.... , ,

:;'!j ii,'

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, '!\!ltl!J

o

L "r\:' , hJ:i1

" Ill,!

M Drive User Guide ,

Compumotor Division Parker Hannifin Corporation pin 88-002385-02 A iJarkl!r

User Information To ... u,," that the equiprne<1t des<:ribed In thiI u"", guicIe. as well I . a ll the equipment COmecled to and U&Id with ~. opiI",t • • u fullactorlty Ind larely ..... eppbIbie local and ... tional <>OdN that apply to installing and opereting the equil'fMlll must be lollowe<:!. SInce _ eRn VI", geographically and CM ch •• with tlma, M " the .... , •• _o .... 1b~iIy,Q "'."';0,. _ e"",plyw"h "'_ oppIi<_ • • '.M~ ond ~._ W.QNINGI' ~.iI<_ ,<>~,.;",

/JPPIiCalH ccxJo .nd .tNldMJl C4II r'l/suIf'" dlImllS'l' to ~t &n6'Qr Hrioln irjur'/ to persannel.

Personnel woo .'" te In ... ~ and opeIate \he eq~t .~kI study l/IlIlISl' guidfl and all ,,,1.,,,,,,,Il0(l OOcUfllanl,· lion prier 10 IrII~ an<i'Q' """rarion of the equipment.

In no .... ont win the~, 04111e &q~ blllillbitlior My h"'kkIt~al. eonsequenUal. Or IIJ)edal damage. of any I<Jno or ""lUlu w .... ''''''' ..... h ""'JI!'ij wI ' .... ",'0''''' ,V ..... ~'uI ; l. dO ... ' "" ""' '' '" i" ""r Wd, ~ ......... ''''' "n" u ........ of thil uH, guide O. the ~nt.

C Cr;>mpumotor DlvI.'on ot PI/rill, H.nnlnrt C""",,,,UOII, INT _AI' RIQ"'.II~~_d-

The inlCmI&tlon In Ih ..... ' goIde. O!d~ any appa,"I .. , meltloda, techniq .... , lrod conceptS described her"", are Ih. "...", ..... 'Y I""f"' ..... " ' 1'.",_ r.....",.."""' ..... ,." ... ~ .n<t .... y nnI hoi ~"flI<wt ~. <>< ,_ I"" .ny (>1''1'"'''' ..m .. p", .. ~ authorlled by the owner tr..,oof.

$inca Parke< Compumotor eonstMtl)' .trtves to Lonproo;e aU of tt. prod\lo;tl, we ,e_ the right to ~hange thl. LIM' guide aocl equipment ment>onOO therein at anyime wiltlooJt notH.

TechnIcal AssIstance e"", ... t )'l1li' Ioc.II-.AtJmatlOflll<:llllOlopy centf, (ATC) or ~,rlbtJtor. or ••• • • • • •• • •• • • ••• • • ••• • • •••• • • • ••••• • • • •••• • • ••• • •• • ••• ••• • •• North Amerlce .nd A, I.: ._ ...... ~"'""-, 5500 _ P.", 0 ..... f\of1Mr1 P."'. ell. i-I828 -. ,~

F~S)'&1"" ~. E·'-IaII:

;larkl!r Automation

(fIOOj a58-i070 (707) ~.;J7!13 (fIOOllI3SoSne (107) 5&01-105& ...", 1>oIo.~.oom

EYro~ (non-Gmnln ape_king): ._-Zl ...... ~""--.­EngIMd SH I1 7DX •• '·m-l!QO.~" « ' ·m·eoo-ero

Germ.ny, Ayllrl., SwitUlI.nd: H.- ElKtronit< iJ<nI>tj -.,·",-,,·o_.u o.n&so OIItnburg ...... 478,·m300 . 9-nl1·m178

COMPUHOTOR CORPORATION

tI-SERIES MOTOR/DRIVER OPERATOR'S tlANUAL

TABLE OF CONTENTS 1. INTRODUCTION 2 . INSPECIION 3. UNPACKING ... tlUUNJ.N(; TIt!:: MOTOR AND DRIVUl

4 . 1. Standard Motor Orivar .. 4.2. Opan Fr.~a Metor Driver. 4.3. Environmlntal Con.idlrationa

5. CONNECTING AC POYER • • ... 5.1 . Standard Motor Drivi' . ~.~. Vpen-trame Motor urlve'

6 . CHECKOUT . . . • . . . . . • • 6. 1 . Propar Torqui . . .. 6.2. Pu151 Sourca Connection 6 . 3. Pul •• Ganeution 6 .4. CompWflotor Pul .. Caneration

7 . Llt1IT~O·TAAV~L "tG~l~~ . 8 . DYNAMIC CHARACTERISTICS OF THE COHPVMOTOR 9 . ENCODER OPTION .. .. 10 . PERtOlllC MAINTENANCE 11 . TROU!LESHOOTING .

11 . I .Hotor Faila to Turn

•

• •

•

t1 . 2 . Nucu. 3Cu~~ D .... 1,,1I Acc.l ..... Uuu 11 . 3.Hotor f.ll. to Run Abova 20 rp. 11 .4 .Hotor !. Jarky, NoilY or ~a.k

FACTORY SERVICE

(1200 rpOl)

12. 13. FURTHER NOTES . . . .

". SPECIFICATIONS 14.1. C" ... l .. o"", • ..,too.l ~p.elfle .. tlon. 14 . 2. Elaetric.1 Speeifie.tionl

Appendix A; Dummy Load Paramat.r • .... Appendix !: Maximum Recommendad Motor Yira Siz •• Appendix C; Ylrinl Ola,r.= - Driver to Index.r Appendix 0; Mating Connector. and Cable.

E, COnn •• tO" Pln .... ~ Ll.~ • .... "-p-p .... ,H .. Appandlx f: Appandix C; ApPlndix H: Appandix I; App.ndix J;

Circuit Bo.rd Hountln& Diman.ionl Ha.t.ink Hountin& Dimenltonl Driver Thermal Data . . . . . . . End Plata H.~h.nlc.l Dlmenlion. Eneodlr Hountln& Hola Dl=.nllona

App.ndiK K, Moto .. /D .. tv.~ Di •• n.l~n. Append1Jt L; Yarranty ..... . ... . . .

2 2 2 , J , , , , , , , , 7 7

• • , " " " n n n 12 12 12

" II I ' 16 n 18

" 20 21 22

" " " JO

COHPUKOTOR MOTOR/DRIVER SYSTEMS

INSTALlATION AND OPERATION MANUAL

1. It.TIODUCTION

W/WU!WI

COQPUGotor Corpor.el an h •••• d ••• pee!.l .ffart in the d.ll,n .nd con.truceion of Itl product. to a.k. th.a both v.r •• tll •• nd ••• y to u.e. Th ••• ch.n lc.l torqua produc.d by th •• a . otor/ drlv.r. 11 c.p.bl. of dama,ln, or da.troyln, "" ...... Ip .... " " " .1 ,1>.1, LI" l .... ""nnecuG U: l=prOp.rly In't.11ad. oper.t.d, or .ervlced. Only p.t.on. qu.lified In .ervlein, .nd In.e.llln, h.,.tdou. volt.,_ .I.ctrlc.l .nd lialted·tr.v.l •• "h.ni"el .y.te ••• hould ettempt thi. proc.dun.

n.. C""'puaou .. 0,'" 1' ..... . KOU',, · ~rl.v .. r I"~".I>' h r"""Uon. lly 11al1.r to box.d,unic Co.p~ocor.: Th. mocor i. coapl.C.ly unch.n,.d, .nd th. driver p.ck.,e dlff.r. only In th.t It l.ck. the 1.r,. finn.d h •• t ,ink, ,h •• t •• t. l cov.r, .nd and connector p.n.l wlth It •• otor .nd Ind.x.r conn.ctor •.

? nJ~Jli:CTION

C.r.fully In.p.ct the .hlppln, t.rton(.) ror .ny .vldenc. of phy.ic.l .bu •• or damas •• nd not •• ny rlndln,. on the ~.yblll .t the tlQ. of rec.lpt. In c .... of •• v.re d •• "., it 11 r.comQend.d th.t th •• hlp •• nt b. r'J.ct.d .ntir.ly. Co.p~otor Corp"u ... l"" ~ .......... t.. uo,o".U.h f . .. i" u ..... ito ....... , •.

3 . UNPACKINC

U •• e.t. In op.nln, the lupplled .r. not cut Ot followln, It ••• ,

Q.t:t pUer!ptlRD

c.rton(e) .0 ch.t the c.bl •• Var1fy tha [lca1pe of the

1 Co.p .... otor wIth 10 f oot (3K) Driv. C.bla 1 Dtlv.t (Pov. r Aapllfi.r!Tr.n.l.tor) Modul. 1 3·wlr. AC LIne Cord (; f •• ~ (?M) ... I~h C ...... " .. Pi" 1 Pul .. Sourc. C.bla Kit 1 Stand.rd Produet Lin. BroQhura

For .n Op.n·Ft ... Kotor· Driv.r '.ck.,. v.tlfy the rec.lpt of the

COtIP1.1KOTOR CORPORATION ,

follovlnl lu, .. :

au puctlptlgn

1 PIoCOt (vlth ",bb and "" ...... "COt) 1 Drtvat 'tlntad Clre,,!c U ... Iy 2 ScravI , 4 . 40 X ] , 4 2 'pae.~, I f '-2 \I .. ha~, Inl",htilln 1 J .... pu, (hr, tYPI) 1 IntuUatlon tnlt.ruetlllnt

Varley that tha aboYa Ita.1 hav. baan lneludad In YllUr .hl~ant ler e •• h "~.r 4.lv •• ( .~e.pc efta 1nser\lecllln .. nu.I ) and chat e ..... lu .. IU not etukad , broka .. lit ochal'VI .. d.aa.,ad . It II a ,0114 Idaa til •• va tha "nit'. ,aekln, .. tarlall In tha aVlnt a ",nlt naadl to ba ,arvrnad to COI,uaotllr .

4 . KOVNT I tiC THE HOTOI!. AND DRl VO

lbl thraa Sa rial or C ; eotor eonforl til ~~ Standard fr ... • Itaa a. rllliovi .

1'" ..... 1' ..... " ... tlDIA S~.,,4 •• ·" ~" ~" Sulu [u •• Sin UU Creda 5AE

"" " _S·l2 , '" " '10·)2 )

KID' ., _Io_n )

Tha C..., .... otor .ho",ld bI lO"'"tad rl,ld1, vlth ch. prop.r .It •• nd ,r.4& or hardv.r. at III (II",r "orDlr', .nd ch .... tor e •••• hould b. eOnnletad to third vir. ,,"und.

Tha CompUGOto,' •• o",ntlnl lurrac •• et •••• h •• t IInk1ns dlvlea vhl~h ~.rrl •• 'V.7 Lh.raal .ner&7 &.ner.c.4 ~~ •• It haa~ I", .

T~rat"uI pr....,.d II)' eha ... tor Yhln .... t _t.d ... y .... •• el •• lv., Ind Irl thl rl."lt IIr ~ eo.pu.otor h.vt"' (,,11 pow.r .pplt.d to ~ IOtor at .11 el ..... Vln wh.n not rotltlnl . Thl. "'atl"l ta notall , Thl IOtor caape,at"rl viII drop "on.l4&r.bly whan ch. C..., ..... tor I. aovntad .

Thl Orlvlr .. y bl .ountld .oaa dlltanea (ro. the .otor Ir the vir. Iln,th. and .1nl .... wlrl ,t'l' ll't.d In Appendlw •• r. ob'lrvad . Kotor eabla •• tlntlona 'rl Ivai labIa (rom tha (aetory .

Kount cha Drlv.r with cha h •• tllnk (tna runntDI v.rtl"atly (or bI.t ellgv.""IIIn "6&lt~& ( 'tr '~' ~) . • .lnl.w. .1 , In&ha. ( 1 . 6% e.) o( el •• rane ..... t l"rrDUnd the Driver on the h •• t.ink "lip and (o ... r .Id .. .

,

H·SERIES OPERATOR'S MANUAL

Routa tha motor cabla carerully ao that mov.mant. of the motor and any attachad lJIechani.m{.) wUI not tau" inurhnnca. In addition, tha motor cabla Ihould ba routad IWly fr om Iquipmant that il ,an.itive co electromagnetic int.rfirenci .

It t. nlcel.lry to mount the driver belrd h.at .ink to a metll aurfac'l to conduct h.at .way from the pO"lr tran,i.tor.. Tha haat aink ahould b. firmly .ttech,d to the mountln, .urf.ca to provide ,ood tharm.l conduct ivity. It I, r,commandad th.t heat .ink compound (Iuch a, Th.r-alloy No . 2~9) b. applild blr",en tha h.at aink and the mount in, aurfac., particularly for the M83 and MI06 driva •. Refer to App.ndlx E for th.rm.l d.t. on thl varieu. drivI' avail.bl •. Thre.ded lJIountin, helll ere provld,d on the bettom and thl 'ida of the heet .ink II .hown In Appandix C.

The end of the circuit bo.rd 0ppollta the heat aink muir .Llo be ,ecured. Splclr,, ,craw., and inlulation we.hers have been .uppU.d ror thll purpo ... Appendix e he. dlm.nliond det. il. en circuit board lJIountln, hole •.

Th. meuntin, location fer the eempumotor and driver mu.t be free lrom all l1qu1C. anc protactlC trom conCuctlve Chip. anc CUlt. Th, .canderd eompuaotor i, not Iultabll for Ixplo.ive ,tmo'phlr •• , v.cuum beyond 10 . 2 torr, or lif, .,upport equipmenc . The be.rin" in the motor are not ••• lad and mu.t be prot.cted frem contaminant ...... bi.nt condition. for thl Driv.r arl 32 to 1220F (0 to 500e) and 20 to 90, humidity (non·condan.in,). Th. \..ompumotor c.n op.r.t. trOll .U to l'LI"t- lLl to ILI"\..).

Coil Iny IXCa" c.ble at the DriVer Ind 'Icura it ~irh I clbl. t1e. Thi. e.ble e.rrle. hl,h volt.,. (lSO VDC) .nd .11 ~Ire run. lillie confor. eo ell .ppllelble 10ciL Ileetrle.l cedi' Ind OSHA r.qulr .... nt. . Ch.ck thlt tha lIodal numbar of the Co,"p\llloter and thl Drlv.r hlv. the .am. cyp. numb.r (I.&. ft&)·')).

St.nd,rd Ce,"pumctor lIotor .nd indexer cabll' viII not connace diractly to the Driv.r printed circuit bo.rd. To do this, the ,t.ndard connlctere arl rlmovad end in.ulltlon dl.pL,c.lJlant-type rup connectotl erl undo P.rt numbarl .nd vendor name. for ~" .... ~uuu.~~,,<_ ••• 1h ... " In "~ .... ",ll" D.

Pin connlction. to the Op.n·Fr .... Heter·Driv.r .r. II. ted in App.ndix E.

COMPUMOTOR CORPORATION ,

to r'QOv, the .t.nd.rd aator .nd Ind.x.r eonn.ctora. numb.r. for th ••••••• Qbli •• a.y b. fo~nd in App.ndix

5. CO~'lIECTINC AC POWER

Plrt D.

S.l .ct •• o~re. of 117 VAC pow.r whleh I. free froa Itn. drop o~t •• nd tr.n.ient volt.,. 'pik... Th. a.xi.u. current dr.w of the v.tiou. Kotot/Dr!v.t 5y,c.Q. i. li't.d In App.ndlx S. St.nd.rd pr.etic •• of .i~lng wire for th ••• lo.d. mu.t be u~~.,y.~ La .1nlDl~. ~he vol~.ge orop .~ ~ne Drlver.

Rot.t. the Motor C.ble Conn.ctor unt il it . lip. into the m.r!ng conn.ctor on the Driv.r. Turn the locking coll.r clockwl •• until it h tight.

CA!lI ION High volt.g ••• r. pr .tent on the driver circuit boerd. Th.I. au.t b •• llow.d to ditch.tg. for five minute. aft.r t.klng pew.r off prtor to handling thl c.rd.

T.lt eq~lp •• nt will b. d~.g.d If eonn.ct.d to thl Driv.r bo.rd wi tho~t ullng • pow.r lin. I.ol.tlon trln.forD.r. R'p.ir of dam." d or f.iled unit •• hould b. referred to the CompUDotor Rep.lr D.p.rtm.nt.

PrGpor OGnnoo~lon or ~ho Ho~or l. t.por.~lv. ~o .voto °"_60 to the Drlv.r. An Intermltt.nt Koter tonn.ttlon will d.finit.ly t'ul. Drlv.r f.llure . Cenn.cter loc.tlon m.y be found In App.ndlx F.

8.forl .pplyln! ppwer to the Driver boerd, verify the Driver to Ho~or oonno_t i ono vLth on o~.t. ~ . K~to~ pho.o ~ln6In6. oro typlt.lly ebout on. oha. Th.r •• ho~ld b, no continuity to the oppo.it. ph ••• or .erth ,round.

'MION H.~.rdou. volte, •• In.id. . R.Clr In.tell.tion end .orvlolna to q~.lL!I.6 por •• nn.l only. DO NOT CONNECT OR DISCONNECT TNt HOTOR FROM TMt DRIVER ~IL! paVEl IS ON. To do .0 vlll dlAe,. the Drlv.r Ind void the verr.nty.

6. CHECKOUT

A dummy le.d vl th .n In.rt t •• pproxl~.tin, the one listed In App'ndtx A for your motor .hould be mounted .Icur.ly to the motor

M.·S£RIES OPERATOR'S 1tANUAl.

.h.ft for tl.ting. Only coillt •• tyll mountlnl cl~p •• r. r.commendld for .ecurity .nd for conc.ntricity betw.ln the 10ld .nd tho motor .h.ft.

Prior to In,rlizinl the Kotor/Drlv.r, •• nulily turn the e~~~um~~u~ .~.!~ by ,r"P1nl t~. OUt.r r.01u. oI tnl oummy 10.0. On •• hould fill the .I,nltic d.t,nt. chlr.ctlrl.tic of thi. type of AC .ynehrono~ motor ,mploylnl p'~lnent .',net •.

om Motor/Drlv~r. vith '"rl"l numblr. hllaher thIn 4,0001 •••• '1' 1ue .. ·".1 1nL,ulo,,1<. bulle inco eh • • OtOI c,bll (Pins lInd 7). Thl int, rl ock viII not .110v pov.r to bl dlliv,rld to ch. motor connlctor while tho mOtor is dr,con· nleted. Thl. I, ••• fety f l.ture to prot.et thl oplr.tor from h."rdQul yolt"". th.t vould oth"rvi," be p ..... "t. It l. l"p"r" ... " ch.c ~hh t"L ... l~ ...... L. ,upport,d .hould In extln.ion or cu. tom clb l . b. u •• d to drlv, thl motor. Con.ult tho r.ctory for ••• i.· t.nce prior to m,kin, Iny extension or Cu, tOll clbl ...

It i. not unu.uel for therl to be e .nlp or pop CIUlld by the in· rUlh enerlY chlr,ln, the Kotor/Drlver pover lupply. Check thet the rltld holdinl torque 1. prl.lnt It the Compumotor .h.ft . Thi. m.y be doni fill. I. the 1I'ln.tic det.nt torqui viII hev. in~rl ••• d by .t l • • • t en ~ .. d ... of ••• nl~~d.. A .tandard t . r~~.

vrlnch m.y be u •• d in pleel of tho dummy lo.d if • quick. quentlfilble r •• ult i. desir,d . Should thl torque under power bl lov or non.xist.nt. proce.d to Siction 11, Troubl, Shootlnl (PIse 10) .

DO NOT connlct or dl.connlct thl 1I0tor connlctor whill thl Motor/Driv.r i, .nlrll~ed bec.u.e .n .rc vill r.lult in the conn.ctor .ub"quently. Ind damal" tho MotorjDrlver . To do 10 void. thl Wlrr.nty. Multiple ~nrn~. way ~~ ~nnn~~~~~ nna a~ a ~t ••. ~~ thl ....

drivlr by u •• of thl R.motl Povlr Shutdown .nd ext.rn.l .vitchl'. Conlult thl rIc tory if thl. i. rlquir.d.

6.2. Pul.1 Sourc, Connlction

COMPUMOTOR CORPORAT ION •

Slrnll .. 'In Celer Ced.eCenneeter Fln Ne_.

Diraetien Input (+)CralnA 20 mA, TtL llval Diraetlon Return (-)YhitIE Step Input (+) RId! 20 mAo TTL llval StlP Rlturn (,)!l.ekD Ra~ota Shutd.own (+)!luIC 20 mAo TtL laval Shutdown Raturn (')!rownf Ch •• si, Cround. Shiald. (Dr.ln)Not connIe tId. It Orlv.r End.

Chack thl dat. c.bl. fer continuity .nd. po •• ibl. ahortl prior to U". U.I a d.ummy laId. ot laO ohma to an.url th.t • minimum of 20 mA 1 •• vallabla to d.rlv. I.ch of ch. opto-llol,tor. in the Driver (HP _HCPL 2530) .

6.3. Puln Clner.tion

Sit chI pul,e ret. of your ehol.n pul'l .oure. to zaro. Connact the Pul •• Source C.bl. to tha Drlv.r . M.ka .ure th.t the Remot. Po~ar Shut-d.cwn II,n.l I. not •••• rt.d. (Legic.l ·0· On Pin C) .

Compumotor. arl d.e.lgnld. t o b. acellarat.d. and. d.ac.l,r.t.d.. Compumotor Corpor.tlon provldl •• eoapllt. lin. of pre.lt lndlxlr. for er.'tln, the n.e •••• ry v.loeity pro!lll. Ind contrcllin, tot.l dl.t.ncI movld .

Cr.du.lly Incr •••• the pul •• rat. until thl d~y lo.d bl,In. tc rot.t.. D.er •••• a,aln to z. ro and ch.n,. the logic .t.tl of the Dirleticn Input . Ineun. thl pul .. r.u .nd obllrvl the ch.nge in dirlet ion of thl Compu=otor ,h.ft. Rlturn tha PUll1 ratl to Zl ro . Simple fr.qulney counter •• rl hllpful .t thil Ita,a to oO.lrve V.loclty cn.nge •.

6.4. Compumotor Pul •• Caner.tlon

If you ar. u.!n, onl of Compumotor Corporation', Pra.at Indlxer. vith a 2S.000 .t.p per rlvolutlon Motor/Orlvl 'y.tlm. plrform the tOllo"'1n& t •• c:

150, 110 ar 2100 Seria. Pr.,.t Ind.Ker.

l. Set thl Kod. S",itch to "Prallt".

3. DIll in '10.00· rlv/lee (150 or 170 Siril' or '10.000' rev/see (2100) on the VelocIty thumbvhe.la.

4. Oial in "+20.000' revolution. on thl Politton thu=b~h .. h (1'1 ~I~l •• ) Dr '00.000 .c.y. (170 v. tl00 $ •• l.~).

~. Dapral, ·START".

7

It ·SERIES OPERATOR'S 1tAh'llAL

If u.ln, thl Ca.puaotor 2100 S.rll. Ind.x.r with RS · 212C Ca.put.r lnt.rt.c. you •• y tr.n •• lt the follovln, the followln, comm.nd .trln, to the 2100:

"E !Ul AID VIO 0300000 CO" le.rrie .. R.turn)

AU of ih •• bov. vlll .cuhnn the. lIotor .t the Uti of 10 r.v/ •• c until I v.loclty of 10 r.v/ •• c. I. rl.chld (3 co=pl.t. r.volutlon. In on. 'Icond) . Aft.r compl.tln, • tot.l ot 15 rlvolutlon~, chi IIOtor viII b.,ln to d.c.l.r.t., .t the rlt. of 10 r.v/ •• c . to I .too. ~.n .topo.d, It will hlv, compl.t.d .x.cely 20 r.volutlon. In thr •• I.COnd •.

7 . LIKITEO·!RAVEL 1t~~lSK

Lllllt.d tr.v.l IIIc.nl.II' .r. thol' th.t viII do nOt .llow Inflnlt. tr.v.l of the .otor. Thl .... ch.nl'II' includ. x-v [.bl." tr.n.v.r 1In." l •• d .cr.v •• nd .0 on . Th ••••• ch.nt .... ,.n.r.lly r.quir. lo.d .ctlv.t.d .witch •• which ,I,n.l the Ind.leIr of p.ndln, probl..... Fdlun to u .. lillit .vltch .. In th •••• ppllc.tlon. c.n d.-.,. the u •• r'l .qulp •• nt. Appllc.tlon. not r.qulr.ln, 11.lt Iwltch •• Ir. ,.n.r.lly rotlry Ipplle.tlonl, '.A., rot.tln& .Irror. or turnlnl p.tt. for brolchlnl or cutting .

,.for. conn.ctlnl thl .ctull laid to thl .h,ft at the Co.pumotor, .11 Illllt.d-trlv.l .. ch.nt •••• u.t b. prot.ct.d by the u •• a! Il.ctrl c.l 11.lt .vltch... If Onl of the COllp~otor Pr.,.t Indu.tI II ulld. follow thl Inltructton. Includ.d wtth tho .. unit.. In oth.r c ...... H.lt .vttch .... t l1,nl1 the n .. d for. controll.d d.c.l.utlon .t the lI.xlll~ ut. po. sib I. . Thh r.t • .u.t b. conttlt.nt with lo.d In.rtl •• nd II'XIIlUll to.d of ch. lIotor.

Not. thlt .Inc. ch. r.qulr.d 11111tt .r. not the "End·ot-Tr.v.l" typ •• ch.y .Ult b. trlpp.d f.r .nou,h b.for. the !IIch.nlc.1 .top to .110w the lo.d to b ••• t.ly d'C'laret.~. .ntl dt.t.nc. lI'y ~. dlt.rllined 'lIplric.lly by inltl.tln, the d.c.l.r.tion cyc l. In the mlddl. of trev.l .nd •••• ur1nl the diet.nc. r.quir.d to .t~p.

8. OYNA1UC CIWI.ACTERISTlCS OF THE COI'IPlJMOTOl

A Co.pUllOtor It -~.rl.t nator/urlv. 1 •• ~P'ClI1 C.I. or • ny~rlo p.r..n.ne .'Inlt .t.p IIOtor drlv.n by • 20 RNI , bl -pol.r, chopp.r power .. pllfler, It1 ,,_pIn v.va-eh.ptn, circuitry .11ov. II,nlftc.nt cOllo-n •• tlon for •• ny of the lI.ch.ntc.l .nd .I.ctrlc.l lab.l.nc •• tnh.rlnt In .t.p IIOtor. . Th. dillt.lty­controll.d proportlonln, of curr.nt , llIult.n.ou.ly b.tvI.n .ulnpll vlnolnl' ,tV., nl,n ~or'lu •• ~ low ~I' •• <I wiLl,,,,,. LI,. J.rrlnl .cc.l,r.tlon. of tr.dltlon.l .t.p ROtor. ,

C0It1'Ul'lOTOR CORPORATION ,

n.. pnel.lon of CoIop..-tor" po ... r propoftlontn, t..ehnlq ..... yl.ld. ,Ic.ptlonal r.p •• t..bliity whll ••• Int..lnln, t.h. op.n·loop .ccur.cy .na •••• of u •• char.ct.rl.tle of .t.pp.r .otor. . Th. C~tor .h.r •• the dma-Ic r •• ,on.. curve of the .t.".r .otor .nd It •• t.ll ch.r.ct.rl.tlc. . Th.t 1 •• (ull torque und.r .cc.l.r.tlon 1. davelopad .t • 1., .n,l. of ',proxl .. t.ly 1. &0 . Lo.dlna which C'UI ••• 1.1"'1' 1., anal ... Ill r •• ult In thl .otor 10.ln, po.ltloa.

In c •••• of .... 1'. OVIr101dlna . thl rotor .. 111 10 ••• ~hronl •• .. lth the .t.t.r .nd tha rotor .. 111 .t.ll .nd .top . Th. C~tor hal be.n d.dpd to .11_ • coati ........... ull condition whll. ovarlo.dad .. It"""t '-,. to tha CDI,laotor or [h. drlv'r . The sotor .. y .. k. con.ld.r.bl. not •• wh'n .t.ll.d. n.t. ~ .......... h"'L LIM _~o.- . It t" • .otor 11 .t.ll.o, "o".v.r. the rot.tln, l'lnatlc v.ctor -u.t be .copp.d by h.lclna the In,ut pul ••••• nd the c.u •• of thl ov.rlo.d condlclon r ... dl.d b.for. thl Co~uaotor .. y " r •• t.rt.d .nd run .ucc ••• fully ,

U, to 1 .&0 o( dynsalc .rror und.r .cc.l.r.tlon .. Ill " r.cov.r.d "loIn .. con.L.nL V.tU .. 1L, h ••• "h.u. u,· wh.n Lb. c_puaotor 11 .to".d , Hov such .rror I. r.cov.r.d I. proportional to lo.d friction .nd d.,.nd. on the .tlck· .ll, ch.r.ct.rl.tlc. of the lo.d . Th. d.&r •• of r.cov.ry •• y. th.r.fore, h.v. to b. d.t.raln.d •• plrle.lly. tf ullnl Coapu.otor. or .t.p oator. In .ultl· •• I •• y.e •••• rio. '1'1'01' under lo.d (If .xe ••• lv.) could b • .... p.n •• t.4 , .... in ~h. _ ..... c, ... t ... l "'L'" D .... lu.U"1 produc •••• 1111.1' .rror condition •• th • .ocor l •• d. the lo.d .

9 , U«:ODD. OPTtON

The H·S.rl •• · t option Inclu4 ••• n optlc.l Incre .. nt.l .ncoder .. '&)0 .. 10 h ... 'ltl. u .. l_u4 "h.h • 2J ,In _h "0" ~.1 1"

connector , All COIpuaotor Index.r. Which lupport po.telon t.-.cklna hav, • 2~ pin '0' connector .ockee for ~onnectlon vlth the C...,uaotor ."ppll.d .TIe ..... .-... c.pt for the COIp<-.tor " ..... 1 ~'O . The 1Ioda1 4)0 Ind.a .. r ..... ICre" ural",l atrlp. to .. b .11 of te. 10,lc 1 .... 1 connactlonl . Th •• ncoder cOnnlcel.n II .. "" ... t ... I .... 1. ... , &)0 ........ S2 . T .. _M thl. c .. ....,.~d ... ~ ... 'D" c ...... cter on thl end. of d ... ncodar c.bll -.t be tlMv.d .nd. the vl.-•• -.c be Itrlpped .nd. tinned to '.cllle.e. connection to the Icr.v uratnill. n.. tabla "1_ .ho ... the color coda and plnoutl (or the .ncodar c.bl • •

•

H·SERIES OPERATOR'S """>C

un (yncHon Y01O(

1 '" •• Ydlo..-, '" .- Io'ht/'lello..-3 '" •• 11\.e ,

'" .- \./ht/Blue , ~, ,. 0<1"1" 6 '" ,- \./ht/Onn,e

• Shield1 Dnln ..-In

" Co_on lleck 23 ." .,'

All Co~p~otor eupplied encoder. are 1000 line, d~el chennel, co",pl1~ent.ry output encoder-. Output dgneh eu &.11 TTL (0-5\1) level. Encoder extlonelon ceblee should use shielded t~i.ted peir. end the totel ceble lenlth .hould not excede 50 f eet.

10. PERIODIC MAINTENANCE

Par lodlc. lly Check the Co",pumctor ~cuntlnl bolts end .haft co~plinl" The b.ll baerinl' uI.d ln the Co~p~otor ara nOt I.al.d but ere p.~lnently lubricltad Ind r.quirl no "'11n t.nlncl . Tho~o ora no .o~lea.blo l~o.o in ~ha e~mpua~t~r o r •• lnton.n~o

it.~. such aa brulha •.

The ~otor .train relief and cable .hould be in.pected at 'pprcpr i.te Intaev.ll for Ilgnl of .... ring or exca'llva forca baing appliad to tha c.bl.. Tightan both c.ble connactors at tha nrtv... ~h.,." rh ... rh. n .. lv ... h •• "al,,!. h f .... "f <l" .... ,,<l "I .... and h •• a fraa flo .. of air ovar Itl antlra surface.

11. TROUBLESHOOTINC

If proble.,. davelop in the operetion of the co",p~otor, rerer to .. h. f ... n ..... 1,,!': 1I ...... f ")"'11'''''''' .... " ,.." ... rn 'tlonr'fy nT 'n,..lh ~ the problell:

l1.1. Motor Falls to Turn

Ca) No AC po .. ar. Ch.ek to lIa if tha motor 11 "'Ina to tha touch .ftar l5 .. Inuta. of baing turned on.

(b) I.d connectlon. or b.d clbl ••.

l~'h.n ulln, tha 430 tndexlr. chi .hield .. lra .hould be connected to on. of tha I crl .. 1 ln the ca •• of the 430 .

CO~PUMOTOR CORPORATION

(.) TO"" ..... 1 ... 1.7 1I.n oy' .~" .......... ,,~. ~".~ eocItrol It&:Nh n. lion. bel..n& iMlbtud by Ualc I,.v.U UO ....... t I ............ ""'"1 •• ..,. bale .

(d) Lo ... h J-.... _ AC ..-r tr_ w ltTI_ ...... _rlf,. th.t the lood un be tumod "!'NOll,. .

(.) No ltop ol&:N1 c .. lna co D .. I ..... chock thot • pul •• .... 1 .. _ •• 10, •• n ... .., .. 10' .. _ .. ". r .. r _1" .... . curront .nd pul •• width I •••• II.bl. (1 . 5 uo ,y f .. all1l~ 25 .. ... I.us, 500 no ... pul •• width .I"'l~).

(t) DTlvo .. output h '"'Ina turned orr b,. ... _ ._ .. Shutdovn Opt I ..... '111 , or tho Input cobl. t. tho Drl ....... __ 1. not be hlah (tTL 1 ..... 1) rolocl .... co 'I", ,.

Ca) Ilown d .. I .... At It", fu.. . ~ .. tor .nd d .. I .... viiI H cold t. W t_h 10 at_too ofu .. tho fu.. blow.

11.2 .

IU.c_u AC ,....r f .... mo Drlvo ... NI dl.c_c It fn. t:bo ... rf.u to .... Ic.b It h otto.c.hotd . 1_ tM fou .. Philllp.·ho.d .cr .... which roul", tho .hoot .ul ....... r .... tho 1_ It ... or tho D .. lvor . 10_ tho four '''rov, "n tho ,hon; .d, .. or tho .1'Id plot.. . Slip oH tho c:o .... r .nd It'lI,. .. t tho f..... It tho fu.. t. blovn . r.turn ~ Yftlt to ..... ,.Ic.

NQIICE

Problna of tho Orlv ... with AC 'ov.r applla •• hould nt:tU b. dono by .nyo ... othor than c..pu.otOf quouno. ,.nonnol lZTlIAL VOLTACU AJJ: nl$DIT and chuA 11 no AC lIno lIobtl_ I .. ~ Ort .... .

'robobb C.u.. ~

nall condltl_ ''''.cato' ........ rlOld. cOOlldltl_ c"' .... ~ ., .... ,1_ torquo "oqul ..... ",co, c .. aco.p .n ...... Ior.tlon .. ..,. or I ,ro •• at, .. cch .t lood lnortl •• nd .. otor lnortl. lofo .. to tho C f _t ... t .. ll·lIno coull, . A lor, ... _tor .nd/or lowlr .ceol,r,tlon ... y be Indlcatld .

11. 1 . IIno .. 'olio t. I. .... Abovl 20 11"1" (1200 rpa)

'"'to _,. IN a "r .... pr_lo. "-t. _ ... 111<01,.. It ..... U .. with b.djC p _tor Intonctl_ ""'tch c.n nl_loto por_ulc. .. clllotl .... Ind atlll thl C P '-otor . 1111 .ddltion of frIction . ')'It •• cSoaponlna 0 .. _ch.nlcd ud.oalp t •• lnlal" .. c.boftlcal .. IIOMACII _)' be ...... lud 01,,&1), .r t .. c ... tMcl_. StoNlo ... C • _tOr 1I,"u ... ¥tll not .11_ ... "r .... t.dry 0""" H II"lH' (1200 rpo.) ,

11 .4,

11

II , SE11ES OI'DATCa'S I'I.4..IIaAl.

co, .. ",,,, hlpl, "ort.)10 1.-1 ... cMMllct_ It tM C ; _tor .hIIt . ~hc_ct d ... ( ; _cor fl'. tIM. lNd and nrn It .. t~ I ~ 1Nd conn.c~d. If chi ,robl •• p.r,t'tl . •• r.le. ra,ell' I. Indlc.COd.

t" .. ~y .ftYICC

T. 1'1"""'- tIM C , til' fIr 1'..,.11' II' tI ar"'r r.,lac I'It ,eru, _uil'l u.. Model .... Sartal ...... 1'1 If u.. ftotar &tid: Drl ... r . Call tbJ C i nlur " ..... Ie. DIpIr_t hI' I'It","" IUtbJrluU • • 1. Callrl",l. e.ll ceU"'t (101) ". , U" ; .~noi ...... 11 u.11 ,..-_ (atIO) lU,""'" .......... ~ e cr. ... &D4 Drt ... r. fralfbt ,ra,al., tl:

COKlUMOTOI. COlIOL\TIOll' 1179 IIor~ KcDov.ll .... l ... ud P.tllu.., C,llf,mla "'S2 Ata.: S .. · .. lc. DI~.~ .. t ..... _---

lilt. Pi ...... rl ... ~ ,KU", 111, ...... plC-UII& label vtt.h lbI hl\lnl Katulll Ai>tbJrlutl_ ...... 1' ,uppU"', by ( i n'lOr .

U _ fUlTHQ lIOnS

(I P _ur c:...,.ntl ... II .... Iuud t. hi ... h,dar I .. dl&lul .otlon control . v. Invlt. youI' qva'tlon., co ... nta, or dtacu"lon of probl ... .

Ttl" ........ 1 baa M ... d .. lpoId t. pc .... l .... Intr~tl_ for u... I ... t vl~ mltel a"Uutl_ . SlpUlc .. t "',..rNl'a, fr_ tlM .,.utUl& ,..",_tu, _tlt-d _n ,n ,.."'.1., 1l,.. u- a _1_ r~r_t f.r .act , ........ u (If _I' 1)0 ,.1' ,. ... ,. _ _ 1 .. ltb u db_. r-r lpeclrlc l'1li'" call or vt'lu :

TlClmtul .... dllll'" Cr--. C j 'ur Cerplutt .. 111' • • NcDev.ll .... 1 .... r. r.t,lYlA, Callfornl. "'S2

In Callf,mt., c,ll coll.ct : (701) 17.,12 •• Dun I .. Callfornl., c,11 toll fr .. : (100) 3S' , 906.

Oper.tion:Driver _ 32·104oF (0_40oC) ambient .s.~e' driver (1". m""nt.d v.n;l c.l ly , conv.c~ l gn ~uullnl . H .... l ...... (I" t.mp.r-tun _ UOoF (600C) .

10 to 90, H~ldlty, Non-conden.ing

Mo tor _ 32_104oF (0·500C) ambl.nt - •• ,um •• conv.ction cooling. M.x lmum c ••• te .. per.tur. ( ..... ured mid·c.se) - t,o~r (110~C).

10 to 90 , Humidity, Non·cond.n.lnl

~tor.g. ; .40 to 1850F (.40 to 850C)

14.2. Electric.l Sp.clric.tlon.

Input Pow,r:l05 to 125 VAC 50/60 H~ with brownout prot.ction

TTL Input.:l.5 to 6.0 V pull. height 500 n •• c pul •• width minimum 20 lOA m1nimum current 1 "I!~ .... ,.1 ..... f'",h .. r et ..

Driver D1,.en.lon, : SI. Applndlx K Driver ~eight: 64 oz. (1.81 kg) Motor 01,..n.lonl:5.1 Appandlx k Motor ~.1,ht ; Sa. T.bl.

1)

M· StR1ES OPERATOR'S MANUAL

MOTOR SPECIFICATION TABLE

HOTOR SERIES "" "" MIC6

MOTOR TYPE 51 " 102 " " 135 120 m

Rotor Inertia o Z_in 2 0.4B 1.21 1. 15 3.50 6.70 10.2 21. 5 44 .0

!I9- cm2 .088 .234 320 0.6~ 1. 23 1. 87 3.92 8.05 ~'orquill Ol-ln " " 1~0 '" 2bO ." 520 '/0 0

Motor C.IIII ,0 " SO .. .. " 61 " ,, -

Temp Rise, "'" CO (29) (32) (30) ( 30) (36) (34 ) (47 ) ( 4 5)

,0 61 " " " " " '" m (Free Air) ''''' ,0 (H) ( 3 8) (35) (35) (46 ) (U) ( 6 9 ) ( 6 7 )

10RPS ,0 " .. SO " " " 108 '" CO (22 ) (30) ( 2 8 ) ( 33) (41 ) (38) ( 60) ( 5 9)

Maximum Driver 18 " " " " " " " Temperature Ris. (10) ( 12) (14 ) ( 11 ) ( 21) ( 22) ( 20) (24 )

Motor Cale Dissipation-WATTS

1 "" , , 11 12 " " )J 51

, "" 7 12 )J lS " " " " 10 RPS , • " " " " " " Msx. Oriver Jnput

Current - AM" , .. ,., 1., 1., 1.3 1.. 2.2 3.'

Motor Wei9ht au 23 " " " " 329 l3S '" (with cabl.) (kg) (0.65) (0.99) (l.33) (1.62) (2.64) (3.66) (3.83) (6.80)

COMPUMOTOR CORPORATION 14

_LO~

M57-51

M51-1l

"51- 102

Hil- U

MIl-93

Mil-US

"106-120

" 106-11'

IJot.1

Du_y Lod Dl ... 110 •• t or

la.rtl •• ~ Alv.tnv_ Di.e

Rotor :J Da~ Load Di ... tar Thlet-n ••• 101.-ln J Aepro • • (OI -la)' U.I (in I

O.U , 4 .00 O.OU

1. 2' , 4 .15 O. OU

1.15 7 4 .50 0 . 125

1. SO 1. 4 . '0 0.125

6. 70 " 5 . 10 0.125

10.24 " '.00 0 . 125

21. SO ,. 1.20 0.125

44 .00 , .. 1.50 0.125

The •• dv.-y l.,.d lnartl a. ar. arbltrar, ~ 60 _t repr .... t the alal __ or the .. d __ 1 .. £ll.a that can be applied to the _tor .

u

Molor Seri.1

M" M8l

M106

Kaxl __ CUrrent per Ph"e IA)

1 , )

Lell Than 100-200 Pt. 100 !t.120 . S") 110.S-71MI

" " 11

" 10 .. 1 . Cable runl of ov.r 200 fl. (71) Ire not reeO~ln~.d.

2. Vol tag. ~rop per motor phil •• (elbl. length (AI. 21 XI 1"

where R - vire reilltinc. In oh~. ger 100 ft .

Wire Siu (A!!GI .. " " "

• loh_OOO

• • . .. l.' l..

tp

PIA-$[ SOORCE

" IHDElER

CHASSIS IORWMD

STEP ClITPUT •

STEP RrTURH -

DIRECTION OUTPUT i

-'RECT ION RETURN -

SHUTDOWN OUTPUT i

SH1JTOOWN RETURJrI -

/

V

SHlaD He

'EO ......

Bl' <0

GRH

..... ' WHT ~

,E

BlU ~

..... ' BRH ~' V '

AHPHEItDt. .,./" 1126-196

17

Dn IV[R

2.2 K

100 •

y-V

2. 2 K

"" 0 J¢'< II" II

:J¢'-~

II·SEkIU OPDATOl'S IWo'UAL

Appendi. D: "ettn, Connectore end Coble,

D"sr1ptlpn

Po~er h,rne •• (~.)

( .. t •• ~ith .td. cord)

1 Pin l.u:p -connector

.) r1n u.p ·COM.ceor

(h .. lo)

J Pin _lAp connector (1' ,.)4

lIotor H.rnass (S·) ("~II Wl~ .o~Ot C.bll'

lIoeor Connector {(, .. I.) ( .. t •• with .. tor c.bl.) ·co.,...ctor p1M

• Un A ... p CU'U"I:~Of (fe .. le) ·connlctor piM

, Pin _amp Connector -connector pIn.

, rl" a.- ........... ~ ... (USI)

lndl.,r Connector ( .. I.) ( .. t .. with Co.~tor induor cabl.)

InoI ••• r n. r ..... (~-) ( .. e .. ~lth Colap ... otor induor cabl.)

Dri~r End Pl.tl A ••• .Gl' (,II .. tina connector., ..unt.d)

tool: iO.ululpO O . ~O·O.lOO· 0.043.0.0"·

'A •••• bly cool 11011. ~.1011·C

·~ •• ab1y tool AKP PIM 59102·1

CCKI'I.MOTOI. COIU'OIlATIOit

"'" lI'nu(actyU[', PIN

1 COlapuaocor 11·001S36

1 AM "01~·) ] AltP 64D2S2·1

] Kol .. 09·SO·)031 ] "011,. 0.·50·010'

] All, 640426·)

1 Co.pu.otot 11·0015)4

1 A."I' 2~ll·1

, A."I'66569 ·]

, "''U'bIlO~~U·b

• AII"40252·1

1 lIolo,. 09·50·)061

• lIolo. 01·50.0105

, NtI 01l1)O,2'·0

1 Aaphlnol 12'·19'

1 eo.puootot 11-01'21

to12)·2 90123·5

11

Appen4ix E: Connector Pinout List

C1rsult !p.r4 CQnn.ctQr.

AC POYER (Pl)

INDEXER INPUT (1'3)

MOTOR OUTPUT (1'2)

Off Ine rd Hit!". Connector.

MOTOR CA8LE CONNECTOR

INDEXER CABLE CO:mECTOR

1 2 ,

1 2 , '. • • 1 , , 4

• •

1 2 , 4

• • 7

• , • , o E F ,

SignAl'Jlre COler

'M>W. ,~,

""" '" nOT (1l1Vhe) .~

STEP + DI RECTION + SHtTIDO\IN + EIIl.TTOOUN _

DIRECTION STEP -

P1lA5£ 1 + "~H 1 _

INTERLOCK PIlAS[ 2 + PHASE 2 • INtERLOCK +

PHASE 2 + .U< PHASE 1 - '''' INtERLOCK -JUlllpf-r

" 7 r.AJlTH Shld4

"' PIlAS£ 2 . RED INTERLOCK +JUIIlper " , PHASE 1 + ""' Ottl.tCnON + '''' STEP .. ,ED SHUTDOIIN + .W STEP. ,~,

DIRECnON - ,U< SHUTDO\IN 'W "'

H-StRJ[S OP[RATOR'S KANU4L

I

• m

~~ ,I ,j

-. I

, • • • • I , , ,

• "

I -·----H I

1-1----'

" ~ , u l , •

, 0 • • " , 0 • < l • • , 0 u

• • • • •

il

21

M·S£RIES OPERATOR'S MANUAL

App~ndix H; Driver Therm.l D.t.

Th, Opln fr~1 drivlr ~lrcutt boerd he.t .ink mult bl mounted to • thlrm.lly conductive lurtle. th.t will elrrv IW.Y h.lt dt •• ipltld by the powlr trln.!.tor •. Eithlr the mounting lurflel mu.t hive ~nough lurflel Ir •• , or foreld .ir ~oollng mult c.rry IW'y enough heet to limit the tlmper.turl r1.1 ot thl ~lr~ult bo.rd h .. t .ink to no .. on th.n 60 lIure .. C. It thl cir~uit rl,illi ' within In encto.url, the 1ntlrnll lir tlmplrlturl mUlt r .... in bllow 50 d'III.1 C.

The amount o f hilt glnlrat.d by the drive t. proportion.l to the powlr IIeHv.rlll . The ltorger motor IIrlv .. dt .. iplte lIora helt th.n the ... aller one" I' followl;

APPROXIMATE HEAT SINK DISSIPATION

Static Tcrqu.H.at Dinipaticn HRdel Numbet .un (~'AUS)

MH ·S l " 7.' MH·1l 80 10.0 M~I·HI~ l~U H.)

M83.62 ,"0 15.0 M83·93 2" 25.0 M83·135 '00 35 . 0

r'l10~ ' 1l0 '" " .0 HI06·178 700 55.0

COHPUHOTOR CORPORATION "

, , ,

,1-,'-, ~r: '-I-! I

fi ~!. _1_ ;r;~t

I I

L? ,-•

• · I 4-• , I

J~L.

"

! •

I' ·1 II r

X- SERIES DPERATOR'S I'WruAL

Appen~lx J: Enco~.r Mounting Ho l e Dla.ns l one r----::--""""""'-, Al ('l

" JJ <'.

( ~1.t -1 ~

1'\ ' ll X ,

o' )oJlo1 ~ r" rC c-J

" V IIlIJol [;;; ~ x 0 -V Z: Q ll ~ r {' {11 z.Z (' r:, 7J \f",- J'IJI

-' ~~~ ~

r 0

~~ I O. I:> ~ r m oJ' If'

CJ rn < ~

1JU 3:~\J

~~ ~ U\3: -\ . ~Z ~ IJI \J ~ ,JJ li' ( ~ ~ [!l Si' , . 6 070

" ~ - " ~ om ~ mv ~

i JJ

! - . • w

-~j

J "Q;; . ~ -. -" -~ -"~

~! 1;" - " .. ,--

"

II · S£R1ts OPERATOR·S KANUAL

"I I' o~1 I~

Ii < o.'!; ~ .,

~ .. t--;::-N -. g:", ~'" r .. --. ~ )

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