system, a velocityobserver eliminates the need for ananalog tachometer, and all potentiometersare replaced by software parameters.All loop adjustments are automaticallycomputed when a motor, loadinertia and the velocity loop timeconstant are selected from a configurationsoftware menu. System parameterssuch as “peak motor outputtorque” are also set in software.With the elimination of analogconversions, the ServoWire TM drivenetwork provides both high bandwidthand outstanding noise immunity.Digital servo loops (including 32-bitintermediate results on calculations)provide precise control algorithms thatresult in drift-free operation.The user’s application program caneasily adjust for changing factors (i.e. --load inertia) by dynamically changingdrive settings or loop parameters. Anall-software torque-mode positioningsystem also provides outstandingperformance monitoring, with easilyaccessible real-time values for position,velocity, acceleration and torque.ServoWire TM Axis Module OverviewMulti-Processor ArchitectureTexas Instruments Digital SignalrProcessor (DSP) operating at 80 Mhz.MotionDATA TM communicationsrprovides tightly coordinated, multiaxiselectronic gearing. Connectorsprovide method for linkingMotionDATA TM between adapters.16K byte shared memory interface tormain processor to queue motioncommands from MotionBASIC ®128K byte on-board memory for DSPrprogram and data space, as well asmotion profile and cam dataFeedback & ControlDirect digital control of driverthrough the ServoWire TM Networkwith update rates to 5 kHz (configurationdependent) provide widebandwidth for high positioningaccuracy & responsePosition, velocity or torque controlrsupported.Full 32-bit position count or modulorposition in user’s units.Elimination of analog interfacererrors and extremely quiet servoloop operation using direct digitalprocessing of both position andvelocity with 32 bit intermediatecalculation accuracySoftware controlled position, speed,rand current limitsVelocity and acceleration feedforwardfor minimum tracking errorsrand response timesServodrive InterfaceHigh speed industry standardrplatform (IEEE-1394) providing driveisolation and reliable connections toup to eight ServoWire TM drives.r Each Axis Module provides threenetwork interface connectors forflexibility configuring connectionson the ServoWire TM network.r ServoWire TM drive remote enable,reset functions, status monitoring,motor parameter configuration andfirmware updates provided throughthe ServoWire TM Network.Diagnostic LEDsStatus Indicators: Axis Module,rMotionDATA TM Status, andServoWire TM Network statusAxis Status Indicators: Dual colorrstatus led for each drive on thenetworkAxis Module I/O (per axis module)Four or eight optional analog inputsron two pluggable terminal blocks.ORMEC -20- ORION ® MOTION CONTROLLERS

MACHINEMACHINEORION ® Machine I/OORION ® Machine I/OIntegral machine I/O for the ORION ®motion controllers is convenientlylocated behind the hinged front cover.An I/O circuit board is directlyinterfaced to the controller's SystemModule and provides:r 16 integral discrete I/O points whichinclude sockets to mount Generation4 (G4) Opto-22 style I/Omodules which have integralreplaceable fuses and status LEDs,r Optional Extended I/O interface for24 discrete I/O or access to 512remote discrete and analog I/O viaOpto-22’s Pamux standard,r Emergency Stop, No-Fault Interlocks,andr 24 VDC & 12VDC I/O power.Integral Discrete I/OEach ORION ® controller includes16 integral discrete I/O points. MachineI/O signals are convenientlywired to the controller at removableterminal blocks on the discrete I/Oboard, and are interfaced to the systemthrough G4 Opto-22 style plug-inmodules. These industry standard G4I/O modules provide optical isolationfor these machine signals, and supporta wide range of AC and DC voltagesand currents.All sixteen I/O points are independentlyselectable through softwareas inputs or outputs. When used asinputs, they are configured to be readdirectly or be “latched” on either “high”or “low” transitions of the input voltage.These inputs are used to “interrupt” andcause “events” in the MotionBASIC ®program.The MotionDesk developmentsoftware allows the user to interactivelyselect the configuration of eachof these I/O points as well as theextended I/O points. Configuration isaccomplished by simply moving thecursor to the appropriate I/O pointnumber in the window and scrollingthrough the available options.Dual Voltage I/O PowerAn isolated 24 VDC power supplyrated at 1.6 amps is provided to powerthe discrete I/O circuitry and sensors asDiscrete I/O Board Features24VDC & 12VDCI/O Power SupplyOutputsIsolatedI/O Terminals& I/O PowerDistribution BusI/O TerminalBlock Options(removableor fixed)Fuse Testerwell as Emergency Stop and No Faultinterlock circuitry. A 12 VDC powersupply is regulated from it, providingup to 500 milliamps at the terminalblock to power low voltage sensors andmodules. These power sources areinterfaced at a removable terminalblock on the discrete I/O board. Acommon I/O power bus V+ and C can beconveniently jumpered to either powersupply and its return.SecondaryE-Stop &No-Fault RelayConfigurationJumpersFour SecondaryE-Stop Input andNo Fault Relaypairs---DIO(1)through DIO(8)Status LEDson modulesvisible throughfront coverReplaceablefuses onall outputmodulesExtended I/OOption: 50-pinconnectorinterfaceE-Stop and No Fault Relay I/OFour independent secondaryEmergency Stop/No-Fault Relaypositions are provided to implementindependent E-stop switches toindependent machine control circuits.Once configured in the system configurationfile, holding an E-stop input “on”will keep the corresponding No-FaultRelay “on” only if defined fault conditionsin the ORION ® motion controllerORMEC -21- ORION ® MACHINE I/O

Specifications for Discrete I/O ModulesAC Input Modules Units G4-IAC-5 G4-IAC-5A DC Output Modules Units G4-ODC-5 G4-ODC-5RInput Voltage VAC 90-140 180 - 280 Load Voltage, maximum VDC 60 100 (130 VAC)Operate Voltage (ON) VAC min 90 180 Load Voltage, range VDC 5-60 0 to maxRelease Voltage (OFF) VAC max 45 45 Current Rating at 45C amps 3 0.5Input Current at mA max 11 11 Current Rating at 70C amps 2 0.5Max. Input Voltage Output Voltage Drop VDC max 1.6 0.3Input Current at Rated mA max 3 3 Off state current leakage mA max (60VDC) 1.0 0.0Release Voltage Turn on time msec max 0.5 0.5Turn on time msec max 20 20 Turn off time msec max 0.5 0.5Turn off time msec max 20 20 Contact Bounce msec max n/a 0.25AC Output Modules Units G4-OAC-5 G4-OAC-5A DC Input Modules Units G4-IDC-5 G4-IDC-5BLoad Voltage, nominal VAC (25 to 65Hz) 120 240 Input Voltage VDC 10-32 4-16Load Voltage, range VAC 12-140 24 - 280 Reverse Voltage Protection volts 32 16Repetitive Blocking Voltages volts peak 500 500 Operate Voltage (ON) volts 10 3Current Rating at 45C amps 3 3 Release Voltage (OFF) volts 3 1Current Rating at 70C amps 2 2 Input Current at mA max 25 45One cycle surge current amps max 80 80 Maximum Input VoltageOutput Voltage Drop VAC max 1.6 1.6 Input Current at Rated mA max 1 0.7Off state current leakage mA max RMS @ 60Hz 5 2.5 Release VoltageTurn on time cycle max (0 volts) 1/2 1/2 Turn on time msec max 5 0.05Turn off time cycle max (0 amps) 1/2 1/2 Turn off time msec max 5 0.10GENERAL SPECIFICATIONS: Isolation Input to Output: 4000 Volts RMS, Storage Temperature: -40 to 85C, Operating Temperature: -30 to 70Care satisfied and cleared. A normallyopen,held-closed dry contact relay (G4-ODC-5R) is available for each No-FaultRelay position. Both AC & DC voltagescan be switched with this relay.Input / Output ModulesInput/Output modules provide ameans of reliably interfacing betweenORION ® motion controllers andexternal input devices and loads suchas switches, sensors, solenoids, valvesand motor starters.Eight I/O modules are offered insix optically isolated types:r AC & DC inputs,r AC & DC outputs,r a fast DC input and;r a Relay Module.The I/O modules are color codedby function and provide a high degreeof isolation and noise immunitybetween the motion controller andexternal components.The AC output modules utilizezero voltage turn-on and zero currentturn-off of the load to greatly reducegenerated EMI and RFI. They alsofeature an internal dv/dt snubbernetwork for protection from voltagetransients on the line.All I/O modules feature internalLED indicators and all output modulesalso have a replaceable fuse.MotionBASIC ® InterfaceAll discrete and analog I/O pointsin the system are accessed fromMotionBASIC ® as ORMEC pre-definedarray variables DIO@ and AIO@, withthe array indexed on the I/O pointnumber or group I/O point number.Extended I/O InterfaceSelecting the ORION ® ExtendedI/O option adds an interface connectorto the bottom of the I/O board.The extended I/O interfaceORDERING GUIDEI/O ModulesG4-IDC-5DC Input Module, 10-32 VDC & 12-32 VACG4-IDC-5B DC Input Module, Fast Response, 4-16 VDCG4-IAC-5AC Input Module, 90 to 140 VAC/DCG4-IAC-5A AC Input Module, 180 to 280 VAC/DCG4-ODC-5 DC Output Module, 60 VDC max, 3 ampsG4-ODC-5R Relay Module, N.O. contact, 100 VDC / 130 VAC max, 0.5 ampsG4-OAC-5 AC Output Module, 12 to 140 VAC, 3 ampsG4-OAC-5A AC Output Module, 24 to 280 VAC, 3 ampsMounting Racks and Cable for Extended i/OG4-MIO-PB24 Machine I/O Module Mounting Rack, 24 unitsG4-MIO-PB16H 16 Position Single Channel I/O Mounting RackG4-MIO-PB8H 8 Position Single Channel I/O Mounting RackCBL-EIO/x Extended I/O Cable, x ftPower SupplyPSU-024/3.8Aprovides access to 24 additional TTLlevelI/O points which are interfacedthrough a 50-pin header connector.When configured as discrete I/O, thisconnector provides plug compatibilitywith G4 Opto-22 I/O racks. These rackshave sites for 8, 16 or 24 opticallyisolated I/O points. With discretemode selected, these I/O points areindexed between 17 and 40. The firsteight I/O points may be softwareconfigured as inputs or outputsindividually. The second and thirdgroups of eight are software configuredas inputs or outputs as a group.Machine I/O Power Supply, 24 VDC @ 3.8 amps, 115/230 VACORMEC -22- ORION ® MACHINE I/O

MACHINEMACHINEORION ® Ethernet I/O OverviewEthernet I/O ApproachORION supports a variety of popularEthernet I/O products in motioncontrol applications. Fully integratedsoftware includes elegant setup,configuration and programming toolsto greatly simplify using Ethernet I/O.Utilizing ORMEC’s Ethernet I/Ocommunications MBX, users can selectfrom among WAGO Ethernet I/O, Opto22 Snap Ethernet I/O, Modicon TSXMomentum or Sixnet EtherTrak I/O forspecific application requirements.With the Ethernet I/O MBXinstalled, the Ethernet I/O modules areconfigurable from the developmentsystem using MotionDesk.All I/O mapping and communicationsare handled by the MBX, and theprogrammer can utilize standardMotionBASIC statements (DIO@ andAIO@) to integrate analog and digitalEthernet I/O into their applicationprogram.Ethernet I/O ApproachesSince different I/O vendors havedesigned their products to addressdiffering customer needs, ORMEC issupporting multiple Ethernet I/Oproducts. The MBX is designed tosupport a growing number of EthernetI/O solutions in the future.Vendors have taken two approachesto meeting the user’sEthernet I/O needs:“Modular I/O” combines a rack andcontroller for each node. The user canmix and match module types (AC In/Out, DC In/Out, sinking/sourcing,Analog current/voltage, etc.) within therack. Modular I/O provides maximumflexibility when there is a need to mixI/O types and provides a solution forsmall numbers of distributed I/O.WAGO Ethernet I/O and Opto22Snap Ethernet I/O are examples ofmodular Ethernet I/O solutions.“Brick I/O” are enclosed moduleswhich contain both inputs and outputs,but the “type” is fixed. Forexample, some options include 16 DCinputs (10-32V) plus 16 DC outputs(10-32V) or 10 DC inputs (24V) and 8relay outputs. Depending on the mixof I/O required for your application, theAdvantages of Using Ethernet I/O with ORION ® ControllerOn the Software Side ...4 Tightly integrated with MotionDeskdevelopment software and MotionBASICto simplify application programming.4 Flexibility to utilize WAGO Ethernet I/O,Opto22 Snap Ethernet I/O, Modicon TSXMomentum or Sixnet EtherTrak I/O.4 Use Ethernet TCP/IP for both I/O anddevelopment communications.4 WebTools software provides capability tomonitor I/O remotely using web browser.“brick I/O” approach may be an attractiveand cost-effective solution.Modicon TSX Momentum andSixnet EtherTrak are examples of “brickI/O” solutions.PerformanceThe Ethernet I/O MBX has beenoptimized for I/O handling --- runningas a priority task under MotionBASICto maximize data throughput.The performance of Ethernet I/Ois very deterministic if it’s on anisolated network or separated fromother network traffic by a switchingOn the Hardware Side ...4 Select the “best of breed” Ethernet I/Ohardware best suited to your application.4 Utilize cost effective Ethernet adapters,either ISA or PC Card adapters tointerface to the ORION controller.4 Standard cabling is cost-effective andprovides distances up to 500 ft.4 Cost-effective hubs provide tools tocreate effective machine controlnetworks and limit network traffic.hub. MotionBASIC supports multipleEthernet adapters in the same controllerto ease creating a separate I/Onetwork.Standard Ethernet HardwareA key advantage of ORMEC’sapproach is it allows the systemdesigner to utilize off-the-shelfEthernet adapters, cabling andnetwork hubs and/or switches.The ORION controller provides aPC-AT bus with up to seven expansionslots and a PC card slot which can beused for Ethernet connectivity.ORDERING GUIDEEthernet I/O MotionBASIC MBXMBX-EIO-5 MotionBASIC Extension (MBX) providing connectivity to Ethernet I/O products includingWago Ethernet I/O, Opto 22 Snap Ethernet I/O, Modicon TSX Momentum and SixnetEtherTrak I/O. The MBX requires 200 ORION MotionCredits.Model numbers for Ethernet adapters can be found on page 17.ORMEC -23- ORION ® ETHERNET I/O APPROACH

Wago I/O ConnectivityEthernet & ProfibusI//O ConnectivityWAGO Ethernet and Profibus DP I/Ofeature a wide variety of analog anddigital I/O modules that reliablyinterface the ORION® motion controllerto industrial devices such as switches,sensors, solenoids, valves and motorstarters.WAGO I/O utilizes either anEthernet or Profibus DP FieldbusCoupler for each node, which is connectedto DIN rail mounted I/O modules.The user can select appropriatemodules (AC In/Out, DC In/Out, sinking/sourcing, Analog current/voltage, etc.)for their specific application.WAGO I/O: Quick Overview4 Standard Connectivity Solutions – WAGO Ethernet andProfibus DP I/O provide standard connectivity solutions forinterfacing digital and analog I/O to the ORION motion controllersthat is easy to implement, operate and maintain. Highspeeddigital and analog signals can interface to the ORIONcontroller using either an industry standard Ethernet networkthat’s dedicated for I/O control or a Profibus DP fieldbusnetwork.The WAGO Fieldbus Couplers arecompact, flexible, high-performanceprocessors that provide the interfacebetween the I/O modules and either adedicated Ethernet or Profibus DPnetwork. DIN rail mounted modulesprovide an efficient method for mountingthat minimizes panel space.The I/O modules are color coded byfunction and provide a high degree ofisolation and noise immunity betweenthe motion controller and externalcomponents. Optional labelingcomponents are available to clearlyindicate I/O point number, power andground connections for easier installationand maintenance.The 24 VDC discrete input modulesinclude built-in noise filters, availablewith either a 3.0 or 0.2 msec timeconstant. These filter time constantoptions allow the user to select theappropriate level of noise filtration fortheir application and environment.All discrete I/O modules featureinternal LED indicators. Digital outputmodules below include electronicshort-circuit protection.4 Flexible Interface – All supported WAGO I/O modules connectto an ORION using a Fieldbus Coupler, one per rack. TheFieldbus Coupler interfaces to the Ethernet or Profibus DPnetwork providing a high-speed connection to all I/O in therack. I/O can be remotely distributed throughout the machine.4 Digital I/O Modules – WAGO I/O provides a full line of digitalI/O modules. DC inputs (5 & 24 VDC), DC outputs (5 & 24 VDC),AC inputs (80 to 230 VAC) and AC outputs (0 to 230 VAC)provide flexible interface options. All digital modules featurea compact 2 and 4 channel designs. Each module incorporatesCAGE CLAMP connection system for vibration-proof, fast andmaintenance-free wiring with test points for easy access tosignals with wiring in place.4 Analog I/O Modules – Analog voltage inputs ranges from 0 to10 volts, +/- 10 volts, and 4-20 mA. Analog output modulesprovide 0 to 10 volts, +/- 10 volts ranges. Analog input modulesare available as efficient 2-channel devices. Interface totemperature sensors, load cells, dancer control systems, andother industrial analog voltage or current control points.4 Minimum Panel Space – Compact 12 mm (0.47 in) and 24 mm(0.94 in) wide, DIN rail mounted module designs allow theOEM designer to use a minimum amount of panel space.4 I/O Functionality – Basic I/O operations are supported for allWAGO I/O modules using Profibus DP and a subset usingEthernet, including the products listed in the Ordering Guide.ORMEC - 1- WAGO I/O CONNECTIVITY

ORDERING GUIDEFieldbus Coupler KitsWAGO-ETH-KIT Ethernet Fieldbus Coupler Kit, 10baseT, 64 I/O modules (256 points) max.(includes one End Module and two 10 mm End Stops)WAGO-PFB-KIT Profibus DP Fieldbus Coupler Kit, 12 Mbaud, 64 I/O modules (256 points)max.(includes one End Module and two 10 mm End Stops)Digital I/OWAGO-750-400WAGO-750-401WAGO-750-402WAGO-750-403WAGO-750-405WAGO-750-406WAGO-750-408WAGO-750-409WAGO-750-414WAGO-750-501WAGO-750-502WAGO-750-504WAGO-750-519WAGO-750-516WAGO-750-509WAGO-750-5132-Channel DC Input, Sourcing (high-side switch), 24 VDC, 3.0 msec filter2-Channel DC Input, Sourcing (high-side switch), 24 VDC, 0.2 msec filter,high speed4-Channel DC Input, Sourcing (high-side switch), 24 VDC, 3.0 msec filter4-Channel DC Input, Sourcing (high-side switch), 24 VDC, 0.2 msec filter,high speed2-Channel AC Input, 230 VAC (see note 1 below)2-Channel AC Input, 120 VAC (see note 1 below)4-Channel DC Input, Sinking (low-side switch), 24 VDC, 3.0 msec filter4-Channel DC Input, Sinking (low-side switch), 24 VDC, 0.2 msec filter, highspeed4-Channel DC Input, Sourcing (high-side switch), 5 VDC, 0.2 msec filter,high speed (see note 1 below)2-Channel DC Output, Sourcing (high-side switch), 24 VDC, 0.5 A2-Channel DC Output, Sourcing (high-side switch), 24 VDC, 2.0 A4-Channel DC Output, Sourcing (high-side switch), 24 VDC, 0.5 A4-Channel DC Output, Sourcing (high-side switch), 5 VDC, 20 mA (see note1 below)4-Channel DC Output, Sinking (low-side switch), 24 VDC, 0.5 A2-Channel AC/DC Output, SSR, 230 VAC/VDC, 300 mA (see note 1 below)2-Channel AC/DC Output, Isolated relay, 250 VAC, 30 VDC, 2A (AC/DC)(see note 2 below)Analog I/O ModulesWAGO-750-476 2-Channel Analog Input, +/-10 V, 16-bit, single-endedWAGO-750-478 2-Channel Analog Input, 0-10 V, 16-bit, single-endedWAGO-750-474 2-Channel Analog Input, 4-20 mA, 16-bit, single-endedWAGO-750-550 2-Channel Analog Output, 0-10 V, 12-bit (see note 2 below)WAGO-750-556 2-Channel Analog Output, +/-10 V, 12-bit (see note 2 below)Power Supplies and AccessoriesWAGO-787-912 Power Supply 2 A, 24 VDCWAGO-787-903 Power Supply 5 A, 24 VDCWAGO-787-904 Power Supply 10 A, 24 VDCWAGO-750-601 Supply module with fuse, 24 VDCWAGO-750-602 Supply module, 24 VDCWAGO-750-609 Supply module with fuse, 230 VACWAGO-750-612 Supply module,0-230 AC/DC (incl. 5 VDC modules)WAGO-750-615 Supply module with fuse, 120 VACWAGO-750-622 Binary Spacer ModuleWAGO-247-PWR Power and Ground Label Strip Pack: blue “0V”, blue “-”, red “24V”, red “+”,light green ground symbol, light green “PE”, 100 eachWAGO-247-513/522 I/O Point Numbering Label Strip Pack, digits 00-99, 10 eachNOTE 1:NOTE 2:Any WAGO Digital I/O modules operating at voltages other than 24 VDC require a Power Supplyand Supply Module with the appropriate voltage rating for input power and isolation. Refer tothe WAGO Ethernet or Profibus I&O Manual or the WAGO Web Site for further information.WAGO Analog Output and 2-Channel AC/DC Output Isolated Relay modules do not pass thepower supply onto the other modules in the rack. A supply module will be required for any I/Omodules to the right of an Analog Output or Isolated Relay module in a WAGO I/O system.Refer to the WAGO Ethernet or Profibus I&O Manual or the WAGO Web Site for furtherinformation.ORMEC - 2- WAGO I/O CONNECTIVITY

MACHINEMACHINESnap Ethernet I/OSnap Ethernet I/OOpto22 Snap Ethernet I/O features awide variety of analog and digital I/Omodules that reliably interface theORION ® motion controller to industrialdevices such as switches, sensors,solenoids, valves and motor starters.Snap Ethernet I/O combines arack and controller for each node. Theuser can select appropriate modules(AC In/Out, DC In/Out, sinking/sourcing,Analog current/voltage, etc.) fortheir specific application.The Snap I/O brain modules arecompact, flexible, high-performanceprocessors that provide the interfacebetween the I/O modules mounted tothe rack and a dedicated Ethernetnetwork. Industrial racks provide anefficient method for mounting thatminimizes panel space.Pluggable I/O modules are colorcoded by function and provide a highdegree of isolation and noise immunitybetween the motion controller andexternal components.The AC output modules utilizezero voltage turn-on and zero currentturn-off of the load to greatly reducegenerated EMI and RFI. They alsofeature an internal dv/dt snubbernetwork for protection from voltagetransients on the line.All discrete I/O modules featureinternal LED indicators. Digital outputmodules below (except for the ODC5R)include replaceable fuses.Snap Ethernet I/O -- At A Glance3 Standard Connectivity Solution -- Snap Ethernet I/O provides a standard connectivitysolution for interfacing digital and analog I/O to the ORION motion controllers that is easy toimplement, operate and maintain. High speed digital and analog signals can interface to theORION controller using an industry standard Ethernet network that’s dedicated for I/O control.3 Flexible Ethernet Interface -- All Snap I/O racks connect to ORION using a Brain module, oneper rack. The Brain module interfaces to the Ethernet network providing a high speed connectionto all I/O in the rack. I/O can be remotely distributed throughout the machine.3 Digital I/O Modules -- Snap Ethernet I/O provides a full line of digital I/O modules. DCinputs (2.5 to 32 VDC), DC outputs (5 to 60 VDC), AC inputs (90 to 280 VAC) and AC outputs(12 to 280 VAC) provide flexible interface options. All digital modules feature a compact 4channel design. Each module incorporates a pluggable interface connector for easy wiring.3 Analog I/O Modules -- Analog voltage inputs range from -10 to +10 volts. Analog outputmodules provide 0 to 10 volts, +/- 10 volts, and 4-20 mA ranges. Analog input modules areavailable as efficient 2-channel and 4-channel devices. Interface to temperature sensors, loadcells, dancer control systems, and other industrial analog voltage or current control points.3 Minimum Panel Space -- Full range of racks will accept either digital and analog I/Omodules. From 4 position to 16 position racks with one 16 position provided for only digitalmodules allow the OEM designer to use a minimum amount of panel space. DIN-Rail mountingadapters are available.3 I/O Functionality -- Basic I/O operations are supported for virtually all Opto Snap I/O modulesincluding the products listed below. See our Ethernet I/O Application Note for more details.ORDERING GUIDEAnalog and Digital I/OSNAP-B3000-ENET SNAP-B3000 Ethernet BrainSNAP-B4M 4-Module RackSNAP-B8MC 8-Module Rack, with field wiring power terminal blockSNAP-B12MC 12-Module Rack, with field wiring power terminal blockSNAP-B16MC 16-Module Rack, with field wiring power terminal blockDigital I/OSNAP-ENET-D64 SNAP Ethernet Brain for Digital I/O onlySNAP-D64RS 16-Module RackDigital Input ModulesSNAP-IAC5 4-Channel, AC Input, 90-140VAC/VDC, 5VDC logicSNAP-IAC5A 4-Channel, AC Input, 180-280VAC/VDC, 5VDC logicSNAP-IDC5 4-Channel, DC Input, 10-32VDC/VAC, 5VDC logicSNAP-IDC5D 4-Channel, DC Input, 2.5-28VDC, 5VDC logicSNAP-IDC5-FAST 4-Channel, DC Input, 2.5-16VDC, 5VDC logic, High-speedSNAP-IDC5-FASTA 4-Channel, DC Input, 18-32VDC, 5VDC logic, High-speedSNAP-IDC5-SW 4-Channel, Switch Status InputDigital Output ModulesSNAP-OAC5 4-Channel, AC Output, 12-280VAC, 5VDC logicSNAP-ODC5SRC 4-Channel, DC Output, 5-60VDC, 5VDC logic sourceSNAP-ODC5SNK 4-Channel, DC Output, 5-60VDC, 5VDC logic sinkSNAP-ODC5R 4-Channel, Dry Contact OutputAnalog Input ModulesSNAP-AIV 2-Channel, Analog Voltage Input, -10VDC to +10VDCSNAP-AIV-4 4-Channel, Analog Voltage Input, -10VDC to +10VDCAnalog Output ModulesSNAP-AOA-23 2-Channel, Analog Output Current, 4-20mASNAP-AOV-25 2-Channel, Analog Output Voltage, 0 to +10VDCSNAP-AOV-27 2-Channel, Analog Output Voltage, -10 to +10VDCPower Supplies for Brain ModulesSNAP-PS5 Power supply, 5VDC @ 4A, 110 VACSNAP-PSDIN DIN rail adapter kit for power supplyAccessoriesSNAP-LABEL4B 4-Module Label Holder with Labels, 25-PackSNAP-RACKDIN SNAP Rack DIN-Rail Adapter ClipORMEC -24- ORION ® ETHERNET I/O

MotionBASIC ® System CardMotionBASIC ® System CardThe MotionBASIC ® System Cardprovides an innovative, convenientmethod for loading all software into anORION ® motion controller.Since the System Card plugs into aPC Card TM slot (formerly PCMCIA) onthe front of the controller, it is easilyaccessible for all software updates---whether “product recipe” files, userprograms, machine setup or systemsoftware. Changing PROMs is a thingof the past, as are all other awkwardupdate procedures.For anyone who supports automationat multiple sites worldwide, thesimplicity and ruggedness of theSystem Card provides an elegantmethod for maintaining and upgradingevery aspect of a motion controlapplication---eliminating the need fora computer and skilled personnel onsite.Updating "product recipe" files,application programs, machine set-upparameters and/or system software isas simple as plugging a rugged, "creditcard-sized" module into the PC Card TMslot and pressing the reset button.Innovative Use of PC Card TM TechnologyThe MotionBASIC ® System Card provides front loading of all system and motion control software.File ManagementSince the ORION ® motion controllersupports a PC industry standardFlash file system, file management isstraightforward and is easily accomplishedusing a laptop with a PC Card TMslot. ORMEC’s MotionDesk TM developmentsoftware supports file managementusing RS-232 or Ethernet communications.Flash RAM Memory DisksThe MotionBASIC ® System Card issupplied on a Flash RAM memorycard---which features inherently nonvolatilePROM technology. Flash RAMcards (6 to 136 megabytes) feature“write speeds” approaching conven-Supporting automation in remote locationsis greatly simplified.Front loading software is easily accessible.No more burning PROMs to update softwarein your motion controller.A PC industry standard Flash File systemsimplifies file management--and makesfile archival a snap on any PC.All software required for your application isstored on the card---your motion controlprogram, machine set-up parameters &“product recipe” files. Along with allMotionBASIC ® software and extensions(MBX) required for the application.tional disk drives with RAM-drive “readspeeds”. The System Card acts as anintegral disk drive for the ORION ®motion controller, without the movingparts of a traditional hard disk.MotionBASIC ® ExtensionsMotionBASIC ® Extensions (MBX)for specialized application needs likefactory network communications aresimply added to the System Card asdynamic link library (DLL) files.Specifying System Card OptionsTo specify your MotionBASIC ®System Card, specify two or threemodel numbers.(1) A System Card (with six to136 Mbytes of memory). Six Mbytesis standard and acceptable for mostapplications.(2) An ORION ® Hardware Keywith a MotionCredit limit for yourapplication. Along with the hardwarekey, you will need 275 credits for eachservomotor under control. Additionalcredits authorize you to run specificMBX software extensions.(3) The MotionBASIC ® Extensionsrequired (if any) for yourapplication. Your System Card willcome with the MBX files pre-loaded onyour memory card.ORDERING GUIDEMotionBASIC ® System CardPCC-SYS5/0006 MotionBASIC ® System Card, Flash RAM, 6 to 136 Mbytes(6 Mbytes as shown is standard; specify memory size in the four digits after the“/” in model number.) 0006, 0009, 0016, 0032, 0064 & 0136ORN-KEY/00275 ORION ® Hardware Key & 275 MotionCredits required per servomotor.See credits (below) required for software extensions.MotionCredits MotionBASIC ® ExtensionMBX-ABE-5 500 Allen-Bradley Ethernet communicationsMBX-QE-5 400 Modbus TCP communications (Quantum PLCs)MBX-EIO-5 200 Ethernet I/O communicationsMBX-DPM-5 500 Profibus DP Master communicationsMBX-PFB-5 300 Profibus DP Slave communicationsMBX-DH-5 500 Data Highway/Plus communicationsMBX-DF1-5 300 SLC-500 DF1 communicationsMBX-MDB-5 300 Modbus communicationsMBX-S908-5 500 S908 communicationsMBX-GE-5 500 GE Genius communicationsMBX-QP-5 200 QuickPanel TM communicationsMB-UPG-5 MotionBASIC ® Upgrade Disk, available free on websiteMBX-UPG-5 MotionBASIC ® Extensions Upgrade Disk, available free on websiteORMEC -25- ORION ® MOTION CONTROLLERS

Memory Cards & Hard DrivesPC Card TM (PCMCIA) TechnologyIndustry standard PC Card TM solidstatememory cards and hard drivesallow ORION ® motion controllers toaccess substantial mass memory.The MotionBASIC ® System Cardprovides adequate amounts of usermemory for most applications. But ifyour application has high data storagerequirements --- or requires very fastdata logging --- a memory card or harddrive is a simple, elegant solution. Bysimply plugging a rugged, frontloading"credit card-sized" module intothe second ORION ® drive slot, userscan access substantial mass memoryand/or perform real-time data logging.The PC Card TM standard (formerlyreferred to as PCMCIA) has rapidlyemerged---fueled by its use in laptopcomputers---and provides a highlyreliable, cost-effective standard forprogram and data storage.Flash RAM Memory CardsFlash RAM memory cards featureinherently non-volatile PROM technologywhich make them ideal for archival,installation and maintenance ofmotion control programs on the plantfloor. Flash RAM memory cards (4 to85 megabytes) feature “write speeds”approaching conventional disk driveswith RAM-drive “read speeds”.SRAM Memory CardsSRAM memory cards (1, 2 & 4megabytes) are battery-backed, andfeature RAM-drive “read” and “write”speeds. Battery life is four years, notcounting the time that power isapplied to the card. The PC Cardstandard insures data reliability, andmemory will survive a few days withthe battery removed from the card.SRAM is ideal for dynamically changinginformation where the fastest realtimeperformance is important.PC Card TM Hard DisksPC Card TM hard disks provide largeamounts of additional data storage forspecialized needs for user programand data storage. Hard disks areavailable with up to 260 megabytes.Using Memory CardsMemory Cards act as an integraldisk drive to an ORION ® motionPC Card TM Flash and SRAM memory cards provide a reliable, removable program and data storage media.controller. Since the ORION ® motioncontroller supports a DOS-compatibleFlash file system, file management isstraightforward and can be easilyaccomplished using a laptop with aPC Card TM drive slot. ORMEC’sMotionDesk TM also provides filemanagement support utilizing themotion controller’s RS-232 developmentport.Supporting Remote Automation:For manufacturers who supportautomation at multiple sites worldwide,the simplicity and ruggedness ofmemory disks provide an elegantmethod for updating motion controlsystems---eliminating the need for acomputer and skilled personnel toperform on-site updates.Storing Product Recipes: Anapplication may need to referencesetup or “recipe” data based on anoperator selection of a specific productORDERING GUIDEPC Card TM Memory Cards & Hard DrivesPCC-FLASH/0020 Memory Card, Non-volatile, Flash RAM, 20 Mbytes (4, 6, 10, 40 & 85 alsoavailable)PCC-SRAM/0002 Memory Card, Battery-backed, SRAM, 2 Mbytes (1 & 4 also available)PCC-DISK/0260 PC Card TM Hard Drive, 260 MbytesNote:run for the automated machine. Thecontroller program can access MemoryCard files to retrieve data relevant tothe operator selection. Shouldmachine performance informationneed to be collected during a productionrun, data can be written to aMemory Card file, providing permanentstorage of "live" process data.Sequential & Random Access Files:MotionBASIC ® also includes statementsthat provide access to sequentialand random-access data files onmemory disk. Sequential data files, forexample, can be used to save "on disk"mathematical array values that definecomplex wind segments for traversewinding "recipes". Random accessdata files have been used to define"pin patterns" and "locations" formachines that insert pins into electricalconnectors.Call ORMEC for up-to-date information on memory options for memory cards and hard drives.Memory size (in megabytes) is indicated by the 4-digit placeholder after the “/”.ORMEC -26- ORION ® MOTION CONTROLLERS

MotionDesk TM Development KitWindows 95/NTDevelopment SoftwareORMEC's MotionDesk TM DevelopmentKit provides a complete motion programmingenvironment on any IBM-PC orcompatible computer running Windows95, 98, NT or 2000. TheMotionDesk TM Development Kitprovides software tools to simplify theconfiguration, development andmaintenance of ORMEC motion controlsystems.MotionDesk TM is a fully integrated,Windows-oriented “desktop”for motion control. It utilizes dropdownmenus, toolbars and dialogboxes and presents a graphical userinterface (GUI) to ORION ® controllersthat is both intuitive and powerful.FeaturesMotionDesk TM Development KitDeveloper's KitProject Navigator incorporates 3“wizards”Automatic screen-oriented system 3configurationDevelopment Console 3WindowsDirect mode window for on-line program 3executionProgram debug tools with multithread source line 3tracingAxis Tune facility for matching servo system response to motion 3profileORION ® file management 3utilitiesIntegrated with Windows Explorer as FTP folder for user 3filesUpgrade Director to manage MotionBASIC ® system 3filesORION ® Help 3SystemFull on-line reference volume for MotionDesk and MotionBASIC ® 3Built-in TCP/IP communications 3softwareInterface to the ORION ® motion controller’s serial port or utilize 3EthernetMulti-Window DevelopmentThe MotionDesk TM DevelopmentConsole provides an elegant multiwindowdevelopment environmentthat includes multiple local windowson your PC as well as a multi-windowinterface to your motion controller.MotionDesk TM uses TCP/IP(Transmission Control Protocol/Internet Protocol) to implement highspeed serial communications withORION ® motion controllers. TCP/IPenables the MotionDesk TM to simulta-MotionPad 3editorFull-featured program and text 3editorMotionBASIC ® program development/management 3utilitiesLibraries of Operator Interface Development 3ToolsQuickPanel programming example 3filesError Logging and Handling programming example 3filesQuickDesigner 2 Touchscreen Development ToolOptionalneously open multiple communicationchannels with ORION ® and providewindows to modify, control and viewprogram operation.The MotionDesk TM Project Navigator provides effective tools for managing motion control projects. Set-upwizards lead you through a process of matching your software with the configuration of your machine.Project NavigatorA key element of MotionDesk TM isthe ORION ® Project Navigator thatsimplifies the process of configuringyour motion control system. It includesmultiple screens for unit andaxis parameters as well as servogearing and I/O configurations.The “wizard” approach leads theuser through a series of screens thatsimplify configuration. You are thenled through only the pertinent screensbased on your prior choices.MotionPad EditorThe MotionPad editor providespowerful program editing tools andmacro capabilities to speed theprocess of developing your program.Key features of MotionPad are:context-sensitive help on menus,toolbars and MotionBASIC ®keywordscolored emphasis ofMotionBASIC ® keywords helpshighlight programming problemswhile editingcomplete text editing and filemanagement capabilitiesORMEC -27- ORION ® DEVELOPMENT SOFTWARE

ability to edit one or multiple filesin multiple windowsmulti-level undo capabilityMotionPad activates whenever aprogramming error is detected inthe ORION ® controller duringsystem testing. Reported errorsare presented to the developerthrough a MotionPad window withthe proper module open andpointed to the source line causingthe error.Windows HelpThe ORION ® Help System utilizesthe latest Windows-based tools toprovide access to MotionBASIC ® andORION ® information. Full text searchingcapabilities and multi-level foldersprovide a graphical interface forexploring topics using dynamic linksand hypertext tools. The MotionPadeditor is linked to the Help Systemmaking it simple to initiate searchesfrom the editor by highlighting a wordand invoking the Help System.File ManagementMotionDesk TM provides a full set offile management features that are fullyintegrated into the Windows Exploreras an FTP folder using TCP/IP communicationsfor managing user files onthe ORION ® controller.Upgrade DirectorInstalling the latest version ofMotionBASIC ® or a new MotionBASIC ®Extension, along with the appropriateHelp files, is easy with the UpgradeDirector. Integrated into the Motion-Desk TM environment, the UpgradeDirector presents a complete menuallowing you to install only what youneed for your application. In additionto upgrades, all MotionBASIC ® extensionsare available on the ORMECUser web site (password required).Axis TuneNo programming is required to getthe motor/drive systems tuned to yoursystem load. Built-in and user modifiablemotion profiles with defaultparameters are automatically adjustedto meet your system inertia loadrequirements for quick and easy finetuning of your system’s loop response.All modifications to loop parametersare implemented dynamically withvisual feedback displayed on theintegral color scope. Final adjustmentscan be stored in the configurationfile of your project.The MotionPad Editor combines sophisticated text editing capabilities with context sensitive help, bookmarks,error reporting, program execution control featuring single step and setting breakpoints. Providesrealtime display of data variables and program label information with one mouse click.MotionDesk TM provides a system tuning facility called AxisTune which allows modification of the controlsystem parameters to provide the proper response to motion profiles specific to your application with a realtimerecord of position error, velocity command, actual velocity and torque response.ORDERING GUIDEMotionDesk TM Development Software and AccessoriesMDK-SW/C* MotionDesk TM version 3.x for use with MotionBASIC © 5.x, CD-ROMCBL-SER-AT Serial Coil Cord, 6-wire modular, 3/12 ft, 9-pin D, IBM-ATCBL-SER-PC Serial Coil Cord, 6-wire modular, 3/12 ft, 25-pin D, IBM-PCCBL-MOD6/15 Cable, 6-wire modular, 15 ft ($1/ft for other lengths)CON-MOD6-AT Connector from CBL-MOD6 to IBM-AT (9-pin D)CON-MOD6-PC Connector from CBL-MOD6 to IBM-PC (25-pin D)*Note: MotionDesk TM kits include coil cable and connectors to communicate to either IBM-PC or IBM-AT styles.ORMEC -28- ORION ® DEVELOPMENT SOFTWARE

MotionBASIC ® Programming LanguageProgramming LanguageMotionBASIC ® provides both languageenhancements and elegant developmenttools for machine developersready to incorporate servomotortechnology in their next design project.MotionBASIC ® Language FeaturesMotion generation statementsrthat provide a full featuredprogramming interface to theServoWire TM Axis Modules andDrives --- along with associatedhigh-speed, on-board hardwareMulti-tasking operating systemrand multi-threaded user programexecution with priority eventthread processing and errorreportingI/O control statements forrprocessing discrete points, analogconversions, serial line datacontrol, PC-card file access, andTCP/IP socketsLanguage extensions forrconnectivity to popular factorynetworks provide consistentregister mapping methods to linkMotionBASIC ® information tonumbered PLC registers on thenetworkMotion StatementsMOVE, GEAR, BLEND, CAM and,PROFILE motion statements allow theuser to create custom motion profilesranging from simple trapezoidal tocomplex trajectories. One of thecentral features of MotionBASIC ®statements is the ability to expressservo controlled motion profiles inplain English, with the motion definitionbased on either time, speed, ordistance traveled by either a pacer axisor the axis under control.MotionBASIC ® statements are sentto the appropriate axes through a FIFOqueue in each Axis Module’s dual-portRAM. They can be executed unconditionallyor conditionally based on thestate of a DSP sensor input. They canalso be repeated indefinitely byprefixing the motion statement withthe REPEAT keyword. In fact, by usingthe REPEAT prefix on a sequence ofmotion statements multiple statementscan be executed in a loopwithout intervention by the mainprocessor.MOVE statements create commontrapezoidal motion profiles, and canbe based on time, speed or distance.GEAR statements synchronizemotion to an electronic lineshaft.Gearing can be done at a constantratio or engaged over a distancetraveled of the lineshaft or other axisunder control. Gearing can also beengaged for a programmable distance,with a variety of ways to expressacceleration requirements. Gearing isideal for creating motion sequencesneeded in traverse wind, reciprocatingand rotary flying shear applications,and for phase adjustments on continuousweb applications.BLEND statements dynamicallyextend a motor’s target position ---allowing speed and acceleration tochange on a motion in progress. Thiscapability is useful for creating Cartesianpath trajectories in X-Y-Z systemdesigns or for changing speed to utilizethe STOP condition when searching fora registration mark.CAM motion statements producefollower axis motion in response topacer movement based on a table offollower distances. The table’s datacan be indexed with regular motionincrements from the pacer axis or beexpanded to use pairs of pacer andfollower distances for irregularlydefined cam profiles. CAM tables canMotionBASIC ® programming statements for generating motion commandsMOVE (axis) FOR 3000 IN 2000 AFTER ASEN@A total distance of 3000 units is traveled in 2.000 secondsonce the “A” sensor input turns on.Move speed02.000 secondsDSP input ASEN3000 UnitsGEAR (axis) AT 1000 TO 1000 IN 250An exact ratio to 1:1 between follower and pacer axes isachieved during 250 pacer units of travel.Gear ratio0250 units of pacer travelGEAR (axis) FOR -X IN Y AFTER ASEN@For a precise phasing adjustment triggered at the “A” sensorinput, a total distance of “-X “ units is superimposed onto thecurrent geared motion over an exact distance “Y” traveled bythe pacer axis.Gear ratio0xyDSP input ASEN1 MOVE (axis) FOR 3600 AT 400 BY 6002 BLEND MOVE (axis) FOR 7200 AT 750 BY 15003 BLEND MOVE (axis) FOR 1080 AT 100 BY 10004 BLEND MOVE (axis) FOR -3600 AT 500 BY 300The total distance traveled along this path is3600 +7200+1080-3600 = 8280 units.BlendedSpeeds021Time34ORMEC -29- ORION ® PROGRAMMING SOFTWARE

MotionBASIC ® programming statements for generating motion commandsCAM (axis) CLOSED MOTION 1Follower axis uses a motion sequence previously loaded into theDSP memory area, identified as motion 1. Pacer axis position isused to drive the follower axis.FollowerTravel0Table data wraps to beginningMOTION 1 table dataMOTION 1 table dataPacer TravelPROFILE (axis) MOTION 2Using time as a base the DSP performs motion 2, previouslydefined as an array of distance traveled per time interval.ProfileSpeed0MOTION 2 table dataTimeMOVE (axis) FOR 4000 AT 1000 BY 600BLEND MOVE (axis) FOR 4000 AT 300 BY 200,35 STOP ASEN@Axis moves for 8000 units unless the “A” sensor is asserted duringthe window; at which point the axis will stop the defined distance(35 units) after the sensor.BlendedSpeeds0BLEND MOVEMOVEWindowTimeDSP input ASENSTOPbe defined as either opened or closed.And if closed, pacer movement beyondthe ends of the table results in followermotion defined by wrappingaround the table, like a mechanicalcam.PROFILE statements are similar toCAM statements, except that the axisfollower’s incremental distance isdefined as a function of time.Superimposed MotionWhen gearing a servo to an electroniclineshaft at a constant ratio,motions defined by both MOVE FORand GEAR FOR can be superimposedonto that constant ratio for phaseadjustments.Program Access to Drive I/OMotionBASIC ® coordinates the highspeed interaction between the logicstate of the inputs and servo motoractions needed to complete the toughapplication requirements encounteredin today’s factory automation. Motion-BASIC ® provides the programmeraccess into the Axis Module’s servofunctions and tightly coupled, highspeed ServoWire TM drive I/O hardware.Inputs for High Speed SensorsServoWire TM drive sensor inputs areused by any of the MOVE, GEAR, CAM,COUNT and BLEND statements to start,continue, and/or stop motion commandsloaded in the DSP commandqueue in the ServoWire TM Axis Module.Commands in the command queue willrespond to sensor inputs within oneposition update cycle (125 to 333microseconds). Sensor inputs areindividually programmable to can reactto the rising or falling edge of theirchange in state.Example of a ORION ® System Programmed using MotionBASIC ®ServoWire TM NetworkServoWire TM DriveKnife Axis ServomotorElectronic gearing connection is setupbetween the Web Servomotor and theCut and Seal Knife Servomotor .Sensor for registration mark connected toASEN terminal on the ServoWire TM DriveCut and Seal KnifeLaminationMaterialFormingOperationMark SensorBaseMaterialServoWire TM DriveMarkTake Off ConveyorWeb Axis ServomotorPrecise positioning of the knife blade is accomplished using onceper cycle corrections to the knife axis after sensing the position ofthe Mark relative of the knife blade and gradual adjustments to theweb speed to minimize knife axis corrections.MotionBASIC ® programming statements give access to axis functions, digital I/O and analog I/O points, system file access, servo loop parameters, etc.ORMEC -30- ORION ® PROGRAMMING SOFTWARE

MotionBASIC ® multi-threaded programming statements provides concurrencyMotionBASIC ® offers concurrentprogramming which allows the userto create modern multi-threadedsoftware modules where,r multiple processes runsimultaneously as separatethreads of execution.r thread priority can be modifiedby the executing program.r event and/or error threadsinterrupt process threads torespond to critical machineoperations.r several axes can be defined asa machine group and allocatedtheir own E-stop circuit. Up tofour different machine groupscan be handled by eachORION ® controller.Using the modern technique ofmulti-threaded processing, thesoftware designer has better controlover all sections of the motioncontrol program. Dynamic controlEach task isdesigned as anindependentprocess toaccomplish adesigner'sspecific goal.Process 1Task_A:Process 2Task_B:Process 3Task_C:MotionBASIC ® provides concurrent program execution with a multi-threading real-time operating system.over the priority of each process allowsre-tuning for performance when realtimesituations demand a temporarychange in the process’ primaryemphasis. Any process can bemain:start (Task_A, 1)start (Task_B, 2)start (Task_C, 3)The run priority inthis execution path ismanaged by theMotionBASICoperating systemaccording to rankingset by the designer.Tasks shown heredefaulted to a rank ofequal priority.Thread rank can bechanged dynamically.independently started, stopped, andcontinued. Process synchronizationis available when multiple processesare accessing a global resource suchas a memory area or external device.Position Capture RegistersHigh speed shaft position measurementsare made with 32 bit positioncapture registers that are linkeddirectly to the sensor inputs on theServoWire TM Drive insuring microsecondresponse. MotionBASIC ® variablesprovide direct access to the capturestatus and captured data allowingsophisticated software solutions toapplications such as registrationcontrol.Programmable Limit SwitchesIndependent optically isolatedelectronic programmable limitswitches (PLS) are accessible from thefront panel of the ServoWire TM drive.Each switch is programmed by usingMotionBASIC ® variables to set the‘turn-on’ and ‘turn-off’ points at definedpositions using user units. Each PLS isconfigured with its own driving source,and cycle distance.With internal connections built intosensor logic on the ServoWire TM drive,a PLS can also be configured to controlhow sensor inputs are used duringcertain portions of the machine cycle.Position Delay CountersA ServoWire TM drive providesoptional dual high-speed countercircuits that are driven by encoderfeedback and can be programmed bythe user to:detect the presence of a sensorrwithin a specified encoder count.Counter can be set to down-countand the input sensor can re-triggerthe counter.measure distance between tworsensors. Sensor inputs can start,stop, or reload the counterregister.link counter’s output signal tortrigger a motion statement loadedinto the ServoWire TM axis modulecommand queue delaying actionuntil some distance has passed.Axis Module PerformanceThe Axis Module DSP firmwareincluded with MotionBASIC ® providesselectable servo loop update rates,feedforward gain adjustments for bothvelocity and acceleration, access to allservo loop parameters, plus automaticparameter adjustments based on loadinertia. These performance featuresprovide tighter servo loop positioncontrol resulting in higher accuracyand fast response time.Client/Server Sockets using TCP/IPSerial PPP or Ethernet LAN connectionsto the ORION ® are established inMotionBASIC ® using OPEN SOCKETstatements for client and/or server portcommunications that utilize internetTCP/IP protocols. A PPP connectionuses either a direct cable or a remotemodem dial-up link through thedevelopment port. An Ethernet link tothe ORION ® and MotionBASIC ® isprovided by either a PC-card installedinto the second slot of the systemmodule or a ISA based board installedin the ORION ® backplane.Project Management StructureThe MotionBASIC ® system cardcontains all files relevant to yourmotion control project. All sourcemodules, support files, and ORION ®system software, which includes theoperating and Axis Module DSPfirmware, are on one convenient Flashmemory PC-card format.Integrated Development ToolsMotionDesk TM is an integrateddevelopment and maintenance environmentwhich is interfaced to theORION ® using a TCP/IP connection toeach window providing:r software project navigation,r source file editing,r source module debugging,r real-time program executioncapture with trace mode,r direct execution of statementsfrom the Direct Mode window,r system software update wizardproviding on-line access for allsoftware enhancements.ORMEC -31- ORION ® PROGRAMMING SOFTWARE

QuickDesignerDevelopment SoftwareQuickDesignerDevelopment SoftwareQuickDesignerDevelopment SoftwareQuickDesigner Development ToolTouchscreen Development ToolsORMEC’s QuickDesigner softwaredevelopment tool is a time-saving,easy-to-master, editing and configurationprogram created to build controlpanel screens for the QuickPaneltouchscreen operator interface.QuickDesigner provides panellayout and object editing to creategraphical operator control panels. Italso includes a object library to storeand retrive any object and/or completepanel. Finished designs are placed inthe project manager calledQuickManager for efficiently managingpanel files and multiple projects.Control Panel ObjectsGraphical control panel objectsare an excellent representation of theirhardware equivalents. Details such asshapes, colors, size, action andlegends for each control object areeffectively presented and easilymodified with the QuickDesigner paneleditor which includes the ability createcustom graphical shapes that arelayered over existing objects.Pushbuttons and pilot lights canbe sized to fit your layout, rectangularor round in shape, with colors andlegends that change when the buttonis depressed or the pilot light turns on.Pushbuttons can be specified asON, OFF, momentary or toggled. Textdisplay can be also specified with colorand size attributes.Display and control objects rangefrom simple to sophisticated. Pilotlights, text display and numeric datadisplay are examples of simpleobjects. Time display, bar graphQuickDesigner includes the panel object toolbox and a tool for managing multiple panel design projects.display & alarm displays are examplesof sophisticated control objects.Multifunction control objectsrepresent the most complex objectsavailable in the QuickPanel unit. Theilluminated push button provides twocontrol functions, one for the light andone for the switch. Numeric data entryis done with a twelve-key touchpadthat is placed on the screen. Analogmeters and the trending chart’s uniquefunctionality effectively offloadscomplex tasks from the main processto make displaying realtime dataefficiently.Control Object ConfigurationMost control objects have one ormore registers associated with them,and each register is labelled with anidentification tag. The tag is attachedto the register during the editingprocess, and is mapped to aMotionBASIC ® variable in ORION ® .The control object’s current statusis indicated by the value of the correspondingMotionBASIC ® variable.Changes made at the QuickPanelautomatically modify values in associatedMotionBASIC ® variables. Dependingon the object, the data formatof its associated variable can beBoolean, integer or long integer (32-bit), floating point, text strings and I/Opoints.QuickPanel CommunicationsMotionBASIC ® variable values aretransferred back and forth between theORION ® motion controller and theQuickPanel operator interface on aregular basis.In the case of a numeric displayobject, the ORION ® controller simplymodifies the value of the associatedMotionBASIC ® variable. When theQuickPanel receives the updatedvalue, it will change the display asappropriate.QuickDesigner uses drag and drop objects that are easily configured to meet your application requirements.Project ManagementQuickManager is used to managemultiple operator panel projects.ORMEC -32- SOFTWARE DEVELOPMENT TOOLS

Individual projects can use differentscreen sizes and models which arestored with each project.Panel DesignQuickDesigner is used to configurepanels within a project. Individualpanels are constructed using the toolbox palette for fast and efficientselection of the proper object.Each object in the tool boxrepresents a typical panel device usedfor machine control. Once the objectis selected, placed and sized, a doubleclick on the mouse presents theconfiguration screen to edit the deviceobject to meet the requirements of thedesigner.The following objects are availablein the tool box:Tool Box Palette ControlToolsNumeric DataDisplaysAnalog Meter360 ¤ displayCustomGraphiclayered onbuttonLegend PlateBar Graph DisplaysText Block LegendAnalog Meter180 ¤ displaySwitch Objects & PropertiesPush Button Switch: circular orrsquare, button color, touch color,fixed legend plate, Boolean dataformat.Illuminated Push Button: square orrrectangular, ON and OFF color,touch color, ON and OFF text,Boolean data format with twoassociated variables.Selector Switch: choose from two,rthree or four position switches, ONand OFF color, text on each button,Boolean data format with multipleassociated variables.Panel Selection: function thatrallows the operator to accessdifferent control panels, integerformat variable indicates or selectsa panel.Data Entry FunctionsNumeric Data Entry: formattedrdata entry, field width, decimalposition, automatic data entrykeypad touch area for numeric data;displays data in decimal, hex, octalor binary format.Word Push Button: similar to therpushbutton object with the additionof an arithmetic or logical operationon the associated variable whenbutton is pressed, operationsinclude addition, subtraction, AND,OR and XOR boolean operations.Indicators and LabelsPilot Light: circular or square, ONrand OFF color, ON and OFF text,Boolean data format.Legend Plate: rectangular three textrsizes, configurable legend.Bit Map: import image file (*.bmp)rcreated with any image editor.Custom Graphic Objects: line,rrectangular, or polyline drawings,filled or unfilled, can be created andstored in an object library. Overlappinglayers are allowed.Data Display FunctionsNumeric Data Display: rectangularror square, three text sizes, legendincluded, colors selectable, displaysdecimal, hex, octal and binarydata format.Time Display: internal time clockrdisplayed, standard or militaryformat.Push Button Switch Functional GroupsQuickPanel Layout Examples using the QuickDesigner Development Tool.Bar Graph Display: graph indicatesrvalue of the associated variable,selectable bar color and orientation,text legend, integer data format.360° & 180° Analog Meters: indicatesvalue of the associatedrvariable, selectable color, orientation,text legend, and integer dataformat.Graphic Display Control: an array ofrgraph objects are grouped togetherunder one integer variable. Thedata in the variable indexes thearray to control which object isdisplayed.Message Display FunctionsLocal Message Display: text enteredrinto a table with editor, text isdisplay by indexing with integervalue in tagged register. Index upto 256 message blocks.Alarm Display: indexed alarmrmessages, time and date stamped,stored in memory, keeps history ofevents.ORDERING GUIDEMDK-QDx/3 QuickDesigner Developer’s Kit, 3.5" disks (Includes download cable, CBL-QP-AT/10)CBL-QP-AT/10 QuickPanel Executive Software Download Cable, 10 ftORMEC -33- SOFTWARE DEVELOPMENT TOOLS

Flatpanel TouchscreensOPERATORMODULE 1START STOPJOG HOMEQuickPanel TouchscreensORMEC's QuickPanel flatpaneltouchscreens provide a variety of sizesand functionally of the humanmachineinterfaces. QuickPanel unitsare available in the five, six, nine, andten and twelve inch screen sizes, alongwith monochrome, active and passivecolor, and electroluminescent displays.The QuickPanel touchscreen isdesigned to provide the operator aneffective way to control machineoperation. The operator can easily bealerted to machine alarms and statusconditions. Different panels can bequickly selected to present differentsets of machine functions typicallyfound for setup, maintenance, changingproduct runs and fault conditions.Direct communication using oneserial cable simplifies installation andlowers cost. Operator control functionalitycan be built into theQuickPanel representing a typicalfactory operator panel without thebulky hardware, I/O modules & wiringneeded to build it.Each individual panel can bedesigned and built in minutes using“drag and drop” graphical objectsusing QuickDesigner running in aWindows environment. When upgradinga machine, the “look and feel” of anexisting physical panel can be kept toreduce operator retraining. After thedesign and installation of a QuickPanelis complete its flexibility allows thedesigner to add and change controlfunctions and remotely update screenfiles, without having to physically addswitches, legend plates, I/O modulesand their associated wiring.OperationCommunications with an ORION ®controller use the MotionBASIC ®Extension for QuickPanel Communications(MBX-QP) to transfer bit andword register data generated when ascreen object is touched or a programmedvariable is changed on theORION ® . Screen objects are tagged toinput and output registers that aremapped to input and output variablesin the user’s program. Touching thescreen object sets the state of theORMEC's QuickPanel touchscreen units provide a fully graphical, easy to use human-machine interfaces.Ordering Guide ---- QuickPanel ProductsScreen Size2/5 - 5.0” diagonal, 320w x 240h pixels2/6 - 6.0” diagonal, 320w x 240h pixels2H/6 - 6.0” diagonal, 320w x 240h pixels3/9 - 9.0” diagonal, 640w x 400h pixels3/10 - 10.5” diagonal, 640w x 480h pixels2/12 - 12.1” diagonal, 800w x 600h pixelsMMI-QPN/6 C E 4XScreen TechnologyM - Monochrome LCD (/5, /6, H/6, /10 only)E - Electroluminescent (/9 only)C - Color LCD Dual Scan (/5, /6, H/6, /10 only)T - Color LCD Thin Film Transistor (/10, /12 only)Enclosure Ratingblank - Mounted, NEMA 4/13, IP65blank - Handheld, NEMA 1, IP634X - NEMA 4X on mounted unitsUnit Configurationblank - 120v AC ( /9, /10, & /12 only)U - 24v DC (/5, /6, H/6, /10 only)E - 24v DC w/CE (/5, /6, /9, /10 only)Note: Screens developed for the older QPare easily converted to the new QP format withthe QuickDesigner software developer’s kit.AccessoriesMMI-QP2-KPD Keypad for the 5” and 6” mounted units only, panel size 11.30”W x 7.20”H.TBC-QP2H Terminal Block, Handheld QP cable to 25-pin D-sub and screw terminals.MMI-QP3-COV/x Protective Overlay Sheets for QP2 or QP3 models, 20/pack, where x is 5 or 6.PSU-024/3.8A Power Supply, 24 VDC @ 3.8 Amps, 115/230 VACReplacement PartsMMI-QPx-SCN/x Replacement Clear Screen Overlay where x is 5, 6, 9, or 10.MMI-QPx-CCT/x Replacement Backlight Tube, where x is 5, 6, 10, or 12.Cables and ConnectorsCBL-MOD8/x Cable, 8-pin modular to 8-pin modular, x ftCON-QPMOD8 Connector, 25 pin D-sub to MOD8 ConnectorCON-MOD8-Y Connector, MOD8 female bus expansion (1 in - 2 out)CBL-QPPWR/x Power Cable, 24 VDC, x ft.CBL-QP2-AT/10 Download cable for system software, 10 ft.CBL-QP2H-TB/12 Cable, Handheld QP to Terminal Block, 12 ft.CBL-QP2H-PRNT/10 Cable,QuickPanel to Laser Printer, 10 ft.Development SoftwareMDK-QDx/3 Developer’s Kit QuickDesigner 2, 3.5” disks, manual, includes download cable.ORMEC -34- OPERATOR INTERFACE DEVICES

variable. How the change of state isused in the program defines theobject’s control function.Graphical Panel Objectsr Push Buttonsr Pilot Lightsr Selector SwitchesIlluminated Push ButtonsrNumeric Data Word EntryrNumeric Data Word DisplayrLocal Message DisplaysrLocal Graphic DisplaysrVariable Text DisplaysrAnalog Bar GraphsrAnalog Meters 180 o and 360 orBit and Word Alarm MonitorsrBit and Word Alarm DisplaysrBit Mapped Graphic DisplayrTime DisplayrEvent Logging with Time and DaterPrint Screen Push ButtonrTrending Multi-Pen Chart DisplayrMounting & SealingQuickPanels are cabinet mounted,and feature a gasket to maintainNEMA 4/13 rating. Only one cutout inthe panel is required for a NEMA 4/13installation and each includes fourmounting clamps. Units with NEMA4X ratings are available.Keypad AccessoryOverall Mounting & CutoutCabinet Mounted Unit DimensionsH 2D 1W 2GQUICKPANELMountingclamps (4)H 1POWERW 1ORMECDimension MMI-QP2/5 MMI-QP2/6 MMI-QP3/9 MMI-QP3/10 MMI-QP3/12G 5.0” 6.0” 9.0” 10.5” 12.1”128 mm 152 mm 230 mm 267 mm 307 mmH1 4.45” 4.90” 7.91” 8.97” 10.16”113 mm 123 mm 200 mm 228 mm 258 mmW1 6.20” 6.10” 10.20” 11.28” 13.07”158 mm 155 mm 258 mm 302 mm 332 mmXD1 2.1” 2.3” 1.9” 3.1” 2.9”54 mm 57 mm 49 mm 78 mm 74 mmH2 5.0” 5.4” 8.5” 9.6” 10.7”127 mm 138 mm 216 mm 243 mm 272 mmW2 6.8” 6.7” 10.8” 12.5” 13.62”172 mm 171 mm 274 mm 317 mm 346 mmD2 2.3” 2.4” 2.0” 3.4” 3.2”59 mm 62 mm 57 mm 85 mm 81 mmD 2QuickPanel five inch and six inchunits can be fitted with the optionalkeypad accessory. The keypad adds15 data entry keys and 26 function keyswith tactile feedback.General SpecificationsTouch panel type ResistiveColor TypeMonochrome LCD White/grey plus flashElectroluminescent Amber plus flashColor LCD 8 colors plus 8 flashTouch Resolution5 and 6 inch 15W x 11H sections9 and 10 inch 32W x 20H sectionsInstallationAll sizesCabinet MountH/6_ onlySelf-enclosedHandheld UnitThe QuickPanel Handheld Unit isavailable as a six inch mono or colorself-enclosed model. Unit features E-Vibration 10 to 25Hz 2Gs on each x, y, zplane for 30 min.TemperatureOperating 0C to 50C (40C for H/6 unit)Storage-10C to 60C (-20c for H/6 unit)Relative HumidityOperating 20% to 85% non-condensingStorage 5% to 85% non-condensingEnclosure RatingsNEMA 4/13 cabinet mounted unitsNEMA 4X available for mounted units onlyNEMA 1 for handheld unit (H/6)IP-63for handheld unitIP-65for all CE marked unitsStop and “dead man” switches plus 12function keys mounted to the right andleft sides of the screen.UL and CE Unit ConfigurationsQuickPanel 24VDC cabinetmounted units can be provided witheither UL and CE approval. The ULunits are approved for use in Class 1,Division 2, Groups A, B, C, and Dapplications. The CE Mark units havebeen tested to European Uniondirectives EN50082-2: 1995, EN55022Class A (94).Weight2/5_ , 2/6_ 1.54 lbs (0.7 kg)2H/6_ 1.9 lbs (0.87 kg)3/9_ 4.4 lbs (2.0 kg)3/10_ 6.6 lbs (3.0 kg)2/12_ 8.4 lbs (3.8 kg)Input Power24 Volt DC Unit Configurations/5M_, /6M_ 20.4 to 27.6 VDC @ 500ma/5C_, /6C_ 20.4 to 27.6 VDC @ 625ma/9_, /10_ 20.4 to 27.6 VDC @ 2100ma120 Volt AC Unit Configurations/9, /10, /12 85 to 135VAC 50/60Hz, 50 VAORMEC -35- OPERATOR INTERFACE DEVICES

A-B Ethernet CommunicationsA-B EthernetCommunications MBX & AdaptersORMEC’s MotionBASIC ® Extension(MBX) for Allen-Bradley Ethernetcommunications adds to the networkcapability of the ORION ® controller.A-B Ethernet provides a fast and lowcost method to send and receiveapplication data between controllerson an Ethernet network using A-BEthernet communications. The MBXadds MotionBASIC ® statements thatmake it simple to use Ethernet tocommunicate between ORION ®controllers, Allen-Bradley PLCs andPCs running popular HMI packages.Features and BenefitsUsing the A-B Ethernet MBX as acommunication method provides anumber of key advantages:Interface an ORION ® controllerodirectly to SLC-5/05 PLCs and PLC5family PLCs that support Ethernet.Connect an ORION ® controller toopopular HMI packages that use A-BEthernet to transfer of integers andfloating point variables as objecttags for operator input and output.Using standard Ethernet cardsoprovides a low cost physicalinterface to the ORION ® controller.Based on standard Internetotechnologies ... TCP/IP protocol islayered on high speed 10baseEthernet networks.Enhances the flexibility andoperformance of message transfersby allowing peer-to-peerconnections between networknodes.OverviewThe A-B Ethernet MBX extends theMotionBASIC ® operating system toprovide connectivity between ORION ®controllers, Allen-Bradley PLCs andPCs running popular HMI packages byusing A-B Ethernet communications.An ORION ® controller with an Ethernetlink installed and configured with theA-B Ethernet MBX, can open an A-Bconnection to send application data toany A-B server node on the network.The ORION ® controller also has theability to start a server node that willaccept any connection from anotherA-B node and receive application data.ORMEC provides standard Ethernet installation hardware for the ORION ® A-B Ethernet MBX option.Multiprotocol capabilitySoftware development for a systemwith multiple ORION ® controllersusing the full capabilities of A-Bcommunications can now beperformed with one PC. SinceEthernet is a multiprotocol network,any PC connected to the network canestablish a TCP/IP connection,communicate to an ORION ® and runthe MotionDesk TM for programdevelopment over the same wire atbasically the same time A-Bcommunications are also going on.A-B Ethernet ArchitectureORION ® A-B Ethernet consists of aphysical layer based on 10baseT,10base2, or 10base5 type Ethernetcommunication standards along with aA partial list of PLCs, popular Human Machine Interface (HMI)packages and OCX software controls that can communicate withan ORION controller incorporating the A-B Ethernet MBX.PLCs: Allen-Bradley SLC-5/05 PLCs and PLC5s that supportoEthernet communicationsHMI Packages: RsView32 by Rockwell Automation, InTouchoby Wonderware, Fix by Intellution, FactoryLink by U.S. Dataand Citect by CI Technologieso OCX Software Controls: ASABETHERNET an OCX byAutomation Solutions, ABEther an OCX by Parijat, Inc.,IN-GEAR 32 an OCX by CimQuest, Inc.client/server transport protocol (TCP/IPstack) to provide reliable peer-to-peercommunications in the ORION ®controller. At the application level theMBX-ABE uses a protocol developedfor PLC networking to transferregister data as messages betweencontrollers. All transfers happen as abackground task concurrent with theuser’s main application program.User access at the applicationprogramming interface level consistsof MotionBASIC ® extensions formaking the connection to the destinationserver and the specifying sourceand destination registers for a read ora write multiple register transfer tothat connected server. Concurrentmultiple connections can be made tomultiple servers on the network for aMotionDeskORION #1ORION #2SLC-505 PLCsHMI SoftwarePhysical layer of the Ethernet connections between multiprotocol network nodes.ORMEC -36- ORION ® FACTORY NETWORKINGEthernet Network

Ethernet connectivity: multiple servers and multiple clientsRegister mapping; sending application variables as one messageSLC-505C2aS2C2bTypical topology of TCP/IP connectivityover a single wire Ethernet network.Each controller node has a server toallow connections from the other clientsin each box.C3aS3C3bORIONMotionControllerExample:ABE.OPEN 16, “ 192.168.12.40, PLC5”ABE.WRITE 8 FROM 7000 TO “ $N07:000”LABEL MAP REGISTER MESSAGE DATA(int)(int)(float)speed.taccel.tdist.t#7000700170027003300045045.000100000(long)(float)time.t&pos.t#70047005700696.000C1aHMI softwarerunning on a PCS1C1b7007A-B servers: S1, S2, S3A-B clients: C1a, C1b, C2a, C2b, C3a, C3bTCP/IP packet [ 3000 450 45.000 100000 96.000]Send to IP address 192.168.12.40:2222flexible and efficient arrangement forupdating application data between avariety of system components.For constructing messages, theORMEC includes MotionBASIC ®mapping methods (MBX-MAP) tosimplify data organization at the PLCregister level for the user.ORION ® Variable MappingMBX-MAP extends the capability ofMotionBASIC ® by providing a methodto map PLC register values to anyMotionBASIC ® variable in the controller.Typically, PLC registers areaddressed numerically butMotionBASIC ® uses symbolic labels toaddress variables. With mapping theMotionBASIC ® variable’s symboliclabel can be simultaneously defined asa PLC register address value. Registermapping values can range from 0 to32367. The main purpose of thismapping feature is to allow the MBXto quickly assemble the content ofvarious variables such as integers, andfloats that reside in different areas ofthe controller’s memory, into anordered list of data and transferredover the network as one message.MBX-MAP also provides the abilityto monitor the changes in selectedvariables. Any change in the datacontained in the variable selected, canresult in an event interrupt. The eventinterrupt, if enabled, will in execute auser defined subroutine designed torespond to the changes in the data asa result of receiving the message.Allen-Bradley, PLC5 and SLC are trademarks ofRockwell Automation Inc.A-B Ethernet MotionBASIC ® ExtensionsMBX-ABE StatementsoABE.OPEN ,”IP_address,PLC5” Open client connection to a PLC5 server.ABE.OPEN ,”IP_address,SLC” Open client connection to a SLC-505 server.ABE.OPEN ,”IP_address,server” Open server connection to accept PLC5 or SLC.ABE.READ [qty of reg(s)] FROM TO ABE.WRITE [qty of reg(s)] FROM TO ABE.CLOSE []Close one connection or all connections.o MBX-ABE Control functions and access variablesABE@ = ONSet mapped register access enabled.ABE.SOCKOPEN@(device%) Get status of TCP/IP connection.ABE.DEST@ = device%Set destination connection for next client command.ABE.MSG@(device%)Get client reply received status.ABE.LED@ = Set MBX-ABE to use the front panel MB LED indicator.ABE.CTR@(ctr%)Get 1 of 32 error status counts of client and serverconnection activity during data transfers.ABE.STS@(device%)Get the response code for last exception that occurred.Diagnostic Commands that display to the Direct Mode window in MotionDeskoABE.TRACE@= ONEnable real-time display of message transfer activity.ABE.DUMPDisplay the current settings and information for all currentconnections.PING Check to make sure that the destination IP address isavailable and listening on the network.o MBX-MAP MotionBASIC ® Mapping StatementsMAP TO Relate a register number 0 to 32767 to a MotionBASIC ®variable name.ON EVENT MAP@(regnum) GOSUB [label]Call subroutine when value mapped to regnum changed.ORDERING GUIDEMotionBASIC ® Extension (MBX) and Network Adapter selection for A-B EthernetMBX-ABE-5 MotionBASIC ® Extension for ORION ® A-B Ethernet, peer-to-peer communications.The MBX-ABE requires 500 ORION ® MotionCredits.ORN-ENE2000 Ethernet ISA Adapter, with RJ45 & BNC connectorsORN-E3C509B Ethernet ISA Adapter, with RJ45, BNC & AUI connectorsPCC-E3C589C Ethernet PC Card Adapter, with extension cable for RJ45 & BNC connectorsUse utilities provided in the MotionDesk TM development software to assist in the hardware and softwareinstallation procedures for an ORION ® MBX.ORMEC -37- ORION ® FACTORY NETWORKING

Modbus TCP CommunicationsORMEC’s MotionBASIC ® Extensionsfor Modbus TCP Communications addsto the network capability of theORION ® motion controller. ModbusTCP is an provides a fast and low costmethod to send and receiveapplication data to any othercontroller on an Ethernet networkinstalled as a Quantumcommunication node. The MBX alsoadds a full list of MotionBASIC ®statements to configure, control andmonitor Quantum PLC activity.Features and BenefitsUsing Modbus TCP communicationsprovides a number of key advantages:A low cost physical interface to theoORION ® controller ... using standardEthernet cards.Based on standard internetotechnologies ... TCP/IP protocollayered on a high speed 10baseEthernet network.Enhances the flexibility andoperformance of message transfersby allowing peer-to-peerconnections between networknodes.Provides reliable connectivity toopopular HMI packages that useModbus TCP to transfer of integers,floating point and text stringvariables as object tags for operatorinput and output.Based on open standards foroeffective integration to other thirdparty components.OverviewModbus TCP communicationsextends the MotionBASIC ® operatingsystem to provide high speedconnectivity between multiple ORION ®controllers as well as to third partyPLCs and HMI packages thatcommunicate with the Modbus TCPprotocol over an Ethernet network. AnORION ® controller, with an Ethernetlink installed and configured with theMBX software extensions, can open aModbus TCP connection to sendapplication data to any Modbus TCPserver node on the network. TheORION ® also has the ability to start aserver node that will accept anyORMEC provides two types of Ethernet installation hardware for the Modbus TCP MBX option.connection from another Modbus TCPnode and receive application data.Multiprotocol capabilitySoftware development for a systemwith multiple ORION ® controllersusing the full capabilities of ModbusTCP communications can now beperformed with one PC. SinceEthernet is a multiprotocol network,any PC connected to the network canestablish a TCP/IP connection,communicate to an ORION ® and runthe MotionDesk TM for programdevelopment over the same wire atbasically the same time Modbus TCPcommunications are also going on.Modbus TCP ArchitectureORION ® Modbus TCP consists of aphysical layer based on 10baseT,10base2, or 10base5 type Ethernetcommunication standards along with aclient/server transport protocol (TCP/IPORION ® MotionControllerrunningMotionBASICEthernetCardIndustrial PCrunning HMIsoftware witha Quantumdriver.EthernetCardEthernet LANstack) to provide reliable peer-to-peercommunications in the ORION ®controller. At the application level,the MBX uses the Modbus protocoldeveloped for the PLC industry totransfer register data as messagesbetween controllers. All transfershappen as a background task concurrentwith the user’s main applicationprogram.User access at the applicationprogramming interface level consistsof MotionBASIC ® extensions formaking the connection to the destinationserver and the specifying sourceand destination registers for a read ora write multiple register transfer tothat connected server. Concurrentmultiple connections can be made tomultiple servers on the network for aflexible and efficient arrangement forupdating application data between avariety of system components.Quantum PLCDeskTop PC/WorkstationrunningWin95/WinNTPhysical layer of the Ethernet connections between multiprotocol network nodes.ORMEC -38- ORION ® FACTORY NETWORKINGEthernetModuleEthernetCard

Quantum PLCS2C2aC2bC3aS3C3bS1, S2, S3 Modbus TCP serversC1a .... C3b Modbus TCP clientsORIONMotionControllerExample:QE.OPEN 16, “ 192.168.12.40, CLIENT”QE.WRITE 13 FROM 2000 TO 1000LABEL MAP REGISTER MESSAGE DATA(int)(int)(float)speed.taccel.tdist.t#2000200120022003300045045.000100000(long)(string)time.t&Note.t$200420052006"Data machine t"C1aS1C1b200720082009HMI controllerTypical topology of TCP/IP connectivityover a single wire Ethernet network.Each controller node has a server toallow connections from the other clientsin each box.201020112012Send to IP address 192.168.12.40:502TCP/IP packet [ 3000 450 96.000 100000 Data machine t ]ORION ® Ethernet connectivity utilizing multiple servers and multiple clients.Using register mapping, application variables are sent as one message.For constructing messages, theMBX provides MotionBASIC ® mappingcapabilities to simplify data organizationat the PLC register level for theuser.ORION ® Variable MappingThe ability to map variables providesa way to map PLC register valuesto any MotionBASIC ® variable in thecontroller. Typically, PLC registers areaddressed numerically, butMotionBASIC ® uses symbolic labels toaddress its variables.With mapping, the symbolic label ofthe MotionBASIC ® variable can besimultaneously defined as a PLCregister address value. Registermapping values can range from 0 to32367. The main purpose of thismapping feature is to allow the MBXto quickly assemble the content ofvarious variables such as integers,floats and strings that reside indifferent areas of the controller’smemory, into an ordered list of dataand transferred over the network asone message.The MBX also provides the ability tomonitor the changes in selectedvariables. Any change in the datacontained in the variable selected, canresult in an event interrupt. The eventinterrupt, if enabled, will in turnexecute a user defined block of code(subroutine) designed to respond tothe changes in the data as a result ofreceiving the message.Modicon and Modbus are trademarks of SchneiderElectricModbus TCP MotionBASIC ® Extensionso MBX StatementsQE.OPEN ,”ip_adr,CLIENT | SERVER [,TM]QE.READ [qty of reg(s)] FROM TO QE.WRITE [qty of reg(s)] FROM TO QE.FC coil%, state%Force a single coil to be on or offQE.CLOSE []Close one connection or all connectionsOpen a Server or a Clientconnection to a Servero MBX Control functions and access variablesQE@ = ONSet mapped register access enabledQE.SOCKOPEN@(device%) Get status of TCP/IP connectionQE.DEST@ = device%Set destination connection for next client commandQE.MSG@(device%)Get client reply received statusQE.LED@ = Set MBX to use the front panel MBX LED indicator.QE.CTR@(ctr%)Get 1 of 32 error status counts of client and serverconnection activity during data transfers.QE.STS@(device%)Get the response code for the last exception that occurred.Diagnostic Commands that display to the Direct Mode window in MotionDesk.oQE.TRACE@= ONEnable real-time display of message transfer activity.QE.DUMPDisplay the current settings and information for all currentconnections.PING Check to make sure that the destination IP address isavailable and listening on the network.MBX General MotionBASIC ® o Mapping StatementsMAP TO Relate a register number 0 to 32767 to a MotionBASICvariable name.ON EVENT MAP@(regnum) GOSUB [label]Call subroutine when value mapped to regnum changed.ORDERING GUIDEMotionBASIC ® Extension (MBX) and Network Adapters for Modbus TCP communicationsORN-ENE2000 Ethernet ISA Adapter, with RJ45 & BNC connectorsORN-E3C509B Ethernet ISA Adapter, with RJ45, BNC & AUI connectorsPCC-E3C589C Ethernet PC Card Adapter, with extension cable for RJ45 & BNC connectorsMBX-QE-5 MotionBASIC ® Extension for ORION ® Modbus TCP, peer-to-peer communications.The MBX requires 400 ORION ® MotionCredits.Use utilities provided in the MotionDesk TM development software to assist in the hardware and softwareinstallation procedures for an ORION ® MBX.ORMEC -39- ORION ® FACTORY NETWORKING

ORION ® MotionControllerIndustrial PC is used torun HMI or SoftPLCsoftware packages.The private Control Network keepsunnecessary communications trafficfrom affecting the automation system.Control NetworkTCP/IP on EthernetA-B or Quantum PLC with Ethernet supportCorporateServerRouterThe Router unit separates LocalArea Network traffic from theControl Network.Local Area NetworkTCP/IP on EthernetLinks to the Wide Area Networkare accomplished through aGateway allowing a greaterreach for remote access.GatewayWide Area NetworkModemProduction data and activity logs can be updatedon a machine cycle basis for complete and up-todateinformation from the automation system.Management level PC isconnected to the ORION ®using Ethernet TCP/IP withbrowsing access for reportingproduction activity.ModemRemote development PCrunning MotionDesk TM through adial-up network connection formaintaining ORION ® softwareand user’s application software.ORION ® Automation System withRemote and Local ConnectivityTCP/IP Network Protocol OverviewTCP & IP are two separate protocolsthat along with others make up what isknown as the “Internet Protocol Suite”.Because these are the two best knownprotocols in the collection, people useTCP/IP to refer to the entire collection.TCP stands for Transfer ControlProtocol. It is responsible for breakingup data into packets, calleddatagrams, to be sent, and thenreconstructing the original data at theother end when it is received. It alsohandles transmission errors, resendinglost or corrupt packets.IP stands for Internet Protocol. TCPcalls on IP to route datagrams to theircorrect destinations. TCP supplies IPwith the destination address and IPhandles all the details of how to getthe datagrams through routers,gateways, and other network linksensuring the data will always arrive atthe correct location.Protocols below the IP layer managethe physical media such as the Pointto-PointProtocol (PPP) dial-up servicefor modem access or networks likeEthernet.The TCP/IP protocols are “low level”components of the Internet ProtocolSuite. The other protocols in thecollection deal more with what isbeing sent and are referred to as“application level” protocols.The two application protocols thatare used by MotionDesk TM to communicatewith the ORION ® are FTP for filetransfers & TELNET to give specificcommands. When an A-B Ethernet orModbus TCP MBX is installed on theApplication datato be sent.TCPDATA aDATA bDATA cDATA dDATA eIPIPIPIPIPORION ® , a new application protocol isadded to communicate with either A-Bor Quantum controllers. Customapplication protocols may be programmedby the user usingMotionBASIC ® statements thatsupport TCP/IP sockets.The ORION ® controller uses TCP/IPand manages all of these protocolssimultaneously providing reliableconnections to a variety of differentsources.TCPDATA eDATA dDATA cDATA bDATA aPhysical Media --- PPP dial-up or Ethernet NetworkIPApplication datareceived.Open standard protocols ensure reliable peer-to-peer data transfers over multiple media environments.ORMEC -40- ORION ® FACTORY NETWORKING

Profibus DP CommunicationsProfibus DPCommunications MBX & AdapterORMEC provides Profibus connectivityto the ORION ® motion controllers byusing a standard Profibus communicationsadapter and a MotionBASIC ®Extension (MBX) to implement eitherProfibus DP Master or Slave communications.Connectivity to the ORION® controllerprovides the machine developerwith a modern approach to machinecontrol networking using Profibus DPcommunications.Features and BenefitsProfibus DP communicationsprovides a number of key advantages:r Factory connectivity: Profibus DPprovides a convenient way to integrateORION ® with PLCs or PCs running HMIor soft PLC programs and using theopen Profibus DP network for distributedI/O.r High-speed, cost-effective: A standardProfibus adapter provides performanceup to 12 Mbits/sec using a master-slaveprotocol with up to 126 nodes.r Minimal impact on MotionBASICprogram execution speed: Once initialized,Profibus communications between theMaster and Slave(s) takes place as abackground task controlled by aprocessor on the Profibus Adapter,minimizing application programcomplexity and workload on the ORIONcontroller.OverviewProfibus is a vendor-independent,open fieldbus standard for a wide rangeof applications in manufacturing.A Profibuscommunicationsadapter andMotionBASIC ®Extension provideORION ® ProfibusDP connectivity.Users can integrateORION ® withSiemens PLCs orPCs running HMI orSoftPLC programs,and use the openProfibus DP networkfor distributed I/O.Vendor independence and opennessare guaranteed by the Profibus standardEN 50170. With Profibus, a developerprovides uniformity between devices ofdifferent manufacturers by using a fastand efficient communications protocol.Profibus can be used for both highspeedtime critical data transmissionand extensive complex communicationtasks without interface modifications.Profibus DP - Field level machine control bus architecture using the ORION ® motion controllerORION ® Model 30 PC-based motion controllerProfibusCommunicationsMBX installed onMotionBASIC ®System CardProfibus Communications Adapter installed in ORION ® controllerProfibus DP BusServomotors controlledthrough ORION ® controller[ Speeds to 12 Mbps ]Actuators andsensory devicesHuman Machine InterfaceORMEC - 1- ORION ® FACTORY NETWORKING

High-speed, time-critical data transmissionat the fieldbus level is definedby the Profibus DP specification.Profibus DP Bus InterfaceThe combination of a ProfibusCommunications Adapter and ProfibusMBXs gives Profibus DP Master orSlave functionality to an ORION®motion controller.Slaves on a Profibus DP bus appearas I/O drops with up to 244 bytes ofinputs and 244 bytes of outputs each.The inputs and outputs can be dividedbetween bit data and 16-bit word data.The word data is used to pass systemparameter and status informationbetween the Slave and a Profibus DPMaster.Profibus DP ArchitectureProfibus DP defines the technicaland functional characteristics of aserial Fieldbus which interconnectsdistributed digital field devices in thelow (sensor/ actuator level) up to themedium (cell level) performance range.The basic system architecture consistsof one or more master devices and oneor more slave devices. Any masterdevice can control the bus. When it hasthe right to access the bus, a masterwill transfer messages without waitingfor a remote request.Slave devices are peripheral devicesthat have no bus access rights - i.e. theymay only acknowledge receivedmessages or, at the request of amaster, transmit messages.Profibus DP ConfigurationA network configuration program anddevice configuration file (*.GSD) aresupplied with the Profibus adapter. Thedevice configuration file is used by thenetwork configuration program tocreate the configuration data file that isread by the DP Master. The deviceconfiguration file tells the networkMotionBASIC ® Extensions for Profibus DP MasterDATA AND I/O ACCESS STATEMENTSoDigital DataDPM.DIO@ (bit#) read or write value of a single bit of data from the tableAnalog DataDPM.AIO@ (word#)configuration program what thecapabilities of the node are andwhether the user can choose how muchdata to transfer. In the case of a simplesolenoid bank or proximity sensor, theamount of data available from the nodeis predetermined and fixed. In the caseof a configurable node the user canprogram the amount of data the node isable to exchange.In either case, each slave deviceneeds a configuration data file to useat initialization time to know how thenode will present its data on thenetwork and how many inputs andoutputs each node will have.The Profibus Communicationsadapter used with ORION as a DP Slaveprovides this type of configurable node.Network configuration file (netslv.ncf)and a slave configuration file(slave.scf), modified by the user, tellread or write a word value (8 or 16 bits wide) of data local to the tableo LOCAL STATUS QUERY STATEMENTSProgramming Level for error handling and recovery controlDPM.PORTOPEN@ flag - indicates adapter firmware driver is installedDPM.CTR@23 counters recording the real-time DP network activity and statisticsDPM.SLVERROR@ indicates 11 possible error conditions detected during bus initializationDPM.STATUS@ non-zero value indicating condition of adapter after powerupBUS STATUS QUERY COMMANDS and INFORMATIONoUser Level for maintenance and system level debuggingDPM.DUMPprint current setting of Profibus adapter to MotionDesk screenDPM.DUMP DPS display the I/O configuration file to MotionDesk screenDPMLOG.TXT text file written to System Card during the bootup sequenceo PROFIBUS MASTER HARDWARE CONTROL STATEMENTSDPM.INITroutine to initalize the Profibus adapter driverDPM.RESETCTR reset DP network countersDPM.VER@floating point number indicating driver version installed in adapterthe Profibus DP Slave MBX driver howto split up 244 bytes of input data and244 bytes of output data between bitsand words, how many bytes of inputsand outputs are being transferred, itsnode address and the baud rate of thecard. The PFB.DUMP commands andPFBLOG.TXT file verify installation.The Profibus Communicationsadapter used with an ORION as a DPMaster uses the configuration data fileto initialize all the configurable nodeson the network at startup. The configurationdata file also tells the ProfibusDP Master MBX how much of each datatype to read from each DP Slave node.Profibus Adapter Connectors9 PIN D-sub connectorORDERING GUIDEMotionBASIC ® Extension (MBX) and Adapter for Profibus CommunicationsORN-PFBMBX-DPM-5MBX-PFB-5Profibus Communications Adapter board.Profibus DP Master communications MBX provided on a 3.5” disk (MBX-UPG)with all MotionBASIC ® Extensions. Also available via free download from theORMEC User website. Requires 500 MotionCredits in the ORION ® hardwarekey to enable this software.Profibus DP Slave communications MBX provided on a 3.5” disk (MBX-UPG)with all MotionBASIC ® Extensions. Also available via free download from theORMEC User website. Requires 300 MotionCredits in the ORION ® hardwarekey to enable this software.54321A terminator positionASHLDBB terminator positionSystem Status LEDCommunication Status LEDORMEC - 2- ORION ® FACTORY NETWORKING

Hardware InterfaceThe Profibus communications MBXuses the adapter installed in theORION’s ISA bus backplane. Two LEDson the card provide system status andbus network status indications. Thebus interface is a 9-pin D-sub connector.A Siemens 6GK1500-0FC00 (orequivalent) is included with theProfibus Adapter. No special tools orsoldering is required to attach theProfibus Cable to the Siemens 9-pinconnector.Physical LayerThe recommended cable is BeldenProfibus Cable 3079A. A Profibusnetwork must be terminated at deviceslocated at each end. Siemens 9-pincable connectors have switches in theirshell to turn the terminator on and off.The default bus transfer rate is set at12M bps. Scan rates are dependent onthe total number of inputs and outputson all nodes of the bus.Profibus DP Slave InstallationTo install Profibus DP Slave communicationsin an ORION® motioncontroller, simply:r insert the communicationsadapter and connect the physicalcommunications link;r install the Profibus DP Slave MBX(MBX-PFB-5) on to theMotionBASIC ® System (PCC-SYS5) Card using the UpgradeDirector in MotionDesk.r modify the network configurationfile (*.ncf) and a slave configurationfile (*.scf)r add the configuration files to theMotionDesk Project and Synchr reset the ORION controller andtest the interface.MotionBASIC ® Extensions for Profibus DP SlaveDATA AND I/O ACCESS STATEMENTSoInput DataPFB.I@ (bit#) read value of a single bit of data from the table.PFB.AI@ (word#) read a word value (16 bits wide) of any data from the table.Output DataPFB.Q@ (bit#)PFB.AQ@ (word#)write value of a single bit of data to the tablewrite a word value (16 bits wide) of data local to the tableo LOCAL STATUS QUERY STATEMENTSProgramming Level for error handling and recovery controlPFB.PORTOPEN@ flag - indicates adapter firmware driver is installedPFB.CFG@flag - DP Master received configuration file, slave can access dataPFB.CTR@ (y) 23 counters recording the real-time DP network activity and statisticsPFB.SLVERROR@ indicates 8 possible error conditions detected during bus initializationPFB.STATUS@ non-zero value indicating condition of adapter after powerupBUS STATUS QUERY COMMANDS and INFORMATIONoUser Level for maintenance and system level debuggingPFB.DUMPprint current setting of Profibus adapter to MotionDesk screenPFB.DUMP DPS display the I/O configuration file to MotionDesk screenPFBLOG.TXT text file written to System Card during the bootup sequenceo ORN-PFB HARDWARE CONTROL STATEMENTSPFB.INITroutine to initalize the Profibus adapter driverPFB.RESETCTR reset DP network countersPFB.VER@floating point number indicating driver version installed in adapterProfibus DP Master InstallationTo install Profibus DP Slave communicationsin an ORION ® motioncontroller, simply:r insert the communicationsadapter and connect the physicalcommunications link;r install the Profibus DP MasterMBX (MBX-DPM-5) on to theMotionBASIC ® System (PCC-SYS5) Card using the UpgradeDirector in MotionDesk.r create the network configurationdata file (config.bss) using thenetwork configuration programincluded with the ProfibusAdapter.add the configuration file to therMotionDesk Project and synchronizethe projectreset the ORION controller andrtest the interface.Profibus is a trademark of Nutzer-Organization.Siemens is a trademark of Siemens AG.ORMEC - 3- ORION ® FACTORY NETWORKING

Digital ServodrivesServoWire ® Digital DrivesServoWire ® digital drives provide highperformance servo operation utilizingdigital networking technology basedon IEEE-1394 (FireWire TM ). Thisnetwork not only provides high speed,but also ease of use through costeffective,industry-standard cabling.Each ServoWire ® drive supports a widevariety of high performance, encoderbasedservomotors. Consult ORMECfor OEM applications of user-suppliedbrushless rotary or linear motors---aswell as DC brush-type and voice-coilmotors.Eight drive models range from 600to 15,000 watts, and offer continuouscurrent output from 2.4 to 60 ampsRMS/phase. All ServoWire ® drivesutilize reliable IGBT-based intelligentpower modules and provide a costeffective solution for today’s motioncontrol applications. ServoWire ®drives operate on 115 or 230 VAC inputpower, and provide both output shortcircuit and overvoltage protection.All-digital design eliminates thetroublesome analog interface betweencontroller and drive systems, replacingit with a modern high speed networkbased on the IEEE-1394 standard.PerformanceServoWire ® drives combine alldigitaloperation with DSP technologyto produce fast update rates andcurrent loop bandwidths up to 1200Hz.High bandwidth current loops teamedwith high resolution motor feedbackcombine for quick and accurate torque,velocity and position control.Programmable Drive ConfigurationServoWire ® drives have no pots,jumpers or field component changeswhatsoever. Even factory adjustmentsare digital, automatically calibratedand stored in Flash memory. All userconfigurations are done in softwareusing axis configuration tools in ourMotionDesk TM software. Motor typesare selected from a database ofORMEC standard products or thecustom motor editor can be used toadd other motor types to the database.ServoWire ® Drives -- At A GlanceEight models: offering continuous output currents from 2.4 to 60 amps RMS/phase.3All-digital design: eliminates all manual drive setup including pots and jumpers3Small footprint: provides high power density and reduces space requirements.3Sinusoidal commutation: improves low speed torque ripple and system efficiency.3Trapezoidal commutation & DC operation: provide user flexibility.3Integral shunt regulators: add protection (All models except SAC-SW203 & SW205).3UL/CE approvals: UL Listed and CE Mark (low voltage directive & EMC).36717426Status Indicators: Large two-digit display forshowing network ID and drive status plus six LEDindicators which show condition of sensors, travellimits and motor over-temperature.ServoWire ® Network Interface: Twoconnectors provide an all-digital control link toServoWire ® Drive Network. Network interface isgalvanically isolated from the drive and powered bythe ServoWire ® Axis Module.Drive Power Inputs: Universal voltage inputpower accepts 115 or 230 VAC nominal featuringseparate logic and bus power supplies withovervoltage protection.Flexible Drive I/O: ServoWire ® drives providethree high speed sensor inputs, up to six opticallyisolated programmable limit switch (PLS) outputs--(one of the PLSs can be used as a userconfigurablefail-safe brake control output), twoovertravel limit switch inputs, plus two high qualityanalog outputs for monitoring motor velocity andtorque. Convenient screw terminal pluggableconnectors.External Regen & Bus Connections:Allows bus power to be shared between drives and/or the addition of an external resistor fordissipating regenerative energy from the system(All models except SAC-SW203 & SW205).Brushless Motor Feedback Interface: Versatile encoder feedback interfaceaccommodates differential or single-ended hall tracks, quadrature feedback, and optionallysupport the multi-revolution, absolute encoders available on ORMEC’s D-Series motors.Auxiliary Encoder Input Option: Provides an additional connector for a pacer encoderwhen applications require addition positioning information for web control applications. Alsoto be used for distributed feedback applications.Configurations for each drivecontaining the motor parameters, alloperational limits for torque andspeeds, I/O configurations, load inertiaand servo loop tuning parameters arestored in the ORION ® controller aspart of a system project andautomatically downloaded at power up3512345over the ServoWire ® network. Simplecabling accommodates up to eightdrives per network, and provide forquick and reliable installation.Standard Motor InterfaceServoWire ® drives interfaceencoder based motors usingORMEC -1- SERVOWIRE ® DRIVES

quadrature feedback and hall trackinformation. They provide smoothoutput torque using three phasesinusoidal commutation. An optionalmulti-revolution absolute encoderinterface supports our D-series motors.Integrated Drive I/OIntegration of digital drivetechnology with a high speed input andoutput interface gives the user greaterflexibility and tighter control over theinteraction between motion andexternal sensors and actuators.External sensors can initiate motionwithin one servo loop update, captureposition with microsecond resolution,or reset PLS positions.Versatile limit switch outputs areindependently programmable and canbe referenced from the motor position,motor command, another axis, or anon-board timer. Three opticallyisolated PLS outputs per axis can driveexternal actuators, can be wired tosensor inputs to initiate motion, andused to control when a sensor input isallowed to be seen by the drive duringsensor ‘blinding operations’.Auxiliary Encoder Interface OptionAn auxilary encoder interfaceoption is available for applicationsrequiring a pacer encoder or dualencoder feedback. This option includesthree additional PLS outputs plus avirtual axis command generator thatcan be used during maintenance whenencoder motion is not available.Safety & MaintainabilitySafety interlocks are standard in allServoWire ® drives. The network’sIntegrated Drive I/O InterfaceHigh Speed Sensors: Each drive provides interfaces for three high speed sensors. The AS, BS, andCS inputs, along with the internal encoder reference signal, can capture real-time axis position foreither or both axes within one microsecond of assertion. They can initiate axis motion on the nextposition loop update (between 0.2 and 1.0 milliseconds delay--depending on loop rate).Overtravel Limits:ASEach axis provides bothBShardware overtravel limitsCS(HTLR, HLTF) as well assoftware overtravel limits for Shielduse when motor travel isV+limited. e.g. ballscrewsV+Delay Counter: ThisV-optional 20-bit counter can be V-used to delay a sensor or HTLRencoder reference signal by the HTLFspecified number of encoder DELAYcounts. It can be configured inseveral operating modes providing a wide rangeof flexibility. The DELAY counter output is fullyintegrated into MotionBASIC ® and can be usedto initiate motion and/or capture position.Analog Monitors: Two analog outputs(AOUT1, AOUT2) are provided to monitor torqueand speed of the servomotor.integral safety interlocks and comprehensivealarm detection provide safeoperation for ServoWire ® drives, axisAOUT1AOUT2AGNDShieldZOUTOUT1OUT2OUT3OUT4Understanding the ServoWire ® Drive Model NumbersBrake Output: A user-configurableoutput (OUT6) is provided for controlof fail-safe brakes. Brake options areavailable for G-Series and D-Seriesservomotors.Zero Reference Output: Themotor’s zero reference (index mark)output signal (ZOUT) is available onthis terminal.OUT5 Programmable Limit Switches:OUT6 Each axis on the ServoWire TMNetwork provides three opticallycoupled programmable limit switch (PLS) outputswhich respond at the position update rate. EachPLS is independently driven with actual orcommanded position of an axis, or through theMotionDATA TM network. OUT4, OUT5 & OUT6functionality is included with the auxiliary encoderoption.SAC - SW2 05/ E P D A NContinuous current (amps)Encoder Feedback Interfacemodules and ORION ® controllers.System maintainability is enhanced byalarm detection and reporting.A = Absolute EncoderD = Delay CounterP = Auxiliary Encoder InputN = Delete pluggableterminal blocksORDERING GUIDEServoWire ® Drives: Single Phase 115 or 230 VAC InputSAC-SW203/E Servodrive, 2.4/4.2 amps RMS, encoder feedbackSAC-SW205/E Servodrive, 4.1/7.1 amps RMS, encoder feedbackServoWire ® Drives: Three Phase 230 VAC InputSAC-SW210/E Servodrive, 8.2/14 amps RMS, encoder feedbackSAC-SW217/E Servodrive, 14/24 amps RMS, encoder feedbackSAC-SW220/E Servodrive, 16/28 amps RMS, encoder feedbackSAC-SW225/E Servodrive, 25/50 amps RMS, encoder feedbackSAC-SW235/E Servodrive, 35/70 amps RMS, encoder feedbackSAC-SW260/E Servodrive, 60/120 amps RMS, encoder feedbackSpecify options below by adding letter to servodrive model numberOption 1: P Auxiliary pacer encoder (incremental)Option 2: D Delay counter hardware addedOption 3: A Absolute encoder support addedOption 4: N No pluggable I/O connectors (TB1)AccessoriesMIO-DC605-3 Solid-state relay for fail-safe brake circuit, panel mount, 3-32VDC logic, 60 VDC switched load, 3 ampsPanel Mount Regen ResistorsSAC-SWRR/0055 Regen Resistor, 55 watts, 50 ohms, for SAC-SW210SAC-SWRR/0095 Regen Resistor, 95 watts, 40 ohms, for SAC-SW217 & SW220SAC-SWRR/0700 Regen Resistor, 700 watts, 54 ohms, for SAC-SW210SAC-SWRR/0845 Regen Resistor, 845 watts, 40 ohms, for SW217 & SW220SAC-SWRR/0846 Regen Resistor, 846 watts, 10 ohms, for SAC-SW225 & SW235SAC-SWRR/1700 Regen Resistor, 1,700 watts, 6.5 ohms, for SAC-SW260UL Listed Line FiltersSAC-LF215U Line Filter, 115/230 VAC, 1-phase, 15 amps, 4.2”l, 2.9”w, 2.0”dSAC-LF230U Line Filter, 115/230 VAC, 1-phase, 30 amps, 5.5”l, 3.0”w, 2.8”dSAC-LF30C Line Filter, 230 VAC, 3-phase, 30 amps, 13.9”l, 2.4”w, 5.9”dSAC-LF55C Line Filter, 230 VAC, 3-phase, 55 amps, 14.8”l, 3.1”w, 7.3”dSAC-LF100C Line Filter, 230 VAC, 3-phase, 100 amps, 17.2”l, 3.5”w, 8.7”dORMEC -2- SERVOWIRE ® DRIVES

SPECIFICATIONSMain Circuit Power115 or 230 VAC +15%, -20%, 50/60 Hz,rsingle phase or three phase600 to 15,000 watts of incoming servicerpower (see Servomotor Selection Charts forpower requirements on matching drives)Control Circuit Power115 or 230 VAC, +15%, -20%, 50/60 Hz,r56 watts RMS, single phaseTorque Command16 bit digital command from the ServoWire ®rAxis Module over the Drive Network.Current loop bandwidth up to 1.2 kHzrSupport for absolute encoder when option isrinstalledInput connections for thermal contact fromrmotor windings.Industry standard D-sub connector (25 pinrfemale) interface.Auxiliary Feedback InterfaceIndustry standard D-sub connector (25 pinrmale) interface.Three differential input channels for encoderrposition feedback with 5.3 volt encoderpower suppliedThree additional programmable limit switchroutputsEnvironmentalAmbient operating is 0 to 50CrAmbient storage is -20 to 70CrHumidity operating/storage is 90% RH orrless (non-condensing).Drive Weightsr SAC-SW203/E 3.8 lbs (1.7 kg)r SAC-SW205/E 3.8 lbs (1.7 kg)r SAC-SW210/E 4.2 lbs (1.9 kg)r SAC-SW217/E 5.9 lbs (2.7 kg)r SAC-SW220/E 6.7 lbs (3.1 kg)r SAC-SW225/E 17.8 lbs (8.1 kg)r SAC-SW235/E 17.8 lbs (8.1 kg)r SAC-SW260/E 17.8 lbs (8.1 kg)ServoWire ® Drive OutputIGBT pulse width-modulated with sinusoidalror trapezoidal commutationLarge heat sinks with temperature monitorr(fan cooled on SAC-SW220 - SW260)Internal shunt regulator for regenerative loadrdissipation on all except SW203 & SW205Peak currents up to 200% of RMS continuouscapabilityrDC Bus voltage of 325 VDC at nominal inputrof 230 VAC and 163 VDC at 115 VACExternal Analog MonitorsTorque Monitor output +3.0V @ 100% ratedrtorqueSpeed Monitor output +10.0V @ 1.0V /1000rRPM, 2.0V/1000 RPM, or 5.0V/1000 RPM;scale depends on motor’s max speed.ServoWire ® Drive I/OSensors inputs are software configurable forreither NPN or PNP output transistor typesand level or edge triggered responseInputs provide one microsecond responsertime to capture machine position and initiatemotion within one servo update cycleOptically isolated interface for programmablelimit switches, motor reference andrdelay counter outputs updated every servocycle with a maximum sink current of 33maper outputExternal I/O power supply connections willraccept 5-24 VDC (285mA maximum) topower input and output circuitsMotor Feedback InterfaceThree differential input channels for encoderrposition feedback with 5.3 volt encoderpower suppliedQuadrature feedback 4x decoding withrpositioning rates to 4 MbpsThree differential input channels for motorrcommutation feedbackOpen-wire detection on all differentialrencoder connectionsMounting Information for SAC-SW203, SW205, SW210, SW217 & SW220Minimumdismountingclearance.40 [10]9.00[228.6]8.68[220.4].77 [19.6]12.00[305].10 [2.54]11.68[297]1.52 [38.6]1.50 [38.1]3.04 [77.2]4.25 [108]4.40 [112]Mounting hole .210 [5.3] dia.Use 10-32 or M5 machinescrew. Qty 34.00 [102]6.72 [171]7.35 [187]8.64[220]Mounting hole .210 [5.3] dia.Use 10-32 or M5 machinescrew. Qty 4Heatsink for SAC-SW220/ modelsHeatsink for SAC-SW217/ modelsMounting Information for SAC-SW225, SW235 & SW260Minimumdismountingclearance.40 [10].10 [2.54]12.00[305]1.36 [35.4]10.5 [267] (minimum cable clearance)7.87 [200]Integral cooling fan inheatsink is included on.SAC-SW220/ models only2.00[51]11.1 [282] (minimum cable clearance)8.45 [215]MinimumFan Clearance(4"h x 4"w x 4"d)Dimensions in inches [millimeters]ORMEC -3- SERVOWIRE ® DRIVES

ServoWire ® Cable Ordering GuideServoWire ® DriveServoWire ® DriveBUS POWERServoWire ® NetworkCommunication CableBUS POWERMotor CableMotor CableJ4 Auxiliary EncoderJ3 Motor FeedbackJ4 Auxiliary EncoderJ3 Motor FeedbackServoWire ® Axis ModuleEncoder CableEncoder CableServoWire ® cable interconnection diagram for G-series servomotors.ServoWire ® Drive Interface Cables and ConnectorsORMEC offers standard, 100% computer-tested servomotor, servodrive and encoder cables for reliably interfacing to allof our G-series AC brushless servomotors.ServoWire ® Drive Network CablesCBL-SW/1CBL-SW/2CBL-SW/6CBL-SW/14ServoWire ® Cable, 1 ft. (305 mm)ServoWire ® Cable, 2 ft. (710 mm)ServoWire ® Cable, 6 ft. (1.8 meters)ServoWire ® Cable, 14 ft. (4.3 meters)Drive I/O Interface ConnectorsCON-SW-TB1L ServoWire ® Drive, Drive I/O (TB1) left terminal block plug, pins 1-11CON-SW-TB1R ServoWire ® Drive, Drive I/O (TB1) right terminal block plug, pins 12-22G-Series Encoder and Motor CablesStandard IP-67 Sealing Brake Option Brake w/IP-67 SealingCBL-GMSW/X CBL-GMSWV/X (p/o motor cable) (p/o motor cable) Encoder cables for MAC-G016 & G030 - G115 motors, 1-150 ftCBL-GMSW/X CBL-GMSWV/X CBL-GMSWB/X CBL-GMSWVB/X Encoder cables for MAC-G130 - G640 motors, 1-150 ftCBL-GMSW1/X CBL-GMSWB1/X Motor/Encoder cables for MAC-G005 - G015, & G019 motors withServoWire drives (SW203, SW205, SW210, SW217 & SW220), 1-150 ftStandard IP-67 Sealing Brake Option Brake w/IP-67 SealingCBL-GMSW2/X CBL-GMSWV2/X CBL-GMSWB2/X CBL-GMSWVB2/X Motor cables for MAC-G016 & G030-G115 with ServoWire ® drives(SW203, SW205, SW210, SW217 & SW220), 1-150 ftCBL-GMSWT2/X CBL-GMSWVT2/X CBL-GMSWBT2/X CBL-GMSWVBT2/X Motor cables for MAC-G080A2 & G115A2 with ServoWire ® drives(SW225 & SW235), 1-150 ftCBL-GMSW3/X CBL-GMSWV3/X (p/o encoder cable) (p/o encoder cable) Motor cables for MAC-G130 - G210 with ServoWire ® drives (SW210,SW217 & SW220), 1-150 ftCBL-GMSWT3/X CBL-GMSWVT3/X (p/o encoder cable) (p/o encoder cable) Motor cables for MAC-G130A2 with ServoWire ® drive (SW225) 1-150 ftCBL-GMSWT5/X CBL-GMSWVT5/X (p/o encoder cable) (p/o encoder cable) Motor cables for MAC-G210, MAC-G280A4 & G360A4 with ServoWire ®drives (SW225 & SW235), 1-150 ftCBL-GMSWT6/X CBL-GMSWVT6/X (p/o encoder cable) (p/o encoder cable) Motor cables for MAC-G280A2 & G360A2 with ServoWire ® drives(SW235 & SW260), 1-150 ftCBL-GMSWT9/X CBL-GMSWVT9/X (p/o encoder cable) (p/o encoder cable) Motor cables for MAC-G640A2 with ServoWire drive (SW260), 1-150 ftNote: For all cables above, specify length of the cable by adding the numerical length in the "X" placeholder in the Model Number.ORMEC (Printed January 2001)-4- SERVOWIRE ® DRIVES

AC Brushless ServomotorsServomotor OverviewTo satisfy the motor requirements of theautomation engineer, ORMEC has acomplete line of servomotors. Thesemotors integrate with our ServoWire TMdrives to provide a broad range ofcapability.A motor database included in theMotionDesk TM software simplifiessystem configuration and setup. Motorparameters are automatically stored onthe ORION ® controller for hassle-freereplacement.Servomotor FeaturesA broad spectrum of speed, torque andresolution is covered by ORMEC’slineup of servomotors.The D-Series motors have beendivided into three subgroups dependingon construction, maximum speed andresolution.G-series has a wider selection ofspeed/torque combinations, allowing forcost-effective integration with a varietyof ServoWire ® drives.Compact rare-earth designs providehigh horsepower to motor volume ratios.All G- and D-series motors provideposition feedback devices that aredirectly coupled with zero backlash.D-Series servomotors provide absoluteencoder feedback over 100,000turns as an option.Motor are all flange mounted andavailable in metric sizes. G-seriesmotors also include standard NEMAmounting for some models.All standard motors include MS-styleconnectors.Motor cables are manufactured to thenearest foot to meet your length requirements.General Specifications G-Series DE-Series DA-Series DB-SeriesContinuous Stall Torques (lb-in) 5 - 640 2.8 - 42 28 - 140 25 - 665(N-m) 0.56 - 72 0.32 - 4.8 3.2 - 16 2.8 - 75Peak Torques (lb-in) 10 - 1,239 5.1 - 73 68 - 321 44 - 1,128(N-m) 1.1 - 140 0.58 - 8.3 7.7 - 36 4.9 - 127Rated Power (watts) 150 - 10,000 100 - 1,500 1,000 - 4,900 440 - 11,000Maximum speeds (RPM) 7,000 4,500 4,500 3,000Max. Cont. stall torque/inertia 72,993 49,123 19,858 5,017(radians/sec 2 )Position Feedback Transducer encoder encoder encoder encoderIncremental counts per revolution 12000 (options below 1 ) 8192 16384 32768Multi-rev Absolute Encoder No Optional Optional OptionalCounts per revolution --- 4096 32768 32768Integral Fail-safe Brakes Optional Optional Optional OptionalMotor Construction TENV, IP-65 TENV, IP-55 TENV, IP-67 2 TENV, IP-67 2Stainless Steel Shaft Yes No No NoShaft seal Standard, Viton No Optional OptionalMotor-mounted connectors Yes No Yes YesIntegral Thermal Overload Switch Yes No No NoCustom Feature Availability Call ORMEC 3 None None NoneServomotor Certification UL Recognized & UL Recognized UL Recognized UL RecognizedCE Marked1 -- G Series feedback resolutions: 8000, 12000 & 24000 . 2 -- IP-67 except shaft opening, optional shaft seal available.3 -- Includes windings, flanges, housings, shafts, and termination options. Quotes available in one week.ORMEC -1- SERVOMOTOR OVERVIEW

G-Series Servomotors & Matching ServodrivesServomotor Max. Peak / Stall Motor Motor Motor InputModel Speed (1) Torque Motor Inertia Length /E Flange /M Flange(2) (3)PowerNumber (RPM) lb-in (N-m) lb-in-sec 2 (kg-m 2 ) in (mm) in (mm) mm (in) watts/ampsMAC-G005A1 5,000 10/5.0 (1.1/0.56) 0.074 x 10 -3 (0.084 x 10 -4 ) 5.60 (143) 2.25 (57) 66 (2.60) 170 / 1.5MAC-G006A1 6,800 12/5.8 (1.4/0.66) 0.127 x 10 -3 (0.14 x 10 -4 ) 5.05 (128) --- 72 (2.84) 300 / 2.7MAC-G006A2 4,600 14/5.8 (1.6/0.66) 0.127 x 10 -3 (0.14 x 10 -4 ) 5.05 (128) --- 72 (2.84) 250 / 1.1MAC-G010A1 5,500 17/10 (1.9/1.1) 0.137 x 10 -3 (0.15 x 10 -4 ) 6.90 (173) 2.25 (57) 66 (2.60) 340 / 3.1MAC-G010B1 3,500 16/9.4 (1.8/1.1) 0.137 x 10 -3 (0.15 x 10 -4 ) 6.90 (173) 2.25 (57) 66 (2.60) 220 / 2.0MAC-G011A1 7,000 26/11 (3.0/1.3) 0.247 x 10 -3 (0.28 x 10 -4 ) 5.80 (147) --- 72 (2.84) 600 / 5.4MAC-G011A2 5,600 24/11 (2.7/1.3) 0.247 x 10 -3 (0.28 x 10 -4 ) 5.80 (147) --- 72 (2.84) 500 / 2.2MAC-G011B2 3,800 28/11 (3.2/1.3) 0.247 x 10 -3 (0.28 x 10 -4 ) 5.80 (147) --- 72 (2.84) 320 / 1.4MAC-G015A1 6,300 25/15 (2.9/1.7) 0.357 x 10 -3 (0.40 x 10 -4 ) 6.55 (166) --- 72 (2.84) 750 / 6.8MAC-G015A2 5,600 24/15 (2.7/1.7) 0.357 x 10 -3 (0.40 x 10 -4 ) 6.55 (166) --- 72 (2.84) 670 / 2.9MAC-G015B2 3,700 29/15 (3.2/1.7) 0.357 x 10 -3 (0.40 x 10 -4 ) 6.55 (166) --- 72 (2.84) 430 / 1.9MAC-G016A2 5,000 35/16 (4.0/1.8) 0.328 x 10 -3 (0.37 x 10 -4 ) 7.24 (184) 3.31 (84) 89 (3.50) 615 / 2.7MAC-G016B2 2,500 42/16 (4.7/1.8) 0.328 x 10 -3 (0.37 x 10 -4 ) 7.24 (184) 3.31 (84) 89 (3.50) 300 / 1.3MAC-G019A1 5,625 41/19 (4.7/2.1) 0.467 x 10 -3 (0.53 x 10 -4 ) 7.30 (185) --- 72 (2.84) 935 / 8.5MAC-G019A2 5,000 50/19 (5.6/2.1) 0.467 x 10 -3 (0.53 x 10 -4 ) 7.30 (185) --- 72 (2.84) 850 / 3.7MAC-G019B2 3,700 29/17 (3.2/2.0) 0.467 x 10 -3 (0.53 x 10 -4 ) 7.30 (185) --- 72 (2.84) 550 / 2.4MAC-G030A2 5,000 68/30 (7.7/3.4) 0.828 x 10 -3 (0.94 x 10 -4 ) 8.74 (222) 3.31 (84) 89 (3.50) 1,250 / 5.3MAC-G030B2 2,600 67/30 (7.6/3.4) 0.828 x 10 -3 (0.94 x 10 -4 ) 8.74 (222) 3.31 (84) 89 (3.50) 620 / 2.7MAC-G040A2 3,500 102/39 (11/4.4) 1.23 x 10 -3 (1.39 x 10 -4 ) 10.3 (260) 3.31 (84) 89 (3.50) 1,100 / 4.8MAC-G040B2 1,700 61/39 (6.9/4.4) 1.23 x 10 -3 (1.39 x 10 -4 ) 10.3 (260) 3.31 (84) 89 (3.50) 480 / 2.1MAC-G055A2 3,500 102/54 (11/6.1) 2.43 x 10 -3 (2.74 x 10 -4 ) 8.61 (219) 5.00 (127) 114 (4.50) 1,430 / 6.2MAC-G055A4 1,850 102/54 (11/6.1) 2.43 x 10 -3 (2.74 x 10 -4 ) 8.61 (219) 5.00 (127) 114 (4.50) 850 / 3.7MAC-G080A2 3,500 173/83 (20/9.4) 4.93 x 10 -3 (5.57 x 10 -4 ) 11.1 (282) 5.00 (127) 114 (4.50) 2,310 / 10MAC-G080A4 1,850 203/83 (23/9.4) 4.93 x 10 -3 (5.57 x 10 -4 ) 11.1 (282) 5.00 (127) 114 (4.50) 1,320 / 5.7MAC-G115A2 3,500 203/116 (23/13) 7.23 x 10 -3 (8.17 x 10 -4 ) 13.6 (345) 5.00 (127) 114 (4.50) 3,300 / 14MAC-G115A4 1,850 203/116 (23/13) 7.23 x 10 -3 (8.17 x 10 -4 ) 13.6 (345) 5.00 (127) 114 (4.50) 1,870 / 8.1MAC-G130A2 2,700 220/130 (25/15) 9.43 x 10 -3 (10.7 x 10 -4 ) 11.3 (287) --- 142 (5.59) 2,750 / 12MAC-G130A4 1,750 213/130 (24/15) 9.43 x 10 -3 (10.7 x 10 -4 ) 11.3 (287) --- 142 (5.59) 1,870 / 8.1MAC-G210A2 2,700 458/210 (52/24) 19.0 x 10 -3 (21.5 x 10 -4 ) 14.0 (355) --- 142 (5.59) 4,730 / 21MAC-G210A4 1,750 361/210 (41/24) 19.0 x 10 -3 (21.5 x 10 -4 ) 14.0 (355) --- 142 (5.59) 3,190 / 14MAC-G280A2 2,700 641/280 (72/32) 28.6 x 10 -3 (32.3 x 10 -4 ) 16.7 (423) --- 142 (5.59) 6,270 / 27MAC-G280A4 1,750 752/280 (85/32) 28.6 x 10 -3 (32.3 x 10 -4 ) 16.7 (423) --- 142 (5.59) 4,180 / 18MAC-G360A2 2,000 851/360 (96/41) 38.2 x 10 -3 (43.2 x 10 -4 ) 19.4 (493) --- 142 (5.59) 6,270 / 27MAC-G360A4 1,750 752/360 (85/41) 38.2 x 10 -3 (43.2 x 10 -4 ) 19.4 (493) --- 142 (5.59) 5,390 / 23MAC-G640A2 2,400 1,239/640 (140/72) 71.8 x 10 -3 (81.2 x 10 -4 ) 15.7 (398) --- 190 (7.48) 11,000 / 481Actual maximum speed is dependent on motor encoder resolution. Refer to “Understandingthe G-Series Servomotor Model Numbers” on page 1 for further information.2Power listed is the required incoming line power in watts when the motor is operating atrated output. To determine total incoming power requirements, add up the listed values foreach servomotor/drive combination in the system.3Current listed in amps is the recommended slow-blow fuse capacity for each leg of the threephase power. To select fuses for the system, add the recommended fuse capacities for eachservomotor/drive combination in the system.ORMEC -2- SERVOMOTOR OVERVIEW

G-Series Compatibility ChartORMEC’s all-digital drive technologyprovides the ability to control a varietyof servomotors with a single servodrive.The chart below provides an overviewof ServoWire drive compatibility withthe G-series servomotors.The recommended servodrive (J)below provides sufficient power toprovide the continuous and peaktorques specified for the correspondingservomotor.Compatible servodrives (4) maybe used instead of the recommendedservodrive to increase the amount ofpeak torque, and also allow eachservodrive model to support a widerrange of motors, simplifying thestocking of spare parts.Single Phase Drives(No Regen)Three Phase Drives(External Regen)ServomotorModelNumberMAC-G005A1 J 4 4SAC-SW203SMS-203G03SAC-SW205SMS-205G05SAC-SW210SMS-210G10SAC-SW217SMS-217G17SAC-SW220SMS-220G20SAC-SW225SMS-225G25SAC-SW235SMS-235G35SAC-SW260SMS-260G60MAC-G006A1 J 4MAC-G006A2 J 4 4MAC-G010A1 J 4 4J 4 4MAC-G010B1J 4 4MAC-G011A1J 4MAC-G011A2J 4 4MAC-G011B2J 4 4MAC-G015A1J 4 4MAC-G015A2J 4 4MAC-G015B2J 4MAC-G016A2J 4 4MAC-G016B2J 4MAC-G019A1J 4 4MAC-G019A2J 4 4MAC-G019B2J 4 4MAC-G030A2J 4MAC-G030B2J 4 4MAC-G040A2J 4 4MAC-G040B2J 4 4MAC-G055A2J 4MAC-G055A4J 4 4MAC-G080A2J 4 4MAC-G080A4J 4 4MAC-G115A2J 4 4MAC-G115A4J 4 4MAC-G130A2J 4 4MAC-G130A4J 4 4MAC-G210A2J 4 4MAC-G210A4J 4MAC-G280A2J 4MAC-G280A4J 4MAC-G360A2J 4MAC-G360A4JMAC-G640A2J Recommended drive model4 Compatible drive modelORMEC -3- SERVOMOTOR OVERVIEW

D-Series Servomotors & Matching ServodrivesServomotor Max. Peak / Stall Motor Motor InputModel Speed Torque Motor Inertia Length Flange(1) (2)PowerNumber (RPM) lb-in (N-m) lb-in-sec 2 (kg-m 2 ) in (mm) in (mm) watts/ampsMAC-DE003A1 4,500 5.1/2.8 (0.58/0.32) 0.057 x 10 -3 (0.065 x 10 -4 ) 2.24 (57) 2.36 (60) 110 / 1.0MAC-DE003A2 4,500 8.2/2.8 (0.93/0.32 0.057 x 10 -3 (0.065 x 10 -4 ) 2.24 (57) 2.36 (60) 110 / 0.5MAC-DE006B1 4,500 14/5.6 (1.5/0.64) 0.185 x 10 -3 (0.209 x 10 -4 ) 2.44 (62) 3.15 (80) 210 / 1.9MAC-DE006B2 4,500 11/5.6 (1.3/0.64) 0.185 x 10 -3 (0.209 x 10 -4 ) 2.44 (62) 3.15 (80) 210 / 0.9MAC-DE008C1 4,500 25/8.4 (2.8/0.95) 0.308 x 10 -3 (0.347 x 10 -4 ) 3.23 (82) 3.15 (80) 320 / 2.4MAC-DE011C2 4,500 28/11 (3.2/1.3) 0.308 x 10 -3 (0.347 x 10 -4 ) 3.23 (82) 3.15 (80) 440 / 1.9MAC-DE021D2 4,500 34/21 (3.9/2.4) 1.87 x 10 -3 (2.11 x 10 -4 ) 3.21 (82) 4.72 (120) 825 / 3.6MAC-DE042E2 4,300 73/42 (8.3/4.8) 3.57 x 10 -3 (4.03 x 10 -4 ) 4.31 (110) 4.72 (120) 1,650 / 7.2MAC-DA030F 4,500 68/28 (7.7/3.2) 1.54 x 10 -3 (1.74 x 10 -4 ) 5.87 (149) 3.15 (80) 1,100 / 4.8MAC-DA055G 4,500 101/56 (11/6.3) 2.82 x 10 -3 (3.19 x 10 -4 ) 7.80 (198) 3.15 (80) 2,100 / 9.1MAC-DA090H 4,500 217/87 (24/9.8) 6.20 x 10 -3 (7.01 x 10 -4 ) 7.83 (199) 5.12 (130) 3,300 / 14MAC-DA110J 4,500 207/112 (23/13) 8.50 x 10 -3 (9.60 x 10 -4 ) 9.29 (236) 5.12 (130) 4,290 / 19MAC-DA140K 4,500 321/140 (36/16) 10.9 x 10 -3 (12.3 x 10 -4 ) 10.87 (176) 5.12 (130) 5,390 / 23MAC-DB025L 3,000 44/25 (4.9/2.8) 6.41 x 10 -3 (7.24 x 10 -4 ) 5.39 (137) 5.12 (130) 485 / 2.1MAC-DB055M 3,000 88/53 (10/6.0) 12.3 x 10 -3 (13.9 x 10 -4 ) 6.30 (160) 5.12 (130) 940 / 4.1MAC-DB080N 3,000 152/74 (17/8.4) 18.2 x 10 -3 (20.6 x 10 -4 ) 7.24 (184) 5.12 (130) 1,430 / 6.2MAC-DB100P 3,000 155/102 (18/12) 28.1 x 10 -3 (31.8 x 10 -4 ) 6.50 (165) 7.09 (180) 1,980 / 8.6MAC-DB200Q 3,000 312/196 (35/22) 40.7 x 10 -3 (46.0 x 10 -4 ) 7.83 (199) 5.12 (130) 3,190 / 14MAC-DB300R 3,000 479/300 (54/34) 59.8 x 10 -3 (67.6 x 10 -4 ) 8.86 (225) 7.09 (180) 4,840 / 21MAC-DB330S 3,000 728/345 (82/39) 78.8 x 10 -3 (89.0 x 10 -4 ) 10.20 (259) 7.09 (180) 6,050 / 26MAC-DB465T 3,000 839/450 (95/51) 111.0 x 10 -3 (125.4 x 10 -4 ) 13.11 (333) 7.09 (180) 8,250 / 36MAC-DB700U 2,000 1,128/665 (127/75) 249.0 x 10 -3 (281.4 x 10 -4 ) 13.27 (337) 8.66 (220) 12,100 / 531Power listed is the required incoming line power in watts when the motor is operating atrated output. To determine total incoming power requirements, add up the listed values foreach servomotor/drive combination in the system.2Current listed in amps is the recommended slow-blow fuse capacity for each leg of the threephase power. To select fuses for the system, add the recommended fuse capacities for eachservomotor/drive combination in the system.D-Series Compatibility ChartSingle Phase Drives(No Regen)Three Phase Drives(External Regen)ServomotorModelNumberJ 4 4MAC-DE003A1J 4 4MAC-DE003A2J 4 4MAC-DE006B1J 4 4MAC-DE006B2J 4MAC-DE008C1J 4 4MAC-DE011C2J 4MAC-DE021D2J 4 4MAC-DE042E2J 4 4MAC-DA030FJ 4 4MAC-DA055GJ 4MAC-DA090HJ 4 4MAC-DA110JJ 4MAC-DA140KJ 4MAC-DB025LJ 4 4MAC-DB055MJ 4MAC-DB080NJ 4MAC-DB100PJ 4 4MAC-DB200QJ 4MAC-DB300RJMAC-DB330SJMAC-DB465TMAC-DB700USAC-SW203SMS-203G03SAC-SW205SMS-205G05SAC-SW210SMS-210G10SAC-SW217SMS-217G17SAC-SW220SMS-220G20SAC-SW225SMS-225G25SAC-SW235SMS-235G35SAC-SW260SMS-260G60JJ Recommended drive model 4 Compatible drive modelORMEC -4- SERVOMOTOR OVERVIEW

AC Brushless ServomotorsG-Series ServomotorsORMEC’s G-series ACbrushless servomotorsprovide high torque-to-inertiaratios and excellent continuoustorque and peak torqueperformance in a compactdesign. These industrialqualityservomotors incorporatehigh-energy, rare earth,neodymium-iron-boronmagnets for excellent powerdensity.The G-Series servomotorsalso completely eliminatebrush wear maintenanceproblems, and feature extremelydurable constructionwhich includes heavy dutybearings. Rugged MS connectorsprovide reliable interconnectionsto both motor andoptical encoder.ORMEC's G-series servomotors offer continuous stall torques from 5 to 640 lb-in (0.56 to 72 N-m).FeaturesContinuous stall torques from 5 tor640 in-lb (0.56 to 72 N-m)High peak torques from 10 to 1,239rin-lb (1.1 to 140 N-m)Rated power from 150 to 10,000rwatts (0.20 to 13 HP)High maximum speeds up to 7,000rRPMEncoder resolutions of 8,000 countsrper revolution standard (12,000 and24,000 counts per revolution optional)Class F insulation providing longrwinding life under rated operatingconditionsMetric dimensions standard. NEMArmounting available for MAC-G005,G010, G016 & G030 through G115.Totally Enclosed, Non-Ventilatedr(TENV) IP-65 constructionStainless steel shaft standard on allrmodels except MAC-G640Viton shaft seals are standard.rThermal overload switch mounted inrmotor windings is standard.Fail-safe holding brakes as optionrUL Recognized and CE MarkedrstandardMotor/Drive CombinationsTorque/speed performance for theG-Series is determined by the selectedservodrive. All configuration parametersfor matching drive to motor arestored on the ORION ® controller andare downloaded automatically aftereach power-up.Peak torques are also dependenton the selected servodrive, as is peaktorque duration -- typically two secondsfor the recommended drive.Understanding the G-Series Servomotor Model NumbersMAC - G 030 A2Servomotor SeriesContinuous stall torque(lb-in)Winding designatorMounting flangeM = MetricE = English (NEMA)(E flange is only available for MAC-G005,G010, G016 & G030-G115)Refer to the following pagesfor design informationon G-Series servomotors.G Series ReferencesOverview ............................. pgs. 2-3Specifications ...................... pgs. 4-10Specs with brakes ................ pg. 11Connector Information ......... pg. 12Outline Drawings ................ pgs. 12-16/ M 2 BB = 24 VDCFail-Safe BrakeFeedback2 = 2,000 linecount encoder,(6,000 RPM max speed)3 = 3,000 linecount encoder,(4,000 RPM max speed)6 = 6,000 linecount encoder,(2,000 RPM max speed)ORMEC -1- G-SERIES SERVOMOTORS

G-Series Servomotors & Matching ServodrivesServomotor Max. Peak / Stall Motor Motor Motor InputModel Speed (1) Torque Motor Inertia Length /E Flange /M Flange(2) (3)PowerNumber (RPM) lb-in (N-m) lb-in-sec 2 (kg-m 2 ) in (mm) in (mm) mm (in) watts/ampsMAC-G005A1 5,000 10/5.0 (1.1/0.56) 0.074 x 10 -3 (0.084 x 10 -4 ) 5.60 (143) 2.25 (57) 66 (2.60) 170 / 1.5MAC-G006A1 6,800 12/5.8 (1.4/0.66) 0.127 x 10 -3 (0.14 x 10 -4 ) 5.05 (128) --- 72 (2.84) 300 / 2.7MAC-G006A2 4,600 14/5.8 (1.6/0.66) 0.127 x 10 -3 (0.14 x 10 -4 ) 5.05 (128) --- 72 (2.84) 250 / 1.1MAC-G010A1 5,500 17/10 (1.9/1.1) 0.137 x 10 -3 (0.15 x 10 -4 ) 6.90 (173) 2.25 (57) 66 (2.60) 340 / 3.1MAC-G010B1 3,500 16/9.4 (1.8/1.1) 0.137 x 10 -3 (0.15 x 10 -4 ) 6.90 (173) 2.25 (57) 66 (2.60) 220 / 2.0MAC-G011A1 7,000 26/11 (3.0/1.3) 0.247 x 10 -3 (0.28 x 10 -4 ) 5.80 (147) --- 72 (2.84) 600 / 5.4MAC-G011A2 5,600 24/11 (2.7/1.3) 0.247 x 10 -3 (0.28 x 10 -4 ) 5.80 (147) --- 72 (2.84) 500 / 2.2MAC-G011B2 3,800 28/11 (3.2/1.3) 0.247 x 10 -3 (0.28 x 10 -4 ) 5.80 (147) --- 72 (2.84) 320 / 1.4MAC-G015A1 6,300 25/15 (2.9/1.7) 0.357 x 10 -3 (0.40 x 10 -4 ) 6.55 (166) --- 72 (2.84) 750 / 6.8MAC-G015A2 5,600 24/15 (2.7/1.7) 0.357 x 10 -3 (0.40 x 10 -4 ) 6.55 (166) --- 72 (2.84) 670 / 2.9MAC-G015B2 3,700 29/15 (3.2/1.7) 0.357 x 10 -3 (0.40 x 10 -4 ) 6.55 (166) --- 72 (2.84) 430 / 1.9MAC-G016A2 5,000 35/16 (4.0/1.8) 0.328 x 10 -3 (0.37 x 10 -4 ) 7.24 (184) 3.31 (84) 89 (3.50) 615 / 2.7MAC-G016B2 2,500 42/16 (4.7/1.8) 0.328 x 10 -3 (0.37 x 10 -4 ) 7.24 (184) 3.31 (84) 89 (3.50) 300 / 1.3MAC-G019A1 5,625 41/19 (4.7/2.1) 0.467 x 10 -3 (0.53 x 10 -4 ) 7.30 (185) --- 72 (2.84) 935 / 8.5MAC-G019A2 5,000 50/19 (5.6/2.1) 0.467 x 10 -3 (0.53 x 10 -4 ) 7.30 (185) --- 72 (2.84) 850 / 3.7MAC-G019B2 3,700 29/17 (3.2/2.0) 0.467 x 10 -3 (0.53 x 10 -4 ) 7.30 (185) --- 72 (2.84) 550 / 2.4MAC-G030A2 5,000 68/30 (7.7/3.4) 0.828 x 10 -3 (0.94 x 10 -4 ) 8.74 (222) 3.31 (84) 89 (3.50) 1,250 / 5.3MAC-G030B2 2,600 67/30 (7.6/3.4) 0.828 x 10 -3 (0.94 x 10 -4 ) 8.74 (222) 3.31 (84) 89 (3.50) 620 / 2.7MAC-G040A2 3,500 102/39 (11/4.4) 1.23 x 10 -3 (1.39 x 10 -4 ) 10.3 (260) 3.31 (84) 89 (3.50) 1,100 / 4.8MAC-G040B2 1,700 61/39 (6.9/4.4) 1.23 x 10 -3 (1.39 x 10 -4 ) 10.3 (260) 3.31 (84) 89 (3.50) 480 / 2.1MAC-G055A2 3,500 102/54 (11/6.1) 2.43 x 10 -3 (2.74 x 10 -4 ) 8.61 (219) 5.00 (127) 114 (4.50) 1,430 / 6.2MAC-G055A4 1,850 102/54 (11/6.1) 2.43 x 10 -3 (2.74 x 10 -4 ) 8.61 (219) 5.00 (127) 114 (4.50) 850 / 3.7MAC-G080A2 3,500 173/83 (20/9.4) 4.93 x 10 -3 (5.57 x 10 -4 ) 11.1 (282) 5.00 (127) 114 (4.50) 2,310 / 10MAC-G080A4 1,850 203/83 (23/9.4) 4.93 x 10 -3 (5.57 x 10 -4 ) 11.1 (282) 5.00 (127) 114 (4.50) 1,320 / 5.7MAC-G115A2 3,500 203/116 (23/13) 7.23 x 10 -3 (8.17 x 10 -4 ) 13.6 (345) 5.00 (127) 114 (4.50) 3,300 / 14MAC-G115A4 1,850 203/116 (23/13) 7.23 x 10 -3 (8.17 x 10 -4 ) 13.6 (345) 5.00 (127) 114 (4.50) 1,870 / 8.1MAC-G130A2 2,700 220/130 (25/15) 9.43 x 10 -3 (10.7 x 10 -4 ) 11.3 (287) --- 142 (5.59) 2,750 / 12MAC-G130A4 1,750 213/130 (24/15) 9.43 x 10 -3 (10.7 x 10 -4 ) 11.3 (287) --- 142 (5.59) 1,870 / 8.1MAC-G210A2 2,700 458/210 (52/24) 19.0 x 10 -3 (21.5 x 10 -4 ) 14.0 (355) --- 142 (5.59) 4,730 / 21MAC-G210A4 1,750 361/210 (41/24) 19.0 x 10 -3 (21.5 x 10 -4 ) 14.0 (355) --- 142 (5.59) 3,190 / 14MAC-G280A2 2,700 641/280 (72/32) 28.6 x 10 -3 (32.3 x 10 -4 ) 16.7 (423) --- 142 (5.59) 6,270 / 27MAC-G280A4 1,750 752/280 (85/32) 28.6 x 10 -3 (32.3 x 10 -4 ) 16.7 (423) --- 142 (5.59) 4,180 / 18MAC-G360A2 2,000 851/360 (96/41) 38.2 x 10 -3 (43.2 x 10 -4 ) 19.4 (493) --- 142 (5.59) 6,270 / 27MAC-G360A4 1,750 752/360 (85/41) 38.2 x 10 -3 (43.2 x 10 -4 ) 19.4 (493) --- 142 (5.59) 5,390 / 23MAC-G640A2 2,400 1,239/640 (140/72) 71.8 x 10 -3 (81.2 x 10 -4 ) 15.7 (398) --- 190 (7.48) 11,000 / 481Actual maximum speed is dependent on motor encoder resolution. Refer to “Understandingthe G-Series Servomotor Model Numbers” on page 1 for further information.2Power listed is the required incoming line power in watts when the motor is operating atrated output. To determine total incoming power requirements, add up the listed values foreach servomotor/drive combination in the system.3Current listed in amps is the recommended slow-blow fuse capacity for each leg of the threephase power. To select fuses for the system, add the recommended fuse capacities for eachservomotor/drive combination in the system.ORMEC -2- G-SERIES SERVOMOTORS

G-Series Compatibility ChartORMEC’s all-digital drive technologyprovides the ability to control a varietyof servomotors with a single servodrive.The chart below provides an overviewof ServoWire drive compatibility withthe G-series servomotors.The recommended servodrive (J)below provides sufficient power toprovide the continuous and peaktorques specified for the correspondingservomotor.Compatible servodrives (4) maybe used instead of the recommendedservodrive to increase the amount ofpeak torque, and also allow eachservodrive model to support a widerrange of motors, simplifying thestocking of spare parts.Single Phase Drives(No Regen)Three Phase Drives(External Regen)ServomotorModelNumberMAC-G005A1 J 4 4SAC-SW203SMS-203G03SAC-SW205SMS-205G05SAC-SW210SMS-210G10SAC-SW217SMS-217G17SAC-SW220SMS-220G20SAC-SW225SMS-225G25SAC-SW235SMS-235G35SAC-SW260SMS-260G60MAC-G006A1 J 4MAC-G006A2 J 4 4MAC-G010A1 J 4 4J 4 4MAC-G010B1J 4 4MAC-G011A1J 4MAC-G011A2J 4 4MAC-G011B2J 4 4MAC-G015A1J 4 4MAC-G015A2J 4 4MAC-G015B2J 4MAC-G016A2J 4 4MAC-G016B2J 4MAC-G019A1J 4 4MAC-G019A2J 4 4MAC-G019B2J 4 4MAC-G030A2J 4MAC-G030B2J 4 4MAC-G040A2J 4 4MAC-G040B2J 4 4MAC-G055A2J 4MAC-G055A4J 4 4MAC-G080A2J 4 4MAC-G080A4J 4 4MAC-G115A2J 4 4MAC-G115A4J 4 4MAC-G130A2J 4 4MAC-G130A4J 4 4MAC-G210A2J 4 4MAC-G210A4J 4MAC-G280A2J 4MAC-G280A4J 4MAC-G360A2J 4MAC-G360A4JMAC-G640A2J Recommended drive model4 Compatible drive modelORMEC -3- G-SERIES SERVOMOTORS

TORQUEG-Series AC Brushless ServomotorsAll specifications and “Torque/Speed Curves” shown on this pagereflect performance with the specific servodrive models listed below.Performance Specifications (1) Units G005A1 G006A1 G006A2 G010A1 G010B1Maximum Speed (2) RPM 5,000 6,800 4,600 5,500 3,500Continuous Stall Torque lb-in 5.0 5.8 5.8 10.0 9.4N-m 0.56 0.66 0.66 1.1 1.1Rated Speed RPM 3,700 4,800 4,000 3,800 2,100Rated Torque lb-in 3.5 4.8 5.0 7.0 8.4(at rated speed) N-m 0.40 0.55 0.56 0.79 0.95Rated Power HP 0.20 0.36 0.31 0.42 0.27watts 150 270 230 310 200Peak Torque (4) lb-in 10 12 14 17 16N-m 1.1 1.4 1.6 1.9 1.8Continuous Stall Torque/Inertia radians/sec 2 67,568 45,669 45,669 72,993 68,613Mechanical/Thermal SpecificationsMoment of Inertia lb-in-sec 2 x10 -3 0.074 0.127 0.127 0.137 0.137kg-m 2 x10 -4 0.084 0.143 0.143 0.155 0.155Friction Torque, Static lb-in 0.50 0.60 0.60 0.80 0.80N-m 0.056 0.068 0.068 0.090 0.090Servomotor Weight lbs 3.0 3.5 3.5 4.0 4.0kg 1.4 1.6 1.6 1.8 1.8Maximum Radial Shaft Load lbs 20 35 35 20 20(centered 1” (25mm) from motor face) N 89 156 156 89 89Maximum Axial Shaft Load lbs 15 20 20 15 15N 67 89 89 67 67Electrical SpecificationsTorque Sensitivity lb-in/Amps Rms/Ø2.4 1.8 3.6 2.5 3.9N-m/Amps Rms/Ø0.28 0.21 0.40 0.28 0.44Servodrive Model Numbers SAC-SW203 SAC-SW205 SAC-SW203 SAC-SW205 SAC-SW203SMS-203 SMS-205 SMS-203 SMS-205 SMS-203G03-AE G05-AE G03-AE G05-AE G03-AEServodrive Input Power volts AC 115 115 230 115 115Continuous Motor Current (5) Amps Rms/Ø2.0 3.1 1.6 4.1 2.5Peak Motor Current (5) Amps Rms/Ø6.2 9.8 4.9 12 7.7NOTES: (1) Ratings are obtained with servomotor ambient temperature of 25C with motor mounted to a 10” x 10” x ¼“ (MAC-G005 & G010) or 6” x 6” x ¼“ (MAC-G006) aluminum heatsink. Maximum case temperature is 100C---except for modelMAC-G006 which has a maximum case temperature of 85C. (2) Actual maximum motor speed dependent on motor encoder resolution. Refer to chart on page 1. (3) Insulation Class for all models is: F. (4) Motor’s peak torque is limited by peakcurrent of the servodrive. The next larger drive may be used to increase the amount of peak torque available. Consult ORMEC for details. (5) Motor current specifications independent of drive selected.!Torque vs. Speed Characteristics A: Intermittent Duty Zone B: Continuous Duty Zonelb-inMAC-G005A1N-mlb-inMAC-G006A1N-mlb-inMAC-G006A21.21.41012141.6Rated speedRated speedRated speed1.21.41.0121081.21.0100.881.060.880.660.80.6640.60.44 Rated torqueRated torque0.44Rated torque0.420.220.220.20000000 1000 2000 3000 4000 5000 60000 1000 2000 3000 4000 5000 6000 70000 1000 2000 3000 4000 5000lb-inMAC-G010A1N-mlb-inMAC-G010B116Rated speed1.7516Rated speed1.7514121.501.2514121.501.2510101.0088Rated torque1.006 Rated torque0.7560.7540.5040.5020.2520.2500000 1000 2000 3000 4000 5000 60000 1000 2000 3000 4000ORMEC -4- G-SERIES SERVOMOTORSN-mN-mRPM

TORQUEG-Series AC Brushless ServomotorsAll specifications and “Torque/Speed Curves” shown on this pagereflect performance with the specific servodrive models listed below.Performance Specifications (1) Units G011A1 G011A2 G011B2 G015A1 G015A2 G015B2Maximum Speed (2) RPM 7,000 5,600 3,800 6,300 5,600 3,700Continuous Stall Torque lb-in 11 11 11 15 15 15N-m 1.3 1.3 1.3 1.7 1.7 1.7Rated Speed RPM 4,900 4,000 2,400 4,500 4,000 2,400Rated Torque lb-in 9.4 9.8 10 13 13 14(at rated speed) N-m 1.1 1.1 1.2 1.4 1.5 1.6Rated Power HP 0.72 0.62 0.39 0.91 0.82 0.52watts 540 460 290 680 610 390Peak Torque (4) lb-in 26 24 28 25 24 29N-m 3.0 2.7 3.2 2.9 2.7 3.2Continuous Stall Torque/Inertia radians/sec 2 44,534 44,534 44,534 42,017 42,017 42,017Mechanical/Thermal SpecificationsMoment of Inertia lb-in-sec 2 x10 -3 0.247 0.247 0.247 0.357 0.357 0.357kg-m 2 x10 -4 0.279 0.279 0.279 0.403 0.403 0.403Friction Torque, Static lb-in 0.80 0.80 0.80 1.0 1.0 1.0N-m 0.090 0.090 0.090 0.11 0.11 0.11Servomotor Weight lbs 4.4 4.4 4.4 5.3 5.3 5.3kg 2.0 2.0 2.0 2.4 2.4 2.4Maximum Radial Shaft Load lbs 35 35 35 35 35 35(centered 1” (25mm) from motor face) N 156 156 156 156 156 156Maximum Axial Shaft Load lbs 15 15 15 15 15 15N 67 67 67 67 67 67Electrical SpecificationsTorque Sensitivity lb-in/Amps Rms/Ø2.0 3.6 7.0 1.9 3.6 7.1N-m/Amps Rms/Ø0.22 0.40 0.79 0.21 0.41 0.80Servodrive Model Numbers SAC-SW210 SAC-SW205 SAC-SW203 SAC-SW210 SAC-SW205 SAC-SW203SMS-210 SMS-205 SMS-203 SMS-210 SMS-205 SMS-203G10-AE G05-AE G03-AE G10-AE G05-AE G03-AEServodrive Input Power volts AC 115 230 230 115 230 230Continuous Motor Current (5) Amps Rms/Ø5.8 3.2 1.6 8.0 4.2 2.1Peak Motor Current (5) Amps Rms/Ø17 9.8 4.8 24 12 6.4NOTES: (1) Ratings are obtained with servomotor ambient temperature of 25C with motor mounted to a 6” x 6” x ¼“ aluminum heatsink. Maximum case temperature is 85C. (2) Actual maximum motor speed dependent on motor encoderresolution. Refer to chart on page 1. (3) Insulation Class for all models is: F. (4) Motor’s peak torque is limited by the peak current of the servodrive. The next larger drive may be used to increase the amount of peak torque available. Consultan ORMEC Applications Engineer for details. (5) Motor current specifications independent of drive selected.!Torque vs. Speed Characteristics A: Intermittent Duty Zone B: Continuous Duty Zonelb-in252015MAC-G011A1Rated speedN-m3.02.52.01.5lb-in252015MAC-G011A2Rated speedN-m3.02.52.01.5lb-in252015MAC-G011B2Rated speedN-m3.02.52.01.5105Rated torque1.00.5105Rated torque1.00.5105Rated torque1.00.5000 2000 4000 6000 8000000 1000 2000 3000 4000 5000 6000000 1000 2000 3000 4000lb-inMAC-G015A1N-m3.025Rated speed 2.5202.0151.510 Rated torque1.050.500 1000 2000 3000 4000 5000 6000 7000 0lb-inMAC-G015A2N-m3.0252.520Rated speed2.0151.510Rated torque1.050.500 1000 2000 3000 4000 5000 6000 7000 0lb-inMAC-G015B2N-mRated speed3.0252.5202.015.01.5Rated torque101.050.5000 1000 2000 3000 4000 5000RPMORMEC -5- G-SERIES SERVOMOTORS

TORQUEG-Series AC Brushless ServomotorsAll specifications and “Torque/Speed Curves” shown on this pagereflect performance with the specific servodrive models listed below.Performance Specifications (1) Units G016A2 G016B2 G019A1 G019A2 G019B2Maximum Speed (2) RPM 5,000 2,500 5,625 5,000 3,700Continuous Stall Torque lb-in 16 16 19 19 17N-m 1.8 1.8 2.1 2.1 2.0Rated Speed RPM 3,600 1,600 4,500 4,000 2,500Rated Torque lb-in 13 15 16 16 17(at rated speed) N-m 1.5 1.7 1.8 1.8 1.9Rated Power HP 0.75 0.38 1.1 1.0 0.67watts 560 280 850 770 500Peak Torque (4) lb-in 35 42 41 50 29N-m 4.0 4.7 4.7 5.6 3.2Continuous Stall Torque/Inertia radians/sec 2 48,780 48,780 40,685 40,685 36,403Mechanical/Thermal SpecificationsMoment of Inertia lb-in-sec 2 x10 -3 0.328 0.328 0.467 0.467 0.467kg-m 2 x10 -4 0.371 0.371 0.528 0.528 0.528Friction Torque, Static lb-in 0.40 0.40 1.2 1.2 1.2N-m 0.045 0.045 0.14 0.14 0.14Servomotor Weight lbs 8.3 8.3 6.2 6.2 6.2kg 3.8 3.8 2.8 2.8 2.8Maximum Radial Shaft Load lbs 40 40 35 35 35(centered 1” (25mm) from motor face) N 178 178 156 156 156Maximum Axial Shaft Load lbs 25 25 15 15 15N 111 111 67 67 67Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø5.2 10 1.8 3.7 7.1N-m/Amp Rms/Ø0.59 1.2 0.21 0.42 0.81Servodrive Model Numbers SAC-SW205 SAC-SW203 SAC-SW217 SAC-SW210 SAC-SW203SMS-205 SMS-203 SMS-217 SMS-210 SMS-203G05-AE G03-AE G17-AE G10-AE G03-AEServodrive Input Power volts AC 230 230 115 230 230Continuous Motor Current (5) Amps Rms/Ø3.1 1.6 11 5.1 2.6Peak Motor Current (5) Amps Rms/Ø11 5.7 31 16 7.9NOTES: (1) Ratings are obtained with servomotor ambient temperature of 25C with motor mounted to a 10” x 10” x ¼“ (MAC-G016) or 6” x 6” x ¼“ (MAC-G019) aluminum heatsink. Maximum case temperature is 100C. (2) Actual maximummotor speed dependent on motor encoder resolution. Refer to chart on page 1. (3) Insulation Class for all models is: F. (4) Motor’s peak torque is limited by the peak current of the servodrive. The next larger drive may be used to increase peaktorque available. Consult an ORMEC Applications Engineer for details. (5) Motor current specifications independent of drive selected.Torque vs. Speed Characteristics A: Intermittent Duty Zone B: Continuous Duty Zone!MAC-G016A2MAC-G016B2MAC-G019A1lb-inN-mlb-inN-mlb-inN-m354.0404.5404.5Rated speedRated speedRated speed3.5354.0354.030253.0303.5303.52.5253.0253.0202.02.0151.5151.51510Rated torqueRated torqueRated torque1.51.0101.0101.02.0202.5202.550.550.550.500 1000 2000 3000 40000500000 500 1000 1500 2000 25000300000 1000 2000 3000 4000 500006000lb-inMAC-G019A2N-mlb-inMAC-G019B2506.0303.540Rated speedRated speed3.05.0252.54.020302.03.015 Rated torque1.5202.010Rated torque1.0101.050.500000 1000 2000 3000 4000 5000 60000 1000 2000 3000 4000 5000N-mRPMORMEC -6- G-SERIES SERVOMOTORS

TORQUEG-Series AC Brushless ServomotorsAll specifications and “Torque/Speed Curves” shown on this pagereflect performance with the specific servodrive models listed below.Performance Specifications (1) Units G030A2 G030B2 G040A2 G040B2 G055A2 G055A4Maximum Speed (2) RPM 5,000 2,600 3,500 1,700 3,500 1,850Continuous Stall Torque lb-in 30 30 39 39 54 54N-m 3.4 3.4 4.4 4.4 6.1 6.1Rated Speed RPM 3,700 1,700 2,500 1,000 2,500 1,300Rated Torque lb-in 26 28 36 37 47 50(at rated speed) N-m 2.9 3.2 4.0 4.2 5.3 5.7Rated Power HP 1.5 0.75 1.3 0.58 1.7 1.0watts 1,100 560 1,000 430 1,300 770Peak Torque (4) lb-in 68 67 102 61 102 102N-m 7.7 7.6 11 6.9 11 11Continuous Stall Torque/Inertia radians/sec 2 36,232 36,232 31,707 31,707 22,222 22,222Mechanical/Thermal SpecificationsMoment of Inertia lb-in-sec 2 x10 -3 0.828 0.828 1.23 1.23 2.43 2.43kg-m 2 x10 -4 0.936 0.936 1.39 1.39 2.74 2.74Friction Torque, Static lb-in 0.50 0.50 0.60 0.60 1.0 1.0N-m 0.056 0.056 0.068 0.068 0.11 0.11Servomotor Weight lbs 12 12 15 15 20 20kg 5.4 5.4 6.6 6.6 9.1 9.1Maximum Radial Shaft Load lbs 40 40 40 40 100 100(centered 1” (25mm) from motor face) N 178 178 178 178 445 445Maximum Axial Shaft Load lbs 25 25 25 25 50 50N 111 111 111 111 222 222Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø5.1 10 7.6 15 7.6 15N-m/Amp Rms/Ø0.58 1.1 0.86 1.7 0.86 1.7Servodrive Model Numbers SAC-SW210 SAC-SW205 SAC-SW210 SAC-SW203 SAC-SW210 SAC-SW205SMS-210 SMS-205 SMS-210 SMS-203 SMS-210 SMS-205G10-AE G05-AE G10-AE G03-AE G10-AE G05-AEServodrive Input Power volts AC 230 230 230 230 230 230Continuous Motor Current (5) Amps Rms/Ø6.0 3.0 5.1 2.4 7.1 3.6Peak Motor Current (5) Amps Rms/Ø22 11 19 9.1 25 12NOTES: (1) Ratings are obtained with servomotor ambient temperature of 25C with motor mounted to a 10” x 10” x ¼” (MAC-G030 & G040) and 10” x 10” x ½” (MAC-G055) aluminum heatsink. Maximum case temperature is 100C. (2) Actualmaximum motor speed dependent on motor encoder resolution. Refer to chart on page 1. (3) Insulation Class for all models is: F. (4) Motor’s peak torque is limited by the peak current of the servodrive. The next larger drive may be used toincrease the amount of peak torque available. Consult an ORMEC Applications Engineer for details. (5) Motor current specifications independent of drive selected.!Torque vs. Speed Characteristics A: Intermittent Duty Zone B: Continuous Duty Zonelb-inMAC-G030A2N-m7086050Rated speed76405430320 Rated torque2101000 1000 2000 3000 4000 5000 6000lb-inMAC-G040B2N-m607Rated speed 6505404303202101000 500 1000 1500 2000lb-inMAC-G030B2N-m7086050Rated speed765404303202101000 500 1000 1500 2500 3000lb-inMAC-G055A2N-m10012Rated speed10808606404202000 1000 2000 3000 4000 5000lb-inMAC-G040A2N-m12100Rated speed10808606404202000 1000 2000 3000 4000lb-in100806040MAC-G055A4Rated speedRated torqueN-m1210864202000 10002000RPMORMEC -7- G-SERIES SERVOMOTORS

TORQUEG-Series AC Brushless ServomotorsAll specifications and “Torque/Speed Curves” shown on this pagereflect performance with the specific servodrive models listed below.Performance Specifications (1) Units G080A2 G080A4 G115A2 G115A4 G130A2 G130A4Maximum Speed (2) RPM 3,500 1,850 3,500 1,850 2,700 1,750Continuous Stall Torque lb-in 83 83 116 116 130 130N-m 9.4 9.4 13 13 15 15Rated Speed RPM 2,600 1,400 2,600 1,400 1,800 1,200Rated Torque lb-in 71 76 100 107 119 121(at rated speed) N-m 8.0 8.6 11 12 13 14Rated Power HP 2.8 1.6 4.0 2.3 3.4 2.3watts 2,100 1,200 3,000 1,700 2,500 1,700Peak Torque (4) lb-in 203 203 203 203 220 213N-m 23 23 23 23 25 24Continuous Stall Torque/Inertia radians/sec 2 16,836 16,836 16,044 16,044 13,786 13,786Mechanical/Thermal SpecificationsMoment of Inertia lb-in-sec 2 x10 -3 4.93 4.93 7.23 7.23 9.43 9.43kg-m 2 x10 -4 5.57 5.57 8.17 8.17 10.7 10.7Friction Torque, Static lb-in 1.4 1.4 1.8 1.8 2.4 2.4N-m 0.16 0.16 0.20 0.20 0.27 0.27Servomotor Weight lbs 29 29 37 37 36 36kg 13 13 17 17 16 16Maximum Radial Shaft Load lbs 100 100 100 100 150 150(centered 1” (25mm) from motor face) N 445 445 445 445 667 667Maximum Axial Shaft Load lbs 50 50 50 50 50 50N 222 222 222 222 222 222Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø7.6 15 7.6 15 9.6 16N-m/Amp Rms/Ø0.86 1.7 0.86 1.7 1.1 1.8Servodrive Model Numbers SAC-SW217 SAC-SW210 SAC-SW220 SAC-SW210 SAC-SW217 SAC-SW210SMS-217 SMS-210 SMS-220 SMS-210 SMS-217 SMS-210G17-AE G10-AE G20-AE G10-AE G17-AE G10-AEServodrive Input Power volts AC 230 230 230 230 230 230Continuous Motor Current (5) Amps Rms/Ø11 5.5 15 7.7 13 8.2Peak Motor Current (5) Amps Rms/Ø38 19 54 27 39 24NOTES: (1) Ratings are obtained with servomotor ambient temperature of 25C with motor mounted to a 12” x 12” x ½” aluminum heatsink. Maximum case temperature is 100C. (2) Actual maximum motor speed dependent on motor encoderresolution. Refer to chart on page 1. (3) Insulation Class for all models is: F. (4) Motor’s peak torque is limited by the peak current of the servodrive. The next larger drive may be used to increase the amount of peak torque available. Consultan ORMEC Applications Engineer for details. (5) Motor current specifications independent of drive selected.!Torque vs. Speed Characteristics A: Intermittent Duty Zone B: Continuous Duty Zonelb-in1751501251007550MAC-G080A2Rated speedRated torqueN-m20.017.515.012.510.07.55.0252.5000 1000 2000 3000 4000 5000lb-inMAC-G080A4N-m25200Rated speed 201501510010Rated torque5050 00 1000 2000lb-inMAC-G115A2N-m25200201501510010505000 1000 2000 300 000lb-inMAC-G115A4N-m25200Rated speed2015015100Rated torque10505000 1000 2000MAC-G130A2lb-inN-m25200Rated speed 201501510050105000 500 1000 1500 2000 2500 3000MAC-G130A4lb-inN-m25200Rated speed 2015015100 Rated torque105050 00 500 1000 1500 2000RPMORMEC -8- G-SERIES SERVOMOTORS

TORQUEG-Series AC Brushless Servomotors!All specifications and “Torque/Speed Curves” shown on this pagereflect performance with the specific servodrive models listed below.Performance Specifications (1) Units G210A2 G210A4 G280A2 G280A4Maximum Speed (2) RPM 2,700 1,750 2,700 1,750Continuous Stall Torque lb-in 210 210 280 280N-m 24 24 32 32Rated Speed RPM 2,000 1,300 2,000 1,300Rated Torque lb-in 184 191 245 252(at rated speed) N-m 21 22 28 28Rated Power HP 5.8 3.9 7.6 5.1watts 4,300 2,900 5,700 3,800Peak Torque (4) lb-in 458 361 641 752N-m 52 41 72 85Continuous Stall Torque/Inertia radians/sec 2 11,053 11,053 9,790 9,790Mechanical/Thermal SpecificationsMoment of Inertia lb-in-sec 2 x10 -3 19.0 19.0 28.6 28.6kg-m 2 x10 -4 21.5 21.5 32.3 32.3Friction Torque, Static lb-in 3.0 3.0 3.6 3.6N-m 0.34 0.34 0.41 0.41Servomotor Weight lbs 51 51 66 66kg 23 23 30 30Maximum Radial Shaft Load lbs 150 150 150 150(centered 1” (25mm) from motor face) N 667 667 667 667Maximum Axial Shaft Load lbs 50 50 50 50N 222 222 222 222Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø9.6 16 9.6 16N-m/Amp Rms/Ø1.1 1.8 1.1 1.8Servodrive Model Number SAC-SW225 SAC-SW217 SAC-SW235 SAC-SW225SMS-225 SMS-217 SMS-235 SMS-225G25-AE G17-AE G35-AE G25-AEServodrive Input Power volts AC 230 230 230 230Continuous Motor Current (5) Amps Rms/Ø22 13 29 17Peak Motor Current (5) Amps Rms/Ø65 38 87 51NOTES: (1) Ratings are obtained with servomotor ambient temperature of 25C with motor mounted to a 12” x 12” x ½” aluminum heatsink. Maximum case temperature is 100C. (2) Actual maximum motor speed dependent on motor encoderresolution. Refer to chart on page 1. (3) Insulation Class for all models is: F. (4) Motor’s peak torque is limited by the peak current of the servodrive. The next larger drive may be used to increase the amount of peak torque available. Consultan ORMEC Applications Engineer for details. (5) Motor current specifications independent of drive selected.Torque vs. Speed Characteristics A: Intermittent Duty Zone B: Continuous Duty Zonelb-inMAC-G210A2N-mlb-inMAC-G210A4N-m50400Rated speed4030030200Rated torque2010010000 1000 2000 3000lb-inMAC-G280A2N-m350300Rated speed352503025200150Rated torque201510010505000 1000 2000lb-inMAC-G280A4N-m600Rated speed500400300200 Rated torque10000 500 1000 1500 2000 250070605040302010070080600Rated speed7050060504004030030200 Rated torque2010010000 500 1000 1500 2000RPMORMEC -9- G-SERIES SERVOMOTORS

TORQUEG-Series AC Brushless ServomotorsAll specifications and “Torque/Speed Curves” shown on this pagereflect performance with the specific servodrive models listed below.* *Performance Specifications (1) Units G360A2 G360A4 G640A2Maximum Speed (2) RPM 2,000 1,750 2,400Continuous Stall Torque lb-in 360 360 640N-m 41 41 72Rated Speed RPM 1,500 1,300 1,600Rated Torque lb-in 321 323 580(at rated speed) N-m 36 36 66Rated Power HP 7.6 6.6 13watts 5,700 4,900 10,000Peak Torque (4) lb-in 851 752 1,239N-m 96 85 140Continuous Stall Torque/Inertia radians/sec 2 10,286 10,286 8,989Mechanical/Thermal SpecificationsMoment of Inertia lb-in-sec 2 x10 -3 35.0 35.0 71.2kg-m 2 x10 -4 39.6 39.6 80.5Friction Torque, Static lb-in 4.2 4.2 9.8N-m 0.47 0.47 1.1Servomotor Weight lbs 83 83 98kg 38 38 44Maximum Radial Shaft Load lbs 150 150 250(centered 1” (25mm) from motor face) N 667 667 1,112Maximum Axial Shaft Load lbs 50 50 100N 222 222 445Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø13 16 11N-m/Amp Rms/Ø1.4 1.8 1.2Servodrive Model Numbers SAC-SW235 SAC-SW225 SAC-SW260SMS-235 SMS-225 SMS-260G35-AE G25-AE G60-AEServodrive Input Power volts AC 230 230 230Continuous Motor Current (5) Amps Rms/Ø28 22 59Peak Motor Current (5) Amps Rms/Ø83 66 163NOTES: (1) Ratings are obtained with servomotor ambient temperature of 25C with motor mounted to a 12” x 12” x ½” (MAC-G360) or 14” x 14” x ¾” (MAC-G640) aluminum heatsink. Maximum case temperature is 100C. (2) Actual maximummotor speed dependent on motor encoder resolution. Refer to chart on page 1. (3) Insulation Class for all models is: F. (4) Motor’s peak torque is limited by the peak current of the servodrive. The next larger drive may be used to increase peaktorque available. Consult an ORMEC Applications Engineer for details. (5) Motor current specifications independent of drive selected.!Torque vs. Speed Characteristics A: Intermittent Duty Zone B: Continuous Duty Zonelb-inMAC-G360A2800700Rated speed7560050040050300Rated torque25000 1000 2000 3000100 N-mlb-in700600500400300MAC-G360A4Rated speedRated torque20000 1000N-m80706050403020100lb-in12001000800600400MAC-G640A2Rated speedRated torqueN-m14012010080604020020000 500 1000 1500 3000RPMORMEC -10- G-SERIES SERVOMOTORS

Specifications for G-Series Servomotors with Fail-Safe BrakesFrameSizeRef (1)Brake ContinuousServomotor Holding Stall Torque Motor Motor Brake CurrentModel Torque (2) to Inertia Ratio Moment of Inertia Motor Length Weight @24 VdcNumber lb-in (N-m) (rad/sec 2 ) lb-in-sec 2 (kg-m 2 ) in (mm) lb (kg) (milliamps)ABABCBCDEFMAC-G005A1 10 (1.1) 50,556 0.099 x 10 -3 (0.112 x 10 -4 ) 6.80 (173) 3.8 (1.7) 210MAC-G006A1 24 (2.7) 29,457 0.197 x 10 -3 (0.222 x 10 -4 ) 6.55 (167) 6.5 (2.9) 600MAC-G006A2 24 (2.7) 29,457 0.197 x 10 -3 (0.222 x 10 -4 ) 6.55 (167) 6.5 (2.9) 600MAC-G010A1 10 (1.1) 61,767 0.162 x 10 -3 (0.183 x 10 -4 ) 8.00 (203) 4.8 (2.2) 210MAC-G010B1 10 (1.1) 58,296 0.162 x 10 -3 (0.183 x 10 -4 ) 8.00 (203) 4.8 (2.2) 210MAC-G011A1 24 (2.7) 35,658 0.317 x 10 -3 (0.358 x 10 -4 ) 7.45 (186) 7.4 (3.4) 600MAC-G011A2 24 (2.7) 35,658 0.317 x 10 -3 (0.358 x 10 -4 ) 7.45 (186) 7.4 (3.4) 600MAC-G011B2 24 (2.7) 35,658 0.317 x 10 -3 (0.358 x 10 -4 ) 7.45 (186) 7.4 (3.4) 600MAC-G015A1 24 (2.7) 35,137 0.427 x 10 -3 (0.482 x 10 -4 ) 8.05 (207) 8.3 (3.8) 600MAC-G015A2 24 (2.7) 35,137 0.427 x 10 -3 (0.482 x 10 -4 ) 8.05 (207) 8.3 (3.8) 600MAC-G015B2 24 (2.7) 35,137 0.427 x 10 -3 (0.482 x 10 -4 ) 8.05 (207) 8.3 (3.8) 600MAC-G016A2 60 (6.8) 33,473 0.478 x 10 -3 (0.540 x 10 -4 ) 8.74 (222) 10.5 (4.8) 520MAC-G016B2 60 (6.8) 33,473 0.478 x 10 -3 (0.540 x 10 -4 ) 8.74 (222) 10.5 (4.8) 520MAC-G019A1 24 (2.7) 35,016 0.537 x 10 -3 (0.607 x 10 -4 ) 8.80 (224) 9.2 (4.2) 600MAC-G019A2 24 (2.7) 35,016 0.537 x 10 -3 (0.607 x 10 -4 ) 8.80 (224) 9.2 (4.2) 600MAC-G019B2 24 (2.7) 32,521 0.537 x 10 -3 (0.607 x 10 -4 ) 8.80 (224) 9.2 (4.2) 600MAC-G030A2 60 (6.8) 30,675 0.978 x 10 -3 (1.11 x 10 -4 ) 10.3 (261) 10.5 (4.8) 520MAC-G030B2 60 (6.8) 30,675 0.978 x 10 -3 (1.11 x 10 -4 ) 10.3 (261) 10.5 (4.8) 520MAC-G040A2 60 (6.8) 28,302 1.38 x 10 -3 (1.56 x 10 -4 ) 11.8 (299) 16.8 (7.6) 520MAC-G040B2 60 (6.8) 28,302 1.38 x 10 -3 (1.56 x 10 -4 ) 11.8 (299) 16.8 (7.6) 520MAC-G055A2 240 (27) 16,226 3.33 x 10 -3 (3.76 x 10 -4 ) 10.6 (270) 26.0 (11.8) 880MAC-G055A4 240 (27) 16,226 3.33 x 10 -3 (3.76 x 10 -4 ) 10.6 (270) 26.0 (11.8) 880MAC-G080A2 240 (27) 14,242 5.83 x 10 -3 (6.59 x 10 -4 ) 13.1 (333) 34.6 (15.7) 880MAC-G080A4 240 (27) 14,242 5.83 x 10 -3 (6.59 x 10 -4 ) 13.1 (333) 34.6 (15.7) 880MAC-G115A2 240 (27) 14,296 8.13 x 10 -3 (9.18 x 10 -4 ) 15.6 (397) 43.0 (19.5) 880MAC-G115A4 240 (27) 14,296 8.13 x 10 -3 (9.18 x 10 -4 ) 15.6 (397) 43.0 (19.5) 880MAC-G130A2 360 (41) 11,113 11.7 x 10 -3 (13.2 x 10 -4 ) 14.0 (356) 48.0 (21.8) 1,130MAC-G130A4 360 (41) 11,113 11.7 x 10 -3 (13.2 x 10 -4 ) 14.0 (356) 48.0 (21.8) 1,130MAC-G210A2 360 (41) 9,860 21.3 x 10 -3 (24.1 x 10 -4 ) 16.7 (424) 63.0 (28.6) 1,130MAC-G210A4 360 (41) 9,860 21.3 x 10 -3 (24.1 x 10 -4 ) 16.7 (424) 63.0 (28.6) 1,130MAC-G280A2 360 (41) 9,062 30.9 x 10 -3 (34.9 x 10 -4 ) 19.4 (492) 78.0 (35.4) 1,130MAC-G280A4 360 (41) 9,062 30.9 x 10 -3 (34.9 x 10 -4 ) 19.4 (492) 78.0 (35.4) 1,130MAC-G360A2 360 (41) 9,652 37.3 x 10 -3 (42.1 x 10 -4 ) 22.1 (561) 93.0 (42.2) 1,130MAC-G360A4 360 (41) 9,652 37.3 x 10 -3 (42.1 x 10 -4 ) 22.1 (561) 93.0 (42.2) 1,130MAC-G640A2 1,080 (122) 8,027 79.7 x 10 -3 (90.1 x 10 -4 ) 18.7 (494) 122 (55.3) 1,400(1)Frame Option Availability ChartRef Frame Metric (/M) NEMA (/E)A 2 inch 66 mm or Size 23B 2.75 inch 72 mm --C 3 inch 89 mm or Size 34D 4 inch 114 mm or Size 56E 6 inch 142 mm --F 8 inch 190 mm --(2)Caution: The built-in fail-safe brake is designed for holding and not for decelerating the motor. In normal operation, thebrake should be applied only after the motor is stopped. Fail-safe brakes are useful in applications when a servomotor isused to control a vertical axis. A servomotor with a fail-safe brake prevents the movable part from dropping due to gravitywhen the system power is turned off.ORMEC -11- G-SERIES SERVOMOTORS

Servomotor ConnectorsABCDEABCDEFGHPhase VPhase UPhase WCase GndN.C.Phase VPhase UPhase WCase GndBrake Shield+ Brake- BrakeN.C.MOTOR CONNECTORSPT02E-14-5PPT02E-16-8PMATING CONNECTOR SELECTION CHARTFEDGEHAACBDBCABCDPhase VPhase UPhase WCase GndDCMS-3102A-22-22P,MS-3102A-32-17PFEEDBACKCONNECTORA Thermal SensorB Channel BC Channel /BD UVW ShieldE Channel WF Channel VG Channel UH N.C.J N.C.K +5vDC InputL Thermal SensorM Channel ZN Channel AP Channel A/R Channel W/S Channel V/T Encoder GndU Channel Z/PT02E-14-18PMotor Type Motor Connector Mating Feedback Connector MatingMotors (no brake)MAC-G005, 006, 010, 011, 015, 019 PT02E-16-23P PT06E-16-23S(SR) ---- ----MAC-G016, 030, 040, 055, 080, 115 PT02E-14-5P PT06E-14-5S(SR) PT02E-14-18P PT06E-14-18S(SR)MAC-G130, 210, 280, 360 MS-3102A-22-22P MS-3106F-22-22S PT02E-14-18P PT06E-14-18S(SR)MAC-G640 MS-3102A-32-17P MS-3106F-32-17S PT02E-14-18P PT06E-14-18S(SR)Motors (with fail-safe brake)MAC-G005, 006, 010, 011, 015, 019 PT02E-16-23P PT06E-16-23S(SR) ---- ----MAC-G016, 030, 040, 055, 080, 115 PT02E-16-8P PT06E-16-8S(SR) PT02E-14-18P PT06E-14-18S(SR)MAC-G130, 210, 280, 360 MS-3102A-22-22P MS-3106F-22-22S PT02E-16-23P PT06E-16-23S(SR)MAC-G640 MS-3102A-32-17P MS-3106F-32-17S PT02E-16-23P PT06E-16-23S(SR)ABLKMJTHSGABNCU PDREFMOTOR / FEEDBACKCONNECTORA Phase VB Phase UC Phase WD Case GndE +5vDC InputF Channel BG Channel AH Channel ZJ Channel WK Channel W/L Channel V/M Channel U/N UVW ShieldP + Brake or N.C.R Thermal SwitchS Thermal SwitchT Encoder GndU Channel B/V Channel A/W Channel Z/X Channel VY Channel UZ - Brake or N.C.AN P BRM Y S CL X Z T DEK W UVJ FH GPT02E-16-23POutline Drawings:METRIC FRAME All dimensions in millimeters (inches)G006A1/M, G006A2/M, G011A1/M, G011A2/M, G011B2/M, G015A1/M,G015A2/M, G015B2/M, G019A1/M, G019A2/M & G019B2/MM4 X 0.712.00 (.475) MINØ 5.79 (.220) THRU (4)HOLES EQ. SPD. AS SHOWNON Ø 75.00 (2.95) B.C.Ø(.0015)0.0411.001 (.4331)10.991 (.4327)KEY 18.00 (.709) LONGA58 (2.3)MAX3.99 (.157)3.94 (.155)3.00 (.118)12.42 (0.489)59.99 (2.362)Ø59.97 (2.361)0.10 A(.004)72.0 (2.84)23.5 (.93)22.5 (.89)2.5 (.10)0.10 A(.004)11.2 (.44)L(Maximum)Dimensions LMAC-G006A1 & A2 128.1 (5.05)MAC-G011A1, A2 & B2 147.3 (5.80)MAC-G015A1, A2 & B2 166.4 (6.55)MAC-G019A1, A2 & B2 185.4 [7.30]Notes:Brake option adds 38.1 mm (1.5 inches) to L.Minimum cable clearance from motor centerline for the motor cable is 191 mm ( 7.5 inches)ORMEC -12- G-SERIES SERVOMOTORS

Outline Drawings:G005A1/M, G010A1/M & G010B1/MØ 5.00 (.197) THRU (4)HOLES EQ. SPD. AS SHOWNON Ø 80.00 (3.150) B.C.METRIC FRAME All dimensions in millimeters (inches)(.0015)0.0408.000 (.3150)7.991 (.3146)2.000 (.0787)1.971 (.0776)A51 (2.0)MAX14.00 (.551)MIN6.68 (.263)3.0 (.12)50.000 (1.9685)Ø49.975 (1.9675)0.10 A(.004)66.00 (2.598)30.5 (1.20)29.5 (1.16)0.10(.004)10.2 (.40)AL (Maximum)Dimensions (/M)LMAC-G005A1 140.0 (5.5)MAC-G010A1 & B1 170.0 (6.7)Notes:Brake option adds 30.5 mm (1.2 inches) to L.Minimum cable clearance from motor centerline for the motor cable is 178 mm ( 7.0 inches).Outline Drawings:G005A1/E, G010A1/E & G010B1/ENEMA FRAME SIZE: 23 All dimensions in inches (millimeters)Ø 0.205 (5.21) THRU (4) HOLESEQ. SPD. AS SHOWN ON Ø2.625 (66.68) B.C.Ø(0.04).0015A.2500 (6.350).2495 (6.337)2.0 (51)MAXDimensions (/E)1.502 (38.15)Ø 1.498 (38.05).004 A(0.10)2.25 (57.2)MAC-G005A1 & B1 5.6 (141)MAC-G010A1 & B1 6.8 (172)L.83 (21.1).79 (20.1).06 (1.6).004(0.10).46 (11.6)AL (Maxi mum)Notes:Brake option adds 1.2 inches (30.5 mm) to L.Minimum cable clearance from motor centerline for the motor cable is 7.0 inches (178 mm).ORMEC -13- G-SERIES SERVOMOTORS

Outline Drawings:METRIC FRAME All dimensions in millimeters (inches)G016A2/M, G016B2/M, G030A2/M, G030B2/M, G040A2/M & G040B2/M(.0015)Ø 7.00 (.276) THRU (4)HOLES EQ. SPD. AS SHOWN0.04 AON Ø 100.00 (3.937) B.C.14.000 (.5512)Ø13.990 (.5508)5.08 (.200)5.00 (.197)64 (2.5)MAX20.0 (.79)MINØDimensions (/M)80.00 (3.150)79.98 (3.149)0.10(.004)MAC-G016A2 & B2 183.9 (7.24)MAC-G030A2 & B2 222.0 (8.74)MAC-G040A2 & B2 260.1 (10.24)A89.0 (3.50)10.90 (.429)L3.0 (.12)30.5 (1.20)29.5 (1.16)11.2 (.44)0.10(.004)AL (Maximum)Notes:Brake option adds 38.1 mm (1.5”) to L.Minimum cable clearance from motor centerline for the encoder cable is178 mm ( 7.0 inches); for the motor cable it is 178 mm ( 7.0 inches).Outline Drawings:Ø .223 (5.66) THRU (4)HOLES EQ. SPD. AS SHOWNON Ø 3.875 (98.43) B.C.NEMA FRAME SIZE: 34 All dimensions in inches (millimeters)G016A2/E, G016B2/E, G030A2/E, G030B2/E, G040A2/E & G040B2/E(0.04).0015.4997 (12.692)Ø.4993 (12.682)A.1265 (3.213).1250 (3.175)2.5 (64)MAX.90 (22.9)MINDimensions (/E).004(0.10)A3.31 (84.1).420 (10.67)MAC-G016A2 & B2 7.24 (183.9)MAC-G030A2 & B2 8.74 (222.0)MAC-G040A2 & B2 10.24 (260.1)L2.877 (73.08)Ø2.873 (72.97)1.20 (30.5)1.16 (29.5).06 (1.6).004(0.10).44 (11.2)AL (Maximum)Notes:Brake option adds 1.5 inches (38.1 mm) to L.Minimum cable clearance from motor centerline for the encoder cable is7.0 inches (178 mm); for the motor cable it is 7.0 inches (178 mm)ORMEC -14- G-SERIES SERVOMOTORS

Outline Drawings:METRIC FRAME All dimensions in millimeters [inches]G055A2/M, G055A4/M, G080A2/M, G080A4/M, G115A2/M & G115A4/M38.0(1.50)Ø 9.2 (0.362) THRU (4)HOLES EQ. SPD. ASSHOWN ON Ø 130.0(5.118) B.C.(.002)0.05AAB71 (2.8)MAX37.0 (1.46)MINC3.0 (.12)Ø110.01 (4.331)109.98 (4.330)0.10 A(.004)114.3 (4.50)50.5 (1.99)49.5 (1.95)13.0 (.51)0.10 A(.004)L (Maximum)Dimensions (/M) A B C L19.000 (.7480)MAC-G055A2 & A4 Ø6.00 (.240) 15.5 (.61) 218.2 (8.59)18.987 (.7475)MAC-G080A2 & A4 24.000 (.9449) 8.00 (.315)20.0 (.79) 281.7 (11.09)Ø23.987 (.9444) 7.96 (.313)MAC-G115A2 & A4 20.0 (.79) 345.2 (13.59)Notes:Brake option adds 50.8 mm (2.0 inches) to L.Minimum cable clearance from motor centerline for the encoder cable is191mm ( 7.5 inches); for the motor cable it is 191 mm ( 7.5 inches).Outline Drawings:NEMA FRAME SIZE: 56 All dimensions in inches [millimeters]G055A2/E, G055A4/E, G080A2/E, G080A4/E, G115A2/E & G115A4/E1.50(38.0)Ø 3/8-16UNC-28 THRU(4) HOLES EQ. SPD. ASSHOWN ON Ø 5.875(149.23) B.C.(0.05).002ABA2.8 (71)MAX1.50 (38.1)MINØC4.500 (114.30)4.499 (114.27).004 A(0.10)5.00 (127.0)1.90 (48.2)1.86 (47.1).10 (2.5).004(0.10).53 (13.5)AL (Maximum)Dimensions (/E) A B C L.6245 (15.862)MAC-G055A2 & A4 Ø.51 (13.0) 8.61 (218.7).6241 (15.852).1890 (4.801)MAC-G080A2 & A4 .77 (19.6) 11.11 (282.2).8750 (22.225).1875 (4.763)Ø.8745 (22.212)MAC-G115A2 & A4 .77 (19.6) 13.61 (345.7)Notes:Brake option adds 2.0 inches (50.8 mm) to L.Minimum cable clearance from motor centerline for the encoder cable is7.5 inches (191 mm); for the motor cable it is 7.5 inches (191 mm).ORMEC -15- G-SERIES SERVOMOTORS

Outline Drawings:METRIC FRAME All dimensions in millimeters (inches)G130A2/M, G130A4/M, G210A2/M, G210A4/M, G280A2/M, G280A4/M, G360A2/M & G360A4/M44.5(1.75)Ø 11.0 (0.43) THRU (4)HOLES EQ. SPD. AS SHOWNON Ø 165.0 (6.496) B.C.(.002)0.05AA95 (3.7)MAXB37.0 (1.46)MINC3.6 (.14)18.0 (.71)Ø130.00 (5.118)129.97 (5.117)0.10 A(.004)50.5 (1.99)49.5 (1.95)0.10(.004)AL (Maximum)142.0 (5.59)Dimensions (/M) A B C LMAC-G130A2 & A424.000 (.9449) 8.00 (.315)20.0 (.79) 287.0 (11.29)ØØMAC-G210A2 & A423.987 (.9444) 7.96 (.313)20.0 (.79) 355.0 (13.99)MAC-G280A2 & A4 32.000 (1.2598) 10.00 (.394) 27.0 (1.06) 423.0 (16.69)ØØMAC-G360A2 & A4 31.987 (1.2593) 9.96 (.392) 27.0 (1.06) 492.5 (19.39)Notes:Brake option adds 68.6 mm (2.7 inches) to L.Minimum cable clearance from motor centerline for the encoder cable is178 mm (7.0 inches); for the motor cable it is 204 mm (8.0 inches).Outline Drawing:G640A2/MMETRIC FRAME All dimensions in millimeters [inches]103.9 (4.09)45.5(1.79)Ø 14.0 (0.551) THRU (4) HOLESEQ. SPD. AS SHOWNON Ø 215.0 (8.464) B.C.D(.002)0.05ABA123 (4.84)MAX39.0 (1.54)MINC4.0 (.16) 25.4 (1.00)180.01 (7.087)Ø58.5 (2.30)179.99 (7.086) 57.5 (2.26)0.10 A 0.10 A(.004)190.0 (7.48)(.004)Dimensions (/M) A B C D L32.018 (1.2605) 10.000 (.3937) 27.00 (1.063)MAC-G640A2 ØØ241.3 (9.50) 397.5 (15.65)31.998 (1.2598) 9.964 (.3923) 26.80 (1.055)L (Maximum)Notes:Brake option adds 76.2 mm (3.0 inches) to L and D.Minimum cable clearance from motor centerline forthe encoder cable is 191 mm (7.5 inches); for themotor cable it is 204 mm (8.0 inches).ORMEC (Printed January 2001)-16- G-SERIES SERVOMOTORS

AC Brushless ServomotorsD-Series ServomotorsORMEC's D-series AC brushlessservomotors provide high torque-toinertiaratios and excellent continuoustorque and peak torque performance ina compact design. These industrialqualityservomotors incorporate highenergy,rare earth, neodymium-ironboronmagnets and a highly efficientstator winding design which results inexcellent power density.The D-series servomotors alsocompletely eliminate brush wearmaintenance problems, and featureextremely durable construction whichincludes heavy duty bearings.Rugged MS connectors providereliable interconnections to both motorand optical encoder (except for D-Serieswith IP-67 option selected).FeaturesContinuous stall torques from 3 tor665 in-lb (0.32 to 75 N-m)High peak torques from 8 to 1,000rin-lb (0.96 to 113 N-m)Output power from 100 to 11,000rwatts (0.13 to 15 HP)Compact design with 40% lessrvolume than previous designHigh maximum speeds from 3,000rto 4,500 RPMEncoder resolutions up to 32,768rcounts per revolutionOptional absolute encoders featurermulti-rev operationClass B or F insulation providingrlong winding life under ratedoperating conditionsMinimum torque ripple & coggingrfor smooth low-speed performanceTotally Enclosed Non-Ventilatedr(TENV) standard IP-67 except shaftopening, optional shaft oil seal isavailable.Fail-safe holding brakes as optionrMotor/Drive CombinationsThe performance of these servomotorsis a direct function of thefactory-matched servomotor/drivecombination.ORMEC's ServoWire ® drivesprovide software controlled all-digitalperformance for consistent operationORMEC's D-series servomotors offer continuous stall torques from 3 to 665 lb-in (0.32 to 75 N-m).that totally eliminates analog potentiometeradjustments. High bandwidthcurrent mode operation and a qualityhigh resolution encoder provide theresponse & accuracy for demandingapplications. Peak torques up tothree times the rated torque areavailable for a few seconds, allowingthe motor/drive to handle high inertialloads & heavy duty cycle requirements.Each drive’s motor parametersare configured in software for highperformance and RMS current limiting.Understanding the D-Series Servomotor Model NumbersMAC - DE 021 E 2 / A V BSubgroup Types(DE, DA or DB-Series)Continuous stall torque(lb-in)Drive matching reference(A to U)1 = 110 VAC 12 = 230 VACNone = 230 VAC (DA & DB-Series only)Absolute Encoder OptionCost-effective absolute encodersupport provides axis position over arange of 100,000 revolutions. Incontinuous uni-directional operation,the position count continually “wraps”through the full range while maintainingabsolute position within the cycle.Position is maintained through powercycles by a lithium battery (optional)on the ServoWire ® digital drive and asupercapacitor in the servomotor.B = 24 VDCFail-Safe Brake 4V = Shaft Oil Seal 3(DA & DB only)A = Absolute Encoder 2I = Incremental Encoder1110 VAC operation is only available on a select number of the DE servomotor subgroup.2Specify ServoWire drive with absolute encoder support when ordering this motor.3Cables are available with an IP-67 rating for all motors in the DA and DB series.4Specify cables with the brake option when selecting a motor with a Fail-Safe brake.ORMEC -1- D-SERIES SERVOMOTORS

D-Series Servomotors & Matching ServodrivesServomotor Max. Peak / Stall Motor Motor InputModel Speed Torque Motor Inertia Length Flange(1) (2)PowerNumber (RPM) lb-in (N-m) lb-in-sec 2 (kg-m 2 ) in (mm) in (mm) watts/ampsMAC-DE003A1 4,500 5.1/2.8 (0.58/0.32) 0.057 x 10 -3 (0.065 x 10 -4 ) 2.24 (57) 2.36 (60) 110 / 1.0MAC-DE003A2 4,500 8.2/2.8 (0.93/0.32 0.057 x 10 -3 (0.065 x 10 -4 ) 2.24 (57) 2.36 (60) 110 / 0.5MAC-DE006B1 4,500 14/5.6 (1.5/0.64) 0.185 x 10 -3 (0.209 x 10 -4 ) 2.44 (62) 3.15 (80) 210 / 1.9MAC-DE006B2 4,500 11/5.6 (1.3/0.64) 0.185 x 10 -3 (0.209 x 10 -4 ) 2.44 (62) 3.15 (80) 210 / 0.9MAC-DE008C1 4,500 25/8.4 (2.8/0.95) 0.308 x 10 -3 (0.347 x 10 -4 ) 3.23 (82) 3.15 (80) 320 / 2.4MAC-DE011C2 4,500 28/11 (3.2/1.3) 0.308 x 10 -3 (0.347 x 10 -4 ) 3.23 (82) 3.15 (80) 440 / 1.9MAC-DE021D2 4,500 34/21 (3.9/2.4) 1.87 x 10 -3 (2.11 x 10 -4 ) 3.21 (82) 4.72 (120) 825 / 3.6MAC-DE042E2 4,300 73/42 (8.3/4.8) 3.57 x 10 -3 (4.03 x 10 -4 ) 4.31 (110) 4.72 (120) 1,650 / 7.2MAC-DA030F 4,500 68/28 (7.7/3.2) 1.54 x 10 -3 (1.74 x 10 -4 ) 5.87 (149) 3.15 (80) 1,100 / 4.8MAC-DA055G 4,500 101/56 (11/6.3) 2.82 x 10 -3 (3.19 x 10 -4 ) 7.80 (198) 3.15 (80) 2,100 / 9.1MAC-DA090H 4,500 217/87 (24/9.8) 6.20 x 10 -3 (7.01 x 10 -4 ) 7.83 (199) 5.12 (130) 3,300 / 14MAC-DA110J 4,500 207/112 (23/13) 8.50 x 10 -3 (9.60 x 10 -4 ) 9.29 (236) 5.12 (130) 4,290 / 19MAC-DA140K 4,500 321/140 (36/16) 10.9 x 10 -3 (12.3 x 10 -4 ) 10.87 (176) 5.12 (130) 5,390 / 23MAC-DB025L 3,000 44/25 (4.9/2.8) 6.41 x 10 -3 (7.24 x 10 -4 ) 5.39 (137) 5.12 (130) 485 / 2.1MAC-DB055M 3,000 88/53 (10/6.0) 12.3 x 10 -3 (13.9 x 10 -4 ) 6.30 (160) 5.12 (130) 940 / 4.1MAC-DB080N 3,000 152/74 (17/8.4) 18.2 x 10 -3 (20.6 x 10 -4 ) 7.24 (184) 5.12 (130) 1,430 / 6.2MAC-DB100P 3,000 155/102 (18/12) 28.1 x 10 -3 (31.8 x 10 -4 ) 6.50 (165) 7.09 (180) 1,980 / 8.6MAC-DB200Q 3,000 312/196 (35/22) 40.7 x 10 -3 (46.0 x 10 -4 ) 7.83 (199) 5.12 (130) 3,190 / 14MAC-DB300R 3,000 479/300 (54/34) 59.8 x 10 -3 (67.6 x 10 -4 ) 8.86 (225) 7.09 (180) 4,840 / 21MAC-DB330S 3,000 728/345 (82/39) 78.8 x 10 -3 (89.0 x 10 -4 ) 10.20 (259) 7.09 (180) 6,050 / 26MAC-DB465T 3,000 839/450 (95/51) 111.0 x 10 -3 (125.4 x 10 -4 ) 13.11 (333) 7.09 (180) 8,250 / 36MAC-DB700U 2,000 1,128/665 (127/75) 249.0 x 10 -3 (281.4 x 10 -4 ) 13.27 (337) 8.66 (220) 12,100 / 531Power listed is the required incoming line power in watts when the motor is operating atrated output. To determine total incoming power requirements, add up the listed values foreach servomotor/drive combination in the system.2Current listed in amps is the recommended slow-blow fuse capacity for each leg of the threephase power. To select fuses for the system, add the recommended fuse capacities for eachservomotor/drive combination in the system.D-Series Compatibility ChartSingle Phase Drives(No Regen)Three Phase Drives(External Regen)ServomotorModelNumberJ 4 4MAC-DE003A1J 4 4MAC-DE003A2J 4 4MAC-DE006B1J 4 4MAC-DE006B2J 4MAC-DE008C1J 4 4MAC-DE011C2J 4MAC-DE021D2J 4 4MAC-DE042E2J 4 4MAC-DA030FJ 4 4MAC-DA055GJ 4MAC-DA090HJ 4 4MAC-DA110JJ 4MAC-DA140KJ 4MAC-DB025LJ 4 4MAC-DB055MJ 4MAC-DB080NJ 4MAC-DB100PJ 4 4MAC-DB200QJ 4MAC-DB300RJMAC-DB330SJMAC-DB465TMAC-DB700USAC-SW203SMS-203G03SAC-SW205SMS-205G05SAC-SW210SMS-210G10SAC-SW217SMS-217G17SAC-SW220SMS-220G20SAC-SW225SMS-225G25SAC-SW235SMS-235G35SAC-SW260SMS-260G60JJ Recommended drive model 4 Compatible drive modelORMEC -2- D-SERIES SERVOMOTORS

TORQUED-Series AC Brushless Servomotors-- Absolute Encoder Model Specifications(Inertia specifications for Brake Models on page 11.)Performance Specifications (1) Units DE003A1 DE003A2 DE006B1Maximum Speed RPM 4,500 4,500 4,500Continuous Stall Torque lb-in 2.8 2.8 5.6N-m 0.32 0.32 0.64Rated Speed RPM 3,000 3,000 3,000Rated Torque lb-in 2.8 2.8 5.6N-m 0.32 0.32 0.64Rated Power HP 0.13 0.13 0.25watts 100 100 190Peak Torque (2) lb-in 5.1 8.2 14N-m 0.58 0.93 1.5Continuous Stall Torque/Inertia radians/sec 2 49,123 35,443 49,123 35,443 30,270 27,053Mechanical SpecificationsMoment of Inertia lb-in-sec 2 x 10 -3 0.057 0.079 0.057 0.079 0.185 0.207kg-m 2 x 10 -4 0.065 0.089 0.065 0.089 0.209 0.234Friction Torque, Static lb-in 0.048 0.048 0.11N-m 0.0054 0.0054 0.012Servomotor Weight lbs 1.5 2.0 1.5 2.0 3.1 3.5kg 0.7 0.9 0.7 0.9 1.4 1.6Maximum Radial Shaft Load lbs 17 17 55(centered 0.2” from end of shaft) N 78 78 245Maximum Axial Shaft Load lbs 11 11 15N 49 49 68Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø1.4 3.5 2.3N-m/Amp Rms/Ø0.16 0.39 0.26Servodrive Model Number SAC- SAC-SW203/E SAC-SW203/EA SAC-SW203/E SAC-SW203/EA SAC-SW205/E SAC-SW205/EASMS-203/E SMS-203/EA SMS-203/E SMS-203/EA SMS-205/E SMS-205/EAG03-AY G03-AY G05-AYServodrive Input Power volts AC 115 230 115Continuous Motor Current Amps Rms/Ø2.2 0.89 2.7Peak Motor Current Amps Rms/Ø7.1 2.8 8.4Motor Thermal SpecificationsAmbient Temperature degrees C 40 40 40Insulation Class B B BEncoder SpecificationsEncoder Resolution counts/revolution 8192 4096 8192 4096 8192 4096(1) Ratings are obtained with servomotor ambient temperature of 40C, and armature winding temperature of 100C. (2) Motor’s peak torque is limited by the peak current of the servodrive. The next largerdrive may be used to increase the amount of peak torque available. Consult an ORMEC Applications Engineer for details.Torque vs. Speed Characteristicslb-inMAC-DE003A1N-m6.05Rated speed 5.044.03Rated torque3.022.011.000.00 1000 2000 3000 4000 5000MAC-DE003A2lb-inN-m8.8757Rated speed.7565.6254.503.3752 Rated torque.251.12500.00 1000 2000 3000 4000 5000lb-inMAC-DE006B1N-m14Rated speed1.50121.25101.00860.754Rated torque0.5020.25000 1000 2000 3000 4000 5000A: Intermittent Duty Zone B: Continuous Duty ZoneRPMORMEC -3- D-SERIES SERVOMOTORS

TORQUED-Series AC Brushless Servomotors-- Absolute Encoder Model Specifications(Inertia specifications for Brake Models on page 11.)Performance Specifications (1) Units DE006B2 DE008C1 DE011C2Maximum Speed RPM 4,500 4,500 4,500Continuous Stall Torque lb-in 5.6 8.4 11N-m 0.64 0.95 1.3Rated Speed RPM 3,000 3,000 3,000Rated Torque lb-in 5.6 8.4 11N-m 0.64 0.95 1.3Rated Power HP 0.25 0.39 0.54watts 190 290 400Peak Torque (2) lb-in 11 25 28N-m 1.3 2.8 3.2Continuous Stall Torque/Inertia radians/sec 2 30,270 27,053 27,273 25,532 35,714 33,435Mechanical SpecificationsMoment of Inertia lb-in-sec 2 x 10 -3 0.185 0.207 0.308 0.329 0.308 0.329kg-m 2 x 10 -4 0.209 0.234 0.347 0.372 0.347 0.372Friction Torque, Static lb-in 0.11 0.20 0.20N-m 0.012 0.022 0.022Servomotor Weight lbs 3.1 3.5 4.6 5.1 4.6 5.1kg 1.4 1.6 2.1 2.3 2.1 2.3Maximum Radial Shaft Load lbs 55 55 55(centered 0.2” from end of shaft) N 245 245 245Maximum Axial Shaft Load lbs 15 15 15N 68 68 68Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø3.1 2.2 4.7N-m/Amp Rms/Ø0.35 0.25 0.54Servodrive Model Number SAC-SW203/E SAC-SW203/EA SAC-SW210/E SAC-SW210/EA SAC-SW205E SAC-SW205/EASMS-203/E SMS-203/EA SMS-210/E SMS-210/EA SMS-205/E SMS-205/EAG03-AY G10-AY G05-AYServodrive Input Power volts AC 230 115 230Continuous Motor Current Amps Rms/Ø2.0 4.3 2.6Peak Motor Current Amps Rms/Ø6.0 14 8.0Motor Thermal SpecificationsAmbient Temperature degrees C 40 40 40Insulation Class B B BEncoder SpecificationsEncoder Resolution counts/revolution 8192 4096 8192 4096 8192 4096(1) Ratings are obtained with servomotor ambient temperature of 40C, and armature winding temperature of 100C. (2) Motor’s peak torque is limited by the peak current of the ServoWire TMdrive. The next larger drive may be used to increase the amount of peak torque available. Consult an ORMEC Applications Engineer for details.Torque vs. Speed Characteristicslb-inMAC-DE006B2N-mlb-inMAC-DE008C1N-mlb-inMAC-DE011C2N-m108642Rated torqueRated speed1.21.00.80.60.40.22015105Rated torqueRated speed2.52.01.51.00.5252015105Rated torqueRated speed3.02.52.01.51.00.500.00 1000 2000 3000 4000 500000 1000 2000 3000 4000 50000.0000 1000 2000 3000 4000 5000A: Intermittent Duty Zone B: Continuous Duty ZoneRPMORMEC -4- D-SERIES SERVOMOTORS

TORQUED-Series AC Brushless Servomotors-- Absolute Encoder Model Specifications(Inertia specifications for Brake Models on page 11.)Performance Specifications (1) Units DE021D2 DE042E2 DA030FMaximum Speed RPM 4,500 4,300 4,500Continuous Stall Torque lb-in 21 42 28N-m 2.4 4.8 3.2Rated Speed RPM 3,000 3,000 3,000Rated Torque lb-in 21 42 28N-m 2.4 4.8 3.2Rated Power HP 1.0 2.0 1.3watts 750 1500 1000Peak Torque (2) lb-in 34 73 68N-m 3.9 8.3 7.7Continuous Stall Torque/Inertia radians/sec 2 11,230 11,111 11,765 11,699 18,182 16,970Mechanical SpecificationsMoment of Inertia lb-in-sec 2 x 10 -3 1.87 1.89 3.57 3.59 1.54 1.65kg-m 2 x 10 -4 2.11 2.14 4.03 4.06 1.74 1.86Friction Torque, Static lb-in 0.32 0.53 0.43N-m 0.036 0.060 0.049Servomotor Weight lbs 10 11 15 16 10 11.0kg 4.6 4.8 6.6 7.1 4.6 5.0Maximum Radial Shaft Load lbs 88 110 154 (3)(centered 0.2” from end of shaft) N 392 490 686 (3)Maximum Axial Shaft Load lbs 33 33 44N 147 147 196Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø5.7 6.1 5.7N-m/Amp Rms/Ø0.64 0.69 0.64Servodrive Model Number SAC-SW205/E SAC-SW205/EA SAC-SW210/E SAC-SW210/EA SAC-SW210/E SAC-SW210/EASMS-205/E SMS-205/EA SMS-210/E SMS-210/EA SMS-210/E SMS-210/EAG05-AY G10-AY G10-AYServodrive Input Power volts AC 230 230 230Continuous Motor Current Amps Rms/Ø4.1 7.5 6.0Peak Motor Current Amps Rms/Ø13 28 17Motor Thermal SpecificationsAmbient Temperature degrees C 40 40 40Insulation Class B B FEncoder SpecificationsEncoder Resolution counts/revolution 8192 4096 8192 4096 16384 32768(1) Ratings are obtained with servomotor ambient temperature of 40C, and armature winding temperature of 100C. (2) Motor’s peak torque is limited by the peak current of the ServoWire TMdrive. The next larger drive may be used to increase the amount of peak torque available. Consult an Ormec Applications Engineer for details. (3) Load centered at end of shaft.Torque vs. Speed Characteristicslb-inMAC-DE021D2N-m354.03025Rated speed3.53.02015Rated torque2.52.01.5101.050.500 1000 2000 3000 4000 5000 0.0lb-inMAC-DE042E2N-m70860Rated speed7506540Rated torque4303202101000 1000 2000 3000 4000 5000MAC-DA030Flb-inN-m708760Rated speed 650540430Rated torque3202101000 1000 2000 3000 4000 5000A: Intermittent Duty Zone B: Continuous Duty ZoneRPMORMEC -5- D-SERIES SERVOMOTORS

TORQUED-Series AC Brushless Servomotors-- Absolute Encoder Model Specifications(Inertia specifications for Brake Models on page 11.)Performance Specifications (1) Units DA055G DA090H DA110JMaximum Speed RPM 4,500 4,500 4,500Continuous Stall Torque lb-in 56 87 112N-m 6.3 9.8 13Rated Speed RPM 3,000 3,000 3,000Rated Torque lb-in 56 87 112N-m 6.3 9.8 13Rated Power HP 2.5 4.0 5.2watts 1900 3,000 3,900Peak Torque (2) lb-in 101 217 207N-m 11 24 23Continuous Stall Torque/Inertia radians/sec 2 19,858 19,113 14,032 13,788 13,176 13,008Mechanical SpecificationsMoment of Inertia lb-in-sec 2 x 10 -3 2.82 2.93 6.20 6.31 8.50 8.61kg-m 2 x 10 -4 3.19 3.31 7.01 7.13 9.60 9.73Friction Torque, Static lb-in 0.62 0.74 0.95N-m 0.070 0.083 0.11Servomotor Weight lbs 15 16 24 25 31 32kg 7.0 7.4 11 12 14 15Maximum Radial Shaft Load lbs 154 221 265(centered at end of shaft) N 686 980 1,176Maximum Axial Shaft Load lbs 44 88 88N 196 392 392Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø5.0 5.1 4.9N-m/Amp Rms/Ø0.56 0.58 0.55Servodrive Model Number SAC-SW217/E SAC-SW217/EA SAC-SW225/E SAC-SW225/EA SAC-SW225/E SAC-SW225/EASMS-217/E SMS-217/EA SMS-225/E SMS-225/EA SMS-225/E SMS-225/EAG17-AY G25-AY G25-AYServodrive Input Power volts AC 230 230 230Continuous Motor Current Amps Rms/Ø12 19 24Peak Motor Current Amps Rms/Ø42 56 77Motor Thermal SpecificationsAmbient Temperature degrees C 40 40 40Insulation Class F F FEncoder ResolutionEncoder Resolution counts/revolution 16384 32768 16384 32768 16384 32768(1) Ratings are obtained with servomotor ambient temperature of 40C, and armature winding temperature of 100C. (2) Motor’s peak torque is limited by the peak current of the ServoWire TM drive. The next largerdrive may be used to increase the amount of peak torque available. Consult an ORMEC Applications Engineer for details.Torque vs. Speed Characteristicslb-inMAC-DA055GN-mlb-inMAC-DA090HN-mlb-inMAC-DA0110JN-m10080604020Rated torqueRated speed1210864220015010050Rated torqueRated speed25201510520015010050Rated torqueRated speed25201510500 1000 2000 3000 40005000000 1000 2000 3000 4000 5000000 1000 2000 3000 4000 50000A: Intermittent Duty Zone B: Continuous Duty ZoneRPMORMEC -6- D-SERIES SERVOMOTORS

D-Series AC Brushless Servomotors-- Absolute Encoder Model Specifications(Inertia specifications for Brake Models on page 11.)Performance Specifications (1) Units DA140K DB025L DB055MMaximum Speed RPM 4,500 3,000 3,000Continuous Stall Torque lb-in 140 25 53N-m 16 2.8 6.0Rated Speed RPM 3,000 1,500 1,500Rated Torque lb-in 140 25 48N-m 16 2.8 5.4Rated Power HP 6.6 0.59 1.1watts 4,900 440 850Peak Torque (2) lb-in 321 44 88N-m 36 4.9 10Continuous Stall Torque/Inertia radians/sec 2 12,844 12,727 3,900 3,846 4,309 4,274Mechanical SpecificationsMoment of Inertia lb-in-sec 2 x 10 -3 10.9 11.0 6.41 6.50 12.3 12.4kg-m 2 x 10 -4 12.3 12.4 7.24 7.34 13.9 14.0Friction Torque, Static lb-in 1.1 0.43 0.65N-m 0.13 0.049 0.074Servomotor Weight lbs 37 39 12 13.0 17 18kg 17 18 5.5 5.9 7.6 8.0Maximum Radial Shaft Load lbs 265 110 110(centered at end of shaft) N 1,176 490 490Maximum Axial Shaft Load lbs 88 22 22N 392 98 98Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø5.4 7.3 7.3N-m/Amp Rms/Ø0.61 0.82 0.83Servodrive Model Number SAC-SW235/E SAC-SW235/EA SAC-SW205/E SAC-SW205/EA SAC-SW210/E SAC-SW210/EASMS-235/E SMS-235/EA SMS-205/E SMS-205/EA SMS-210/E SMS-210/EAG35-AY G05-AY G10-AYServodrive Input Power volts AC 230 230 230Continuous Motor Current Amps Rms/Ø28 3.8 7.1Peak Motor Current Amps Rms/Ø84 11 17Motor Thermal SpecificationsAmbient Temperature degrees C 40 40 40Insulation Class F F FEncoder SpecificationsEncoder Resolution counts/revolution 16384 32768 32768 32768 32768 32768(1) Ratings are obtained with servomotor ambient temperature of 40C, and armature winding temperature of 100C. (2) Motor’s peak torque is limited by the peak current of the ServoWire TMdrive. The next larger drive may be used to increase the amount of peak torque available. Consult an ORMEC Applications Engineer for details.Torque vs. Speed CharacteristicsRated speedRated speedRated speedRated torqueRated torqueORMEC -7- D-SERIES SERVOMOTORS

TORQUED-Series AC Brushless Servomotors-- Absolute Encoder Model Specifications(Inertia specifications for Brake Models on page 11.)Performance Specifications (1) Units DB080N DB100P DB200QMaximum Speed RPM 3,000 3,000 3,000Continuous Stall Torque lb-in 74 102 196N-m 8.4 12 22Rated Speed RPM 1,500 1,500 1,500Rated Torque lb-in 74 102 165N-m 8.4 12 19Rated Power HP 1.7 2.4 3.9watts 1,300 1,800 2,900Peak Torque (2) lb-in 152 155 312N-m 17 18 35Continuous Stall Torque/Inertia radians/sec 2 4,066 4,044 3,630 3,617 4,816 4,804Mechanical SpecificationsMoment of Inertia lb-in-sec 2 x 10 -3 18.2 18.3 28.1 28.2 40.7 40.8kg-m 2 x 10 -4 20.6 20.7 31.8 31.9 46.0 46.1Friction Torque, Static lb-in 0.87 1.0 1.4N-m 0.098 0.12 0.16Servomotor Weight lbs 21 22 31 31 40 41kg 9.6 14 14 18 19Maximum Radial Shaft Load lbs 154 265 331(centered at end of shaft) N 686 1,176 1,470Maximum Axial Shaft Load lbs 77 110 110N 343 490 490Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø7.4 6.5 7.3N-m/Amp Rms/Ø0.84 0.73 0.83Servodrive Model Number SAC- SW217/E SW217/EA SW220/E SW220/EA SW225/E SW225/EASMS-217/E SMS-217/EA SMS-220/E SMS-220/EA SMS-225/E SMS-225/EAG17-AY G20-AY G25-AYServodrive Input Power volts AC 230 230 230Continuous Motor Current Amps Rms/Ø11 17 24Peak Motor Current Amps Rms/Ø28 42 56Motor Thermal SpecificationsAmbient Temperature degrees C 40 40 40Insulation Class F F FEncoder SpecificationsEncoder Resolution counts/revolution 32768 32768 32768 32768 32768 32768(1) Ratings are obtained with servomotor ambient temperature of 40C, and armature winding temperature of 100C. (2) Motor’s peak torque is limited by the peak current of the ServoWire TM drive.The next larger drive may be used to increase the amount of peak torque available. Consult an ORMEC Applications Engineer for details.Torque vs. Speed Characteristicslb-in1401201008060MAC-DB080NRated speedRated torqueN-m1512.5107.5405202.5000 1000 2000 3000 4000MAC-DB100Plb-inN-m16017.5140Rated speed1512010012.580Rated torque10607.5405202.500.00 1000 2000 3000 4000lb-inMAC-DB200QN-m30035Rated speed250302520020150 Rated torque1510010505000 1000 2000 3000 4000A: Intermittent Duty Zone B: Continuous Duty ZoneRPMORMEC -8- D-SERIES SERVOMOTORS

D-Series AC Brushless Servomotors-- Absolute Encoder Model Specifications(Inertia specifications for Brake Models on page 11.)Performance Specifications (1) Units DB300R DB330SMaximum Speed RPM 3,000 3,000Continuous Stall Torque lb-in 300 345N-m 34 39Rated Speed RPM 1,500 1,500Rated Torque lb-in 252 310N-m 28 35Rated Power HP 5.9 7.4watts 4,400 5,500Peak Torque (2) lb-in 479 728N-m 54 82Continuous Stall Torque/Inertia radians/sec 2 5,017 5,008 4,378 4,323Mechanical SpecificationsMoment of Inertia lb-in-sec 2 x 10 -3 59.8 59.9 78.8 79.8kg-m 2 x 10 -4 67.6 67.7 89.0 90.2Friction Torque, Static lb-in 2.3 3.0N-m 0.25 0.33Servomotor Weight lbs 51 53 66 65kg 23 24 30 30Maximum Radial Shaft Load lbs 331 397(centered at end of shaft) N 1,470 1,764Maximum Axial Shaft Load lbs 110 132N 490 588Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø8.1 7.8N-m/Amp Rms/Ø0.91 0.88Servodrive Model Number SAC-SW235/E SAC-SW235/EA SAC-SW260/E SAC-SW260/EASMS-235/E SMS-235/EA SMS-260/E SMS-260/EAG35-AYG60-AYServodrive Input Power volts AC 230 230Continuous Motor Current Amps Rms/Ø33 42Peak Motor Current Amps Rms/Ø84 110Motor Thermal SpecificationsAmbient Temperature degrees C 40 40Insulation Class F FEncoder SpecificationsEncoder Resolution counts/revolution 32768 32768 32768 32768(1) Ratings are obtained with servomotor ambient temperature of 40C, and armature winding temperature of 100C. (2) Motor’s peak torque is limited by the peak current of the ServoWire TMdrive. The next larger drive may be used to increase the amount of peak torque available. Consult an ORMEC Applications Engineer for details.Torque vs. Speed CharacteristicsRated speedRated speedRated torqueORMEC -9- D-SERIES SERVOMOTORS

D-Series AC Brushless Servomotors-- Absolute Encoder Model Specifications(Inertia specifications for Brake Models on page 11.)Performance Specifications (1) Units DB465T DB700UMaximum Speed RPM 3,000 2,000Continuous Stall Torque lb-in 450 665N-m 51 75Rated Speed RPM 1,500 1,500Rated Torque lb-in 425 620N-m 48 70Rated Power HP 10 15watts 7,500 11,000Peak Torque (2) lb-in 839 1,000N-m 95 113Continuous Stall Torque/Inertia radians/sec 2 4,054 4,054 2,671 2,671Mechanical SpecificationsMoment of Inertia lb-in-sec 2 x 10 -3 111.0 111.0 249.0 249.0kg-m 2 x 10 -4 125.4 125.4 281.4 281.4Friction Torque, Static lb-in 4.2 7.2N-m 0.47 0.81Servomotor Weight lbs 88 88 127 127kg 40 40 58 58Maximum Radial Shaft Load lbs 397 397(centered at end of shaft) N 1,764 1,764Maximum Axial Shaft Load lbs 132 132N 588 588Electrical SpecificationsTorque Sensitivity lb-in/Amp Rms/Ø8.2 11N-m/Amp Rms/Ø0.93 1.2Servodrive Model Number SAC-SW260/E SAC-SW260/EA SAC-SW260/E SAC-SW260/EASMS-260/E SMS-260/EA SMS-260/E SMS-260/EAG60-AYG60-AYServodrive Input Power volts AC 230 230Continuous Motor Current Amps Rms/Ø55 59Peak Motor Current Amps Rms/Ø130 140Motor Thermal SpecificationsAmbient Temperature degrees C 40 40Insulation Class F FEncoder SpecificationsEncoder Resolution counts/revolution 32768 32768 32768 32768(1) Ratings are obtained with servomotor ambient temperature of 40C, and armature winding temperature of 100C. (2) Motor’s peak torque is limited by the peak current of the ServoWire TM drive. The next largerdrive may be used to increase the amount of peak torque available. Consult an ORMEC Applications Engineer for details.Torque vs. Speed CharacteristicsRated speedRated speedRated torqueRated torqueORMEC -10- D-SERIES SERVOMOTORS

Specifications for D-Series Servomotors with Fail-Safe BrakesMODEL with BRAKEMODEL with BRAKE & ABSOLUTE ENCODERBrake Continuous Moment Continuous MomentServomotor Holding Stall Torque of Inertia Motor Motor Stall Torque of Inertia Motor MotorModel Torque (1) to Inertia Ratio (lb-in-sec 2 / Length Weight to Inertia Ratio (lb-in-sec 2 / Length WeightNumber (lb-in / N-m) (radians/sec 2 ) kg-m 2 ) (in / mm) (lb / kg) (radians/sec 2 ) kg-m 2 ) (in / mm) (lb / kg)MAC-DE003A1 4.3 30,770 0.091 x 10 -3 3.39 2.0 24,779 0.113 x 10 -3 5.16 2.70.49 0.103 x 10 -4 86 0.9 0.128 x 10 -4 131 1.2MAC-DE003A2 4.3 30,770 0.091 x 10 -3 3.39 2.0 24,779 0.113 x 10 -3 5.16 2.70.49 0.103 x 10 -4 86 0.9 0.128 x 10 -4 131 1.2MAC-DE006B1 8.7 20,588 0.272 x 10 -3 3.68 4.2 19,048 0.294 x 10 -3 4.65 4.60.98 0.307 x 10 -4 94 1.9 0.332 x 10 -4 118 2.1MAC-DE006B2 8.7 20,588 0.272 x 10 -3 3.68 4.2 19,048 0.294 x 10 -3 4.65 4.60.98 0.307 x 10 -4 94 1.9 0.332 x 10 -4 118 2.1MAC-DE008C1 17 21,320 0.394 x 10 -3 4.47 5.7 20,192 0.416 x 10 -3 5.43 6.21.9 0.446 x 10 -4 114 2.6 0.470 x 10 -4 138 2.8MAC-DE011C2 17 27,919 0.394 x 10 -3 4.47 5.7 26,442 0.416 x 10 -3 5.43 6.21.9 0.446 x 10 -4 114 2.6 0.470 x 10 -4 138 2.8MAC-DE021D2 32 9,417 2.23 x 10 -3 4.65 13 9,292 2.26 x 10 -3 5.59 13.73.6 2.52 x 10 -4 118 5.9 2.55 x 10 -4 142 6.2MAC-DE042E2 63 9,677 4.34 x 10 -3 5.75 18 9,633 4.36 x 10 -3 6.69 19.07.1 4.91 x 10 -4 146 8.2 4.93 x 10 -4 170 8.6MAC-DA030F 66 16,185 1.73 x 10 -3 7.60 13 15,217 1.84 x 10 -3 8.15 14.37.8 1.95 x 10 -4 193 5.9 2.08 x 10 -4 207 6.5MAC-DA055G 66 18,605 3.01 x 10 -3 9.53 19 17,949 3.12 x 10 -3 10.08 19.87.8 3.40 x 10 -4 242 8.6 3.53 x 10 -4 256 9.0MAC-DA090H 177 11,097 7.84 x 10 -3 9.33 31 10,943 7.95 x 10 -3 9.88 32.020 8.86 x 10 -4 237 14 8.98 x 10 -4 251 14.5MAC-DA110J 177 11,089 10.1 x 10 -3 10.79 38 10,874 10.3 x 10 -3 11.34 38.620 11.5 x 10 -4 274 17 11.6 x 10 -4 288 17.5MAC-DA140K 177 11,200 12.5 x 10 -3 12.36 44 11,024 12.7 x 10 -3 12.91 45.220 14.2 x 10 -4 314 20 14.4 x 10 -4 328 20.5MAC-DB025L 39 3,106 8.05 x 10 -3 6.93 17 3,071 8.14 x 10 -3 7.48 17.44.4 9.10 x 10 -4 176 7.7 9.20 x 10 -4 190 7.9MAC-DB055M 112 3,813 13.9 x 10 -3 7.83 21 3,786 14.0 x 10 -3 8.39 22.013 15.8 x 10 -4 199 9.5 15.8 x 10 -4 213 10.0MAC-DB080N 112 3,737 19.8 x 10 -3 8.78 26 3,719 19.9 x 10 -3 9.33 26.513 22.4 x 10 -4 223 12.0 22.5 x 10 -4 237 12.0MAC-DB100P 380 2,914 35.0 x 10 -3 8.54 42 2,914 35.0 x 10 -3 9.09 43.043 39.5 x 10 -4 217 19.0 39.5 x 10 -4 231 19.5MAC-DB200Q 380 4,118 47.6 x 10 -3 9.57 52 4,118 47.6 x 10 -3 10.12 51.843 53.7 x 10 -4 243 24 53.8 x 10 -4 257 23.5MAC-DB300R 380 4,498 66.7 x 10 -3 10.91 63 4,498 66.7 x 10 -3 11.46 63.943 75.3 x 10 -4 277 29 75.4 x 10 -4 291 29.0MAC-DB330S 646 4,026 85.7 x 10 -3 12.24 77 4,026 85.7 x 10 -3 12.80 79.373 96.8 x 10 -4 311 35 96.8 x 10 -4 325 36.0MAC-DB465T 646 3,814 118 x 10 -3 15.16 100 3,814 118 x 10 -3 15.71 110.27 3 133 x 10 -4 385 45.4 133 x 10 -4 399 50.0MAC-DB700U 744 2,548 261 x 10 -3 15.08 143 2,548 261 x 10 -3 15.63 144.48 4 295 x 10 -4 383 64.9 295 x 10 -4 397 65.5(1)Caution: The built-in fail-safe brake is designed for holding and not for decelerating the motor. In normal operation the brake should be applied only after the motor is stopped. Fail-safebrakes are useful in applications when a servomotor is used to control a vertical axis. A servomotor with a fail-safe brake prevents the moveable part from dropping due to gravitation when thesystem power is turned OFF.ORMEC -11- D-SERIES SERVOMOTORS

DE003A1 & DE003A2 Outline DrawingsOPTICALENCODERCONNECTOR1.9[48]MOTORCONNECTORLLELM0.24[6]0.0016 A[0.04]A1.97[50]0.0016 A[0.04]+0.000-0.001+0.000-0.0252.76[70]2.36[60]2.36[60]0.12[3]1.970[50]REFSHAFT & PILOT DETAILINCHES [mm]0.98[25]0.55[14]0.07[1.8]0.12[3]0.12[3]0.0008 A[0.02]0.22 [5.5](4) HOLES THRU0.3158 + 0.000-0.009+ 0.0000-0.0003Dimensions L LELMMAC-DE003A1 2.3 [57] 4.1 [102] 1.9 [48] 3.7 [94] 1.3 [32]MAC-DE003A2 2.3 [57] 4.1 [102] 1.9 [48] 3.7 [94] 1.3 [32]For length of models with brake and absolute encoder options selected, see page 11. Call for design details.Note: Minimum cable clearance from motor centerline for encoder cableis 2.8 inches 71 mm); for motor cable is 3.8 inches (97 mm). Cablelengths to connector approximately 11 inches [280 mm].All dimensions in inches [millimeters]DE006B1, DE006B2, DE008C1 & DE011C2 Outline DrawingsOPTICALENCODERCONNECTOR2.3[58]LMOTORCONNECTORLELM0.31[8]0.0016 A[0.04]A2.756[70]0.0016 A[0.04]+.0000-.0012+.0000-.0303.54[90]3.15 [80]3.15[80]0.120 [3]2.756[70]REFSHAFT & PILOT DETAILINCHES [mm]1.18 [30]0.63[16]0.12[3]0.20[5]0.20[5]Dimensions L LE0.0008 A[0.02]LM0.28 [7][4] HOLES THRU0.551 +.0000-.0004314 +0.000-0.011MAC-DE006B1 2.5 [63] 3.5 [87] 2.1 [53] 2.9 [75] 1.6 [40]MAC-DE006B2 2.5 [63] 3.5 [87] 2.1 [53] 2.9 [75] 1.6 [40]MAC-DE008C1 3.3 [84] 4.2 [107] 2.9 [73] 3.7 [95] 2.4 [60]MAC-DE011C2 3.3 [84] 4.2 [107] 2.9 [73] 3.7 [95] 2.4 [60]Note: Minimum cable clearance from motor centerline for encoder cableis 3.2 inches (81 mm); for motor cable is 4.2 inches (107 mm). Cablelengths to connector approximately 11 inches [280 mm].ORMEC -12- D-SERIES SERVOMOTORS

DE021D2 & DE042E2 Outline DrawingsOPTICALENCODERCONNECTOR3.5[138]LLEMOTORCONNECTORLM0.39[10]0.0016 A[0.04]A4.331[110]0.0016 A[0.04]+.0000-.0014+.0000-.0355.71[145]4.72[120]4.72[120]0.14[3.5]4.331[110]REFSHAFT & PILOT DETAILINCHES [mm]1.57 [40]0.87[22]0.12[3]0.14[3.5]MAC-DE021D20.630160.20[5]0.20[5]+.0000-.00043+0.000-0.011MAC-DE042E20.24[6]0.24[6]0.0008 A[0.02]Dimensions L LELMMAC-DE021D2 3.2 [82] 4.2[106] 2.8 [72] 3.5 [89] 2.2 [56]MAC-DE042E2 4.3 [110] 5.3 [134] 3.9 [100] 4.7 [120] 3.3 [84]For length of models with brake and absolute encoder options selected, see page 11. Call for design details.0.39 [10](4) HOLES THRU0.75019+.0000-.00043+0.000-0.011Note: Minimum cable clearance from motor centerline for encoder cableis 4.0 inches (102 mm); for motor cable is 5.0 inches (127 mm). Cablelengths to connector approximately 11 inches [280 mm].All dimensions in inches [millimeters]DA030F & DA055G Outline DrawingsMOTORCONNECTOROPTICALENCODERCONNECTOR3.94[100]3.43[87]LLELM0.39[10]0.0016 A[0.04]A0.0008 A[0.02]3.7400.0016 A[0.04]4.53[115]+.0000-.0014[95] +.000-.0355.12[130]3.94[100]0.28 [7](4) HOLES THRU0.12[3]3.740[95]REF3.94[100]SHAFT & PILOT DETAILINCHES [mm]1.77 [45]1.26[32]0.078[2] 0.59[15]0.15[4]0.945 +.0000-.000524 +0.000-0.0130.31[8]0.28[7]Dimensions L LELMMAC-DA030F 5.9 [150] 6.4 [163] 5.1 [130] 5.6 [142] 3.0 [76]MAC-DA055G 7.8 [200] 8.4 [212] 7.0 [178] 7.5 [191] 4.9 [125]Note: Minimum cable clearance from motor centerline for Encoder Cable is6.2 inches (157 mm); for Motor Cable is 6.6 inches (168 mm).ORMEC -13- D-SERIES SERVOMOTORS

DA090H, DA110J & DA140K Outline DrawingsMOTORCONNECTOROPTICALENCODERCONNECTOR4.69[119] 3.43[87]LLELM0.47[12]0.0016 A[0.04]+.00004.331-.0014A [110]+.000-.0350.0008 A[0.02]0.0016 A[0.04]5.71[145]6.50[165]5.12[130]5.12[130]SHAFT & PILOT DETAILINCHES [mm]0.236[6]4.331[110]REF2.48[63]1.97[50]0.078[2]0.59[15]0.157[4]0.315[8]1.102280.275[7]+.0000-.0005+0.000-0.013Dimensions L LELM0.35 [9](4) HOLES THRUMAC-DA090H 7.9 [200] 8.4 [213] 7.0 [177] 7.6 [192] 4.8 [122]MAC-DA110J 9.3 [236] 9.9 [250] 8.4 [213] 9.0 [229] 6.2 [157]MAC-DA140K 10.9 [277] 11.5 [290] 10.0 [254] 10.6 [269] 7.8 [198]For length of models with brake and absolute encoder options selected, see page 11. Call for design details.Note: Minimum cable clearance from motor centerline for encoder cable is6.2 inches (157 mm); for motor cable is 7.5 inches (191 mm).All dimensions in inches [millimeters]DB025L, DB055M & DB080N Outline DrawingsMOTORCONNECTOROPTICALENCODERCONNECTOR4.72[120] 3.46[88]LLELM0.47[12]0.0016 A[0.04]A0.0008 A[0.02]0.0016 A[0.04]+.00004.331-.0014[110] +.000-.0355.71[145]6.50[165]5.12[130]0.35 [9](4) HOLES THRU5.12[130]0.24[6]4.331[110]REF2.28[58]0.47[12]SHAFT & PILOT DETAILINCHES [mm]0.98[25]0.59[15]MAC-D025L & MAC-055M0.1970.118[5][3]0.197[5]0.039[3.5]0.7480.866+.0000-.000519 +0.000-0.013MAC-D080N0.827[6]0.827[6]+.0000-.0005Dimensions L LELM22 +0.000-0.013MAC-DB025L 5.4 [137] 6.0 [152] 4.6 [117] 5.1 [131] 2.5 [64]MAC-DB055M 6.3 [160] 6.9 [175] 5.5 [140] 6.0 [154] 3.4 [86]MAC-DB080N 7.3 [185] 7.9 [199] 6.4 [162] 7.0 [178] 4.4 [112]Note: Minimum cable clearance from motor centerline for encodercable is 6.3 inches (160 mm); for motor cable is 7.0 inches (178 mm).ORMEC -14- D-SERIES SERVOMOTORS

DB100P, DB200Q, DB300R, DB330S & DB465T Outline DrawingsMOTORCONNECTOROPTICALENCODERCONNECTORK3.46[88]LLM0.71[18]Dimensions L LELE0.0016 A[0.04]A4.500[114.3]0.0008 A[0.02]0.0016 A[0.04]+.0000-.001+.0000-.025LM7.87[200]9.06[230]K7.09[180]0.531 [13.5](4) HOLES THRU0.13[3.2]MAC-DB100P, MAC-DB200Q & MAC-DB300R2.98[75.8]4.500[114.3]REF7.09[180] 0.13[3.2]SHAFT & PILOT DETAIL INCHES [mm]4.500[114.3]REF2.36[60]3.11 [79]MAC-DB330S & MAC-DB465T4.32[109.8]3.54[90]0.3940.197 [10][5] 0.315[8]0.197[5]1.379 +.0004-.000035 +0.01-0.0000.472[12]0.315[8]MAC-DB100P 6.5 [165] 7.1 [180] 5.7 [145] 6.2 [159] 3.5 [89] 5.8 [147]MAC-DB200Q 7.5 [190] 8.2 [206] 6.7 [170] 7.2 [185] 4.5 [114] 5.8 [147]MAC-DB300R 8.9 [226] 9.5 [240] 8.1 [205] 8.6 [219] 5.8 [147] 5.8 [147]MAC-DB330S 10.2 [259] 10.8 [274] 9.4 [239] 9.9 [253] 6.8 [173] 5.9 [150]MAC-DB465T 13.2 [335] 13.7 [348] 12.3 [312] 12.8 [327] 9.7 [246] 5.9 [150]4.45 [113]1.654 +.0000-.000642 +0.000-0.006Note: Minimum cable clearance from motor centerline for encodercable is 6.3 inches (160 mm); for motor cable is 9.5 inches (241 mm)For length of models with brake and absolute encoder options selected, see page 11. Call for design details.All dimensions in inches [millimeters]DB700U Outline DrawingMOTORCONNECTOROPTICALENCODERCONNECTOR6.61[168] 3.46[88]13.27[337]12.48[317] 9.88[251]0.71[18]0.0016 A[0.04]A7.874[200]0.0008 A[0.02]0.0016 A[0.04]+.0000-.0018+.0000-.0469.25[235]10.63[270]8.66[220]0.531 [13.5](4) HOLES THRU8.66[220]SHAFT & PILOT DETAILINCHES [mm]0.157[4]7.874[200]REF4.41[112]0.078[2]3.54[90]4.57 [116]0.885[22.5]0.197[5]1.654 +.0000-.000642 +0.000-0.0160.472[12]0.315[8]Dimensions L LELMMAC-DB700U 13.3 [337] 13.9 [352] 12.5 [314] 13.0 [331] 9.8 [249]Note: Minimum cable clearance from motor centerline for encodercable is 6.3 inches (160 mm); for motor cable is 9.5 inches (241 mm)ORMEC -15- D-SERIES SERVOMOTORS

Servomotor ConnectorsMOTOR / POWER RECEPTACLESEFDGFig. WACBFig. YA 1 Phase U REDB 2 Phase V WHTC 3 Phase W BLUD 4 Ground GRNE 5 Brake Term REDF 6 Brake Term BLKEDFCABDCFig. XConnector Type97F...CE05...JL04...MS....ABBRAKE CONNECTOR (Figure B)A Brake TermB Brake TermC --C ABFig. BManufactured byDeiichi DeshiDeiichi DeshiJapan Aviation Ind.AmphenolENCODER FEEDBACK RECEPTACLES (Figure U)A 1 Channel B outputB 2 Channel B/ outputC 3 Channel A outputD 4 Channel A/ outputE 5 Channel Z outputF 6 Channel Z/ outputG 8 0VH 7 +5VDCJ 12 Case GroundN 11 ResetP 10 0V (battery)R 9 +3.6V(battery)T, S, M, L, K -- No connectionTerminals usedfor absoluteencoders only.KLJMTHSANGPRBFFig. UCEDMOTOR / FEEDBACK / OPTION -- MATING CONNECTOR CHARTMOTOR TYPE FIG MOTOR/POWER MATING FIG FEEDBACK MATINGMotors (incremental or absolute feedback)All of MAC-DE series motors Y MS-3101A18-12P MS-3106F18-12S U MS-3101A20-29P MS-3106F20-29SMAC-DA030F, DA055G, DB025L, DB055M, DB080N X MS-3102A18-10P MS-3106F18-10S U MS-3102A20-29P MS-3106F20-29SMAC-DA090H, DA110J, DA140K, DB100P, DB200Q, DB300R X MS-3102A22-22P MS-3106F22-22S U MS-3101A20-29P MS-3106F20-29SMAC-DB330S, DB465T & DB700U X MS-3102A32-17P MS-3106F32-17S U MS-3101A20-29P MS-3106F20-29SMotors with IP-67MAC-DA030F, DA055G, DB025L, DB055M, DB080N X CE05-2A18-10PD MS3106A18-10S(D190) U 97F3102A20-29P MS-3106F20-29S(D190)MAC-DA090H, DA110J, DA140K, DB100P, DB200Q, DB300R X JL04HV-2E22-22PE-B JL04-6A22-22S U 97F3102A20-29P MS-3106F20-29S(D190)MAC-DB330S, DB465T & DB700U X JL04V-2E32-17PE-B JL04-6A32-17SE U 97F3102A20-29P MS-3106F20-29S(D190)Motors with Fail-safe BrakeMAC-DA030F, DA055G, DB025L, DB055M, DB080N W MS-3102A20-15P MS-3106F20-15S U MS-3101A20-29P MS-3106F20-29SMAC-DA090H, DA110J, DA140K, DB100P, DB200Q, DB300R W MS-3102A24-10P MS-3106F24-10S U MS-3101A20-29P MS-3106F20-29SMAC-DB330S, DB465T & DB700U X MS-3102A32-17P* MS-3106F32-17S* U MS-3101A20-29P MS-3106F20-29SB MS-3102A10SL-3P* MS-3106F10SL-3S*Motors with IP-67 and Fail-safe BrakeMAC-DA030F, DA055G, DB025L, DB055M, DB080N W JL04V-2E20-15PE JL04-6A20-15SE U 97F3102A20-29P MS-3106F20-29S(D190)MAC-DA090H, DA110J, DA140K, DB100P, DB200Q, DB300R W JL04V-2E24-10PE-B JL04-6A22-22S U 97F3102A20-29P MS-3106F20-29S(D190)MAC-DB330S, DB465T & DB700U X JL04V-2E32-17PE-B* JL04-6A32-17SE* U 97F3102A20-29P MS-3106F20-29S(D190)B CE05-2A10SL-3PC* MS-3106A10SL-3S(D190)** Brake option requires separate motor and brake cables (both incremental and absolute).D-Series Encoder and Motor CablesStandard IP-67 Sealing Brake Option Brake w/IP-67 SealingCBL-DMSW/XEncoder cable for all MAC-DE motors, 1-150 ftCBL-DMSW/X CBL-DMSWV/X Encoder Cable for MAC-DA & DB motors , 1-150 ftCBL-DEMSW1/X CBL-DEMSWB1/X Motor cables for all MAC-DE motors, 1-150 ftCBL-DMSW1/X CBL-DMSWV1/X CBL-DMSWB1/X CBL-DMSWVB1/X Motor cables for MAC-DA030, DA055, DB025, DB055 & DB080 motors,1-150 ft. For use with ORMEC drives (SW210 - SW220, G10 - G20 andSMS-210 - SMS-220)CBL-DMSWT1/X CBL-DMSWVT1/X CBL-DMSWBT1/X CBL-DMSWVBT1/X Motor cables for MAC-DA055, 1-150 ft. For use with ORMEC drives(SW225, G25 and SMS-225).CBL-DMSWT2/X CBL-DMSWVT2/X CBL-DMSWBT2/X CBL-DMSWVBT2/X Motor cables for MAC-DA090, DA110 & DB200, 1-150 ft. For use withORMEC drives (SW225 -SW260, G25 -G60 and SMS-225 - SMS-260).CBL-DMSWT3/X CBL-DMSWVT3/X CBL-DMSWBT3/X CBL-DMSWVBT3/X Motor cables for MAC-DA140 & DB300, 1-150 ft. For use with ORMECdrives (SW235 -SW260, G35 -G60 and SMS-235 - SMS-260).CBL-DMSW4/X CBL-DMSWV4/X CBL-DMSWB4/X CBL-DMSWVB4/X Motor cables for MAC-DB100, 1-150 ft. For use with ORMEC drives(SW220, G20 and SMS-220).CBL-DMSWT4/X CBL-DMSWVT4/X CBL-DMSWBT4/X CBL-DMSWVBT4/X Motor cables for MAC-DB100, 1-150 ft. For use with ORMEC drives(SW225, G25 and SMS-225).CBL-DMSWT5/X CBL-DMSWVT5/X CBL-DMSWT5/X CBL-DMSWVT5/X Motor cables for MAC-DB330, 1-150 ft. For use with ORMEC drives& CBL-DMACB/X & CBL-DMACVB/X (SW260, G60 and SMS-260).CBL-DMSWT6/X CBL-DMSWVT6/X CBL-DMSWT6/X CBL-DMSWVT6/X Motor cables for MAC-DB465 & DB700, 1-150 ft. For use with& CBL-DMACB/X & CBL-DMACVB/X ORMEC drives (SW260, G60 and SMS-260).Note: For all cables above, specify length of the cable by adding the numerical length in the "X" placeholder in the Model Number.ORMEC (Printed January 2001)-16- D-SERIES SERVOMOTORS

EDR-25 Series EncodersLineshaft Pacer EncodersThe ability to interface a positionencoder to a ServoWire TM Drive canprovide vital position information tothe motion control system.This approach is simple, yet effective,because information for the“encoder axis” is available to be usedin the same way that information isused from any “servo axis”.Remote Encoder Interface to ORION ® ControllerUses of Remote Encoders1) Pacer Encoders measure real-timeshaft position data of a machineaxis to be sent to other servo axesin the system when electronicgearing and/or cam profiling areused in an application.2) Programmable limit switches oneach ServoWire TM drive can beconfigured to turn on or off basedon pacer encoder position.3) Position and velocity information isaccessible from the MotionBASIC ®language for every encoder usedwith an ORION ® system.4) Remote Feedback Encoders can beused to provide position feedbackdirectly from the load undercontrol, usually used in conjunctionwith velocity feedback from theservomotor shaft to provide anadditional level of precision for thecontrol system.ServoWire TM Drive InterfaceThe encoder interface is a partialservo axis interface, consisting only ofdifferentially received quadrature AFEATURESHeavy duty sealed bearingsrand NEMA 4X housingFlange mount with integralrcoupling and servo mountconfigurations available200 KHz frequency responserfor all channelsOptional 2X, 4X, 5X andr10X cycle interpolationMaximum data rate increasesto match cyclerinterpolationLED light sourcesrORION ® ControllerLineshaftPacerEncoderServoWire TM drives provide a convenient interface to encoders used primarily for electronic gearing.and B channels and a reference Z-channel. Selecting the “encoder input”axis control mode disables servodrivealarm detection but still provides openwire detection to insure encoderposition information integrity.Optical Position EncodersORMEC's Model EDR-25 optical,incremental position encoders areideal for a wide variety of ruggedindustrial applications where reliabilityis a prime concern.LED light sources rated for 100Khours MTBF, 40 pound axial/35 poundradial shaft loading capability, 200 KHzfrequency response allow theseencoders to be effective in harsh,industrial applications.The EDR-25 provides a 1/4 cyclewide gated zero reference output.Models with cycle interpolation havemaximum resolutions up to 200,000counts per shaft revolution.Electrical SpecificationsResolution range: Discs can beprovided with up to 5000 lines. Thisresults in resolutions up to 50,000counts per revolution with standardORION ® quadrature decoding, or to200,000 counts per revolution withinternal 10X cycle interpolation.Light sources: Gallium AluminumArsenide LEDs rated for 100,000 hoursMTFB (manufacturer’s specification)Light sensors: PhotovoltaicExcitation voltages: 5 VDC @ 245 mAmaximum. Units with cycle interpolationrequire a maximum of 450 mA.Output format: Two outputs (A andB) in phase quadrature with a zeroreference (Z) outputQuadrature specification: 90 o +12 o ;with internal cycle interpolation: 90 o+45 o (at 10KHz output frequency)Symmetry specification:180 o +5 o (at 10 KHz output frequency)Rise & Fall times: 1 usec (maximum)into 1000 pf of load capacitanceFrequency response: Units withoutcycle interpolation: 200 KHz for allchannels. Units with cycle interpolationobtain 400, 800 & 1000 KHz.Zero Reference angular width:1 +1/4 count channel cycle. Unitsprovide a 1/4 cycle wide gated zero (Z)reference.Phase sense: Channel A leadsChannel B for CCW rotation of theshaft as viewed from shaft end (faceend) of the unit.Output Specifications: Output stageis an MC3487 (or performance equivalent)differential line driver with 40 masink and -40 ma source current.ORMEC -75- LINESHAFT PACER ENCODERS

30 o 1.5 MAXSETSCREWFLAT.027DEEP2.5102.490DIA.EDR-25S2.31DIA..3747.3745DIA.1.25001.2495DIA.100 MIN.75FLAT.305.2951.460.171 [4.3] DIA. HOLESEQ. SPACED ON A2.952 DIA. B.C.1.67MAX.2.522.50DIA.COVERMOUNTINGSURFACE2.4385-0.000+0.0010.2[5]3.25[82.5]COUPLING ID: 0.375 [9.5]#2 SCREW, 5.64 HEX DRIVERMIN SHAFT LENGTH: 0.25 [6.4]MAX SHAFT LENGTH: 0.5 [12.7]EDR-25CUnless otherwisenoted, dimensionsare the same asfor EDR-25S10-32 UNF-3B, .188 MIN.DEEP, 3 PLACES EQUALLYSPACED ON A 1.875 DIA. BOLTCIRCLEMechanical SpecificationsMaximum Shaft loading: 40 lbs.axially, 35 lbs. radiallyShaft radial runout: 0.001" T.I.R.Maximum Starting torque at 25C:EDR-25C (without shaft seal): 2.0 oz-inEDR-25S (with shaft seal): 5.0 oz-inShaft angular acceleration:10 5 radians/sec 2 (maximum)Moment of inertia: 4.7 x 10 -4 oz-in-sec 2Bearing type: Sealed class ABEC 7Minimum Bearing Life: 2 x 10 9revolutions at rated shaft loading.(Bearing life increases to 5 x 10 10revolutions at 10% of rated shaftloading.)Shaft: 303 stainlessMaximum shaft speed: 6000 RPM or200 KHz count channel output frequency,whichever occurs first (beforecycle interpolation).Weight: 17 oz. (maximum)Error: +0.5 bits maximum (basedon ORION ® 4X counting circuitry);+1.0 bits maximum (applies to unitsAABBZZCCW Rotation.02 X 45 owith cycle interpolation)Coupling Specifications (EDR-25C)Maximum Wind-up: 30 arc-secondsper oz-inMaximum Angular Misalignment: 5 oMaximum Axial Play: +0.010 inMaximum Parallel Misalignment:0.010 inEnvironmental SpecificationsOperating temperature range:0 to +70CStorage temperature range:-25 to +90CMaximum Shock:50G’s for 11 milliseconds durationORDERING GUIDELineshaft Pacer EncodersEDR-25S/A1000EDR-25S/A1250EDR-25S/A2500EDR-25S/A5000EDR-25S/B5000EDR-25S/E2500EDR-25S/D5000EDR-25S/E5000EDR-25S/F5000EDR-25S/G5000Note:.91.85Position Encoder: "1000 linecount, servo mount" provides 4,000 counts per revPosition Encoder: "1250 linecount, servo mount" provides 5,000 counts per revPosition Encoder: "2500 linecount, servo mount" provides 10,000 counts per revPosition Encoder: "5000 linecount, servo mount" provides 20,000 counts per revPosition Encoder: "10,000 linecount, servo mount" provides 40,000 counts per revusing "2X" cycle interpolationPosition Encoder: "12,500 linecount, servo mount" provides 50,000 counts per revusing "5X" cycle interpolationPosition Encoder: "20,000 linecount, servo mount" provides 80,000 counts per revusing "4X" cycle interpolationPosition Encoder: "25,000 linecount, servo mount" provides 100,000 counts perrev using "5X" cycle interpolationPosition Encoder: "25,000 linecount, servo mount" provides 100,000 counts perrev using "5X" cycle interpolationPosition Encoder: "50,000 linecount, servo mount" provides 200,000 counts perrev using "10X" cycle interpolationTo specify encoder with flange mount and integral coupling, replace “25S” in model numbersabove with “25C”.CBL-QE25SW/XCBL-QE25SWV/XCON-E25.105.0952.60 maxCOUPLINGSET BACK0.03[0.8]0.26[7]2.82[72]Vibration:20 Hz to 2000 Hz at 20G’sMaximum Humidity:98% R.H. (non-condensing)Connector PinoutPin DescriptionA Channel AB Channel BC Channel ZD +5VDC (+5%) onlyE Test Waveform*F CommonG Case GroundH Channel A'I Channel B'J Channel Z'*-only available on units with cycle interpolationEncoder Cable, EDR-25 to ServoWire Drive, 5-150 ftEncoder Cable, EDR-25 to ServoWire Drive, IP-67, water-resistant, 5-150 ftEncoder Connector, for EDR-25 EncodersORMEC -76- LINESHAFT PACER ENCODERS

Motion Control TrainingInstitute forAdvanced Motion ControlORMEC established its TrainingDepartment to offer a valuable serviceto our customers. ORMEC conductsformal courses for engineers andtechnicians interested in electronicmotion control. These courses providequality instruction on servo controltechnology, application development,system design and troubleshooting.ORMEC’s training courses areheld on a regular schedule in RochesterNY, and are conducted classroomstyle combining lecture, discussion,and lab sessions. The labs are popularconfidence builders with our studentsas they reinforce the course materialsthrough “hands-on” interaction withthe motion control hardware andsoftware.On-Site CoursesAs an alternative to attendingclasses in Rochester NY, customersmay arrange for On-Site classes heldat their own facilities. The On-Sitetraining service becomes economicallyfeasible when a large group at acustomer location requires maintenanceor programming training. Oftenmaintenance training sessions benefitwhen the training course is tailored tothe customer’s application. Customizedtraining services are availablefrom ORMEC, and can be arranged bycontacting the Training Department.ORMEC Training Offerings: At a Glance4 Courses designed to meet needs of Application Developers & Maintenance Technicians4 “ORION Application Development” course provides students the experience of developingan application from start to finish. Lectures, labs and materials develop skills tomake students productive immediately --- including training on MotionDesk developmentsoftware, motion and I/O programming, Human-Machine Interface software andnetworking connectivity.4 “ORION Maintenance and Troubleshooting” course provides skills for technicians whowill maintain ORION motion control systems. Hands-on approach builds confidence topinpoint problems and re-start systems. Overviewing ORMEC’s motion controlconcepts develops a useful understanding for troubleshooting system operation.4 Courses emphasize hands-on, lab-oriented training featuring two-axis demo unit.4 Extensive class notes, labs, sample programs and CD-ROM product documentation4 Students gain knowledge and skills to make them more productive immediatelyCourse Overview and DescriptionsORION Application DevelopmentThis five (5) day class is a concentrated course for control system designers, engineers, and programmers. In this class the student develops anentire application project from start to finish. ORION motion controller architecture and hardware are emphasized as well as ServoWire Drives.The student uses MotionDesk programming environment software to configure and program an application which increases in complexity asthe class progresses. At class conclusion the finished project includes a multi-threaded application program which runs independentmachines with an error handler that implements failure recovery and error logging. The finished application also features a touchpanel HMI aswell as network communications. (This course is generally not recommended for technicians, electricians or those interested in learning onlygeneral capabilities or maintenance of ORION systems.)ORION Maintenance & TroubleshootingThis two and one-half (2½) day class is ideal for technicians who will maintain ORION motion control systems. ORION hardware and architectureare covered with an introduction to pertinent programming commands. Students perform the steps necessary to pinpoint failed components, andrestart a system. Students should acquire the confidence and ability to locate problem hardware in an ORION application. Both MotionPRO &MotionDesk programming environments are covered --- providing skills to support systems using traditional analog drives and ORMEC’s latestServoWire drive technology.ORMEC -77- MOTION CONTROLTRAINING

More about ORMEC ...Visit our website for the latest news, on-line product catalog,product presentations, applications information and more.In North America, call1-800-656-7632for more information.ORMEC SERVOWIRE PRODUCTS GUIDEORMEC’s network of sales partnersthroughout North America and Europeprovide outstanding technical support.Use the web to locate your local contact:(http://www.ormec.com/contacts)19 Linden Park, Rochester, NY 14625(716) 385-3520 FAX: (716) 385-5999In Europe: +41 (1) 420-1300 FAX: +41 (1) 420-1304Technical information herein is subject to change without notice. Printed in U.S.A. Copyright © 2000. ORMEC Systems Corp. All rights reserved. ORMEC, ORION andMotionBASIC are registered trademarks of ORMEC Systems Corp. ServoWire and MotionDesk are trademarks of ORMEC Systems Corp. FireWire is a registered trademark ofApple Computer Company. IBM is a registered trademark of IBM Corporation. Intel is a registered trademark of Intel Corporation. QuickPanel is a trademark of Total ControlProducts, Inc. Data Highway/Plus is a trademark of Rockwell Automation. Modbus TCP is a trademark of Schneider Electric. Snap Ethernet I/O is a trademark of Opto 22.