um Co oto r mp M OE s e r i e s DRI V VE DRI E V VE DRI TE MOEFER W RE R PEONUTLT AP RF R M CU DU C+ VD CVDA+ AB+ BDRI Compumotor Division Parker Hannifin Corporation p/n 88-013157-02 A E Compumotor OEM650/OEM650X OEM350/OEM350X Drive and Drive/Indexer User Guide
OEM650/OEM650X • OVERVIEW Important User Information Installation & Operation of Compumotor Equipment It is important that Compumotor motion control equipment is installed and operated in such a way that all applicable safety requirements are met. It is your responsibility as a user to ensure that you identify the relevant standards and comply with them. Failure to do so may result in damage to equipment and personal injury.
OVERVIEW • OEM650/OEM650X Contents How To Use This User Guide .................................................................................. iv Assumptions ........................................................................................................ iv User Guide Contents ........................................................................................... iv Installation Process Overview ..............................................................................
OEM650/OEM650X • OVERVIEW 3 Tuning & Specifications 33 Chapter Objectives ............................................................................................. 33 Short-Circuit Protection ........................................................................................... 33 Resonance .............................................................................................................. 33 Mid-Range Instability ........................................................................
OVERVIEW • OEM650/OEM650X How To Use This User Guide This user guide is designed to help you install, develop, and maintain your system. Each chapter begins with a list of specific objectives that should be met after you have read the chapter. This section will help you find and use the information in this user guide. Assumptions To use this product and its instructions effectively, you should have a fundamental understanding of the following information.
OEM650/OEM650X • OVERVIEW Installation Preparation Before you install this product, complete the following steps: 1. Review this user guide. Become familiar with the user guide’s contents so that you can quickly find the information you need. 2. Develop a basic understanding of all system components, their functions, and interrelationships. 3. Complete the basic system configuration and wiring instructions (in a simulated environment, not a permanent installation) provided in Chapter 2, Installation. 4.
OVERVIEW • OEM650/OEM650X vi
OEM650/OEM650X • INTRODUCTION 1 Introduction Chapter Objective The information in this chapter will enable you to: ❐ Understand the product’s basic functions and features OEM650 Description The OEM650 Drive is intended to be a high-performance basic engine around which the original equipment manufacturer (OEM) designs his motion control system. Its single-power DC input makes it a convenient and cost effective motion control module. The drive offers a basic set of customer configurable features.
INTRODUCTION • OEM650/OEM650X step motors. Operation of the OEM350/OEM350X is identical to that of the OEM650/OEM650X. For clarity, instructions in this manual use only the name OEM650/OEM650X. Except where differences are specifically noted (resistor values for motor current settings, for example), OEM650 instructions also apply to the OEM350, and OEM650X instructions also apply to the OEM350X. Features The OEM650 requires an external power supply. It uses 24VDC 75VDC for its power input.
OEM650/OEM650X • INSTALLATION 2 Installation Chapter Objectives The information in this chapter will enable you to: ❐ Verify that each component of your system has been delivered safely and completely ❐ Become familiar with components and their interrelationships ❐ Ensure that each component functions properly by bench testing ❐ Mount unit within recommended thermal specifications OEM650/OEM650X Ship kit Inspect the OEM650 or OEM650X upon receipt for obvious damage to its shipping container.
INSTALLATION • OEM650/OEM650X Option -DS23 -DS34 Description Double Shaft Size 23 Motors Double Shaft Size 34 Motors Table 2-4. Double Motor Shaft Option The following accessories are available. Accessories OEM650/OEM650X User Guide OEM Series Software Ref. Guide Low Current Heatsink High Current Heatsink Part Number 88-013157-02 88-013785-01 OEM-HS1 OEM-HS2 Table 2-5.
OEM650/OEM650X • INSTALLATION WARNING The drive and motor should be mounted to a heatsink. Drive mounting does not affect the following tests, but if you operate the OEM650/OEM650X for extended periods without proper mounting, it will damage the drive and/or motor. When you complete the quick tests, remove power to the drive. Perform installation and test procedures in a properly grounded environment. Compumotor recommends the use of a grounding strap. 1.
INSTALLATION • OEM650/OEM650X 3. Slide the drive cover back on. 4. Attach the motor (to A+, A-, B+, B-). Do not connect the motor to the load at this time (refer to Figure 2-2 for 23 size motors or Figure 2-3 for 34 size motors). OEM size 23 motors may be wired in a series or parallel configuration.
OEM650/OEM650X • INSTALLATION OEM size 34 motors are internally wired in parallel. A 75VDC power supply (OEM300) must be used to achieve maximum performance; however, lower voltage power supplies may be used (less than 75VDC but must be greater than 24VDC). The lower voltage power supply will not adversely affect the system's low-speed performance, but it will not yield the optimum high-speed performance achieved by using the 75VDC power supply.
INSTALLATION • OEM650/OEM650X Motor Size Current Resistor OEM57-40-MOS 2.65A 21.0 kΩ OEM57-40-MOP 5.3A 5.76 kΩ OEM57-51-MOS 3.3A 15.8 kΩ OEM57-51-MOP 6.6A 2.05 kΩ OEM57-83-MOS 3.8A 12.7 kΩ OEM57-83-MOP 7.5A 0.00 kΩ OEM83-62-MO* 4.4A 9.53 kΩ OEM83-93-MO* 5.6A 4.87 kΩ OEM83-135-MO* 6.9A 1.27 kΩ S: Series Configuration P: Parallel Configuration *34 size motors are internally wired in parallel Voltage 48 - 75VDC 24 - 48VDC 48 - 75VDC 24 - 48VDC 48 - 75VDC 24 - 48VDC 24 - 75VDC 24 - 75VDC 24 - 75VDC Table 2-7.
OEM650/OEM650X • INSTALLATION Jumper #1 Installed Current Resistance Current Resistance (Amps) (Ohms) (Amps) (Ohms) 2.0 0Ω 1.3 7.32 kΩ 1.9 787 Ω 1.2 8.87 kΩ 1.8 1.62 kΩ 1.1 10.7 kΩ 1.7 2.49 kΩ 1.0 13.0 kΩ 1.6 3.57 kΩ 0.9 15.4 kΩ 1.5 4.64 kΩ 0.8 18.2 kΩ 1.4 5.90 kΩ 0.7 21.5 kΩ Table 2-9. Jumper #1 Removed Current Resistance (Amps) (Ohms) 0.7 0Ω 0.6 2.21 kΩ 0.5 5.36 kΩ 0.4 10.0 kΩ 0.3 16.2 kΩ 0.2 27.4 kΩ OEM350/350X Resistor Selection for Motor Current 6.
INSTALLATION • OEM650/OEM650X Quick Test: OEM650 with Separate Indexer 1. Complete steps 1- 6 from the OEM650 Quick Test, but do not remove jumper #11 (Auto Test Function). 2. To connect a Compumotor indexer to the OEM650’s 25-pin D connector refer to Figure 2-6. To connect a non-Compumotor indexer to the OEM650's 25-pin D connector, refer to Figure 2-7. 3. Apply power. The OEM’s green power LED should be on. If the red FAULT LED is on, consult Chapter 5, Troubleshooting.
To connect the OEM650 to the Compumotor indexer, use the cable provided with the indexer. The cable should fit into the OEM650's 25-pin D connector as shown in this figure. No additional wiring is necessary. Refer to the indexer's user guide for any specific instructions associated with the Compumotor indexer.
INSTALLATION • OEM650/OEM650X Handshaking is not supported. Terminals should be set for full duplex mode. 3. Apply power. The OEM’s green power LED should be on. If the red FAULT LED is on, consult Chapter 4, Maintenance & Troubleshooting. This test assumes that your indexer’s motor resolution is set to 25,000 steps/rev. This is the default motor resolution setting for the OEM650X. 4. Enter and run the following command sequence to test the system.
OEM650/OEM650X • INSTALLATION OEM650/OEM650X Mounting 0.420 The OEM Drive mounting is designed to minimize panel area or footprint (refer to Figure 2-9). An optional heatsink can also be used to configure the drive for minimum depth. This surface must be thermally coupled to a cold plate in most applications 2x 0.177 Thru (Clearance for #8 PHP Screw) 1.625 0.812 Compumotor Compumotor OEM s e r i e s DRIVE DRIVE 4.650 DRIVE DRIVE 5.000 5500 Business Park Dr.
INSTALLATION • OEM650/OEM650X Panel Layout If you mount the OEM650/OEM650X in an enclosure, observe the following guidelines: ❏ Do not mount large, heat-producing equipment directly beneath the OEM650 or OEM650X. ❏ Do not mount the OEM650 directly below an indexer (the drive produces more heat than an indexer). ❏ Fan cooling may be necessary. Refer to the subsequent instructions and diagrams in this section for specific mounting information about your configuration.
15 10 5 2 3 OEM83-62* 20 OEM57-83S 25 OEM57-51S 30 OEM57-40S Power Dissipated (Watts) 35 4 OEM57-40P OEM83-93* 40 5 6 OEM57-83P OEM57-51P OEM83-135* OEM650/OEM650X • INSTALLATION 7 8 Drive Current (Amps) S—Series Configuration P—Parallel Configuration *—34 size motors are internally wired in Parallel Figure 2-11. OEM650/OEM650X Power Dissipation Over-Temperature Protection The OEM650/OEM650X is over-temperature protected.
INSTALLATION • OEM650/OEM650X Two types of optional heatsinks can be used for applications that do not have an adequate mounting surface. Mounting With OEM-HS1 The small heatsink (OEM-HS1) is intended to be used with a current setting up to 5A in still, ambient (25°C) air. If the drive is to be mounted in an ambient environment hotter than 25°C, active cooling (forced air) will be required to maintain the heatsink temperature below 55°C. This heatsink may be purchased as an option.
OEM650/OEM650X • INSTALLATION With the OEM-HS1, the drive may be mounted in two different configurations (refer to Figures 2-14 and 2-15). One configuration provides the maximum amount of panel or mounting space (minimum area). The other configuration provides minimum depth. Panel layout for minimum area is shown in Figure 2-14. 0.5" OEM OEM s e r i e s s e r i e s 4.65" POWER FAULT POWER FAULT REMOTE REF CURRENT DUMP VDC+ VDCA+ AB+ B- REMOTE REF CURRENT DUMP VDC+ VDCA+ AB+ B- 2" 2.
INSTALLATION • OEM650/OEM650X Mounting With OEM-HS2 The large heatsink (OEM-HS2) is intended to be used with a current setting up to the drive maximum of 7.5A in still, ambient (25°C) air. If the drive is to be mounted in an ambient environment hotter than 25°C, active cooling (forced air) will be required to maintain the heatsink temperature below 55°C.
OEM650/OEM650X • INSTALLATION 1" OEM OEM s e r i e s 4.65" s e r i e s POWER FAULT POWER FAULT REMOTE REF CURRENT DUMP VDC+ VDCA+ AB+ B- REMOTE REF CURRENT DUMP VDC+ VDCA+ AB+ B- 2.0" 6.0" 3.0" OEM OEM s e r i e s s e r i e s POWER FAULT POWER FAULT REMOTE REF CURRENT DUMP VDC+ VDCA+ AB+ B- REMOTE REF CURRENT DUMP VDC+ VDCA+ AB+ B- 5.5" Minimum Figure 2-17.
INSTALLATION • OEM650/OEM650X Resolution 50,800 Steps/Rev 50,000 Steps/Rev 36,000 Steps/Rev 25,600 Steps/Rev 25,400 Steps/Rev 25,000 Steps/Rev * 21,600 Steps/Rev 20,000 Steps/Rev 18,000 Steps/Rev 12,800 Steps/Rev 10,000 Steps/Rev 5,000 Steps/Rev 2,000 Steps/Rev 1,000 Steps/Rev 400 Steps/Rev 200 Steps/Rev JU2 on on on on on on on on off off off off off off off off JU3 on on on off off on off off on on on on off off off off JU4 on off off on on on off off on on off off on on off off JU5 off on off on off
OEM650/OEM650X • INSTALLATION Standby Current Full Current* 75% Current 50% Current 25% Current JU9 on off on off JU10 on on off off * Default Setting Table 2-12. Auto Standby Jumper Settings Jumper #11: Auto Test The Automatic Test function turns the motor shaft slightly less than six revolutions in Alternating mode at 1 rps. The Automatic Standby function and motor resolution settings are disabled when you use the Automatic Test function.
INSTALLATION • OEM650/OEM650X Motor Mounting Rotary stepper motors should be mounted with flange bolts and positioned with the centering flange on the front face. Foot-mount or cradle configurations are not recommended because the motor's torque is not evenly distributed around the motor case and they offer poor registration. Any radial load on the motor shaft is multiplied by a much longer lever arm when a foot mount is used rather than a face flange.
OEM650/OEM650X • INSTALLATION Couplings The motor and load should be aligned as accurately as possible. Any misalignment may degrade your system’s performance. There are three types of shaft couplings: single-flex, double-flex, and rigid. Like a hinge, a single-flex coupling accepts angular misalignment only. A double-flex coupling accepts both angular and parallel misalignments. Both single-flex and double-flex, depending on their design, may or may not accept end-play.
INSTALLATION • OEM650/OEM650X OEM650 Inputs and Outputs Internal Connections +5V +5V 243Ω 8 2 Inputs & Outputs 3 HCPL-2601 +5V 5 464Ω 243Ω Step Input ILQ2 1 Direction Input 464Ω 6 2 11 14 5 15 6 12 8 7 10 16 Remote Input 17 681Ω +5V 9 ILQ2 Fault Output Gear Shift Input 21 15 9 11 4N35 16 23 464Ω 1 2 +5V ILQ2 10kΩ ILQ2 681Ω 25 Pin D-Connector on OEM650 4 3 BS170 14 13 HPCL-2631 Figure 2-18.
OEM650/OEM650X • INSTALLATION Remote Input The Remote input is an optically isolated input that uses an ILQ2 quad OPTO isolator. The REMOTE+ terminal is connected to the anode of the OPTO lead via a 681Ω current limiting resistor. The REMOTE- terminal is connected to the cathode of the OPTO lead. The OPTO requires a minimum of 3.5 mA (≈3.5VDC) to ensure proper system operation. This input allows you to reduce current to a motor from a remote location.
INSTALLATION • OEM650/OEM650X Gear Shift Input The Gear shift input is an optically isolated input that uses and ILQ2 quad OPTO isolator. The GS+ terminal is connected to the anode of the OPTO lead via a 681Ω current limiting resistor. The GS- terminal is connected to the cathode of the OPTO lead. The OPTO requires a minimum of 3.5 mA (approximately 3.5VDC) to ensure proper system operation.
OEM650/OEM650X • INSTALLATION CW (Signal 3) & CCW (Signal 4) Limit Inputs The OEM650X has two dedicated +5V hardware end-of-travel limits • Maximum low-level input: 0.8V (CCW and CW ). When you (Sinks 1.2 mA) 4.75k power up the OEM650X, these • Minimum high-level input: 2V inputs are enabled (high). To test the OEM650X without connectHCT244 ing the CCW and CW limits, you must disable the limits with the LD3 command.
INSTALLATION • OEM650/OEM650X typical configuration of this output. Sequence Inputs #1 - #3 (Signals 11 - 13) The OEM650X has three dedicated sequence inputs that allow you to control seven different sequences. Refer to the X commands for information on how to control these inputs. Sequence #Ø is not a valid sequence. +5V • Maximum low-level input: 0.8V (Sinks 1.2 mA) 4.75k • Minimum high-level input: 2V HCT244 Sequences are executed remotely by using one of the following logic patterns.
OEM650/OEM650X • INSTALLATION connect a single-ended, incremental, optical encoder to the OEM650X. When an encoder is used, the following functions will be added to the system: ❏ ❏ ❏ ❏ ❏ Encoder referenced positioning Encoder position servoing Motor stall detection Higher accuracy homing function Multi-axis stop (also available without an encoder—see FSF in command reference) Encoder Inputs A, B, Z (Signals 17-19) The OEM650X has three dedicated inputs for use with a single ended incremental encoder.
INSTALLATION • OEM650/OEM650X Daisy Chaining You may daisy chain up to 8 OEM650Xs. Individual drive addresses are set with signals 23, 24, and 25 on the 25-pin D connector. When daisy chained, the units may be addressed individually or simultaneously. You should establish a unique device address for each OEM650X. Refer to Figure 2-20 for OEM650X daisy chain wiring.
OEM650/OEM650X • INSTALLATION Sizing Power Supply Table 2-14 contains power ratings to help system designers size a power supply. Combinations of motors and current levels other than those shown may result in power values that are not recommended. Connection OEM57 motors may be configured in parallel or series. OEM83 motors must be wired in parallel. Refer to the OEM650 Quick Test. Motor Size Motor Motor Heat + Drive Supply (@75VDC) Current Avg. Shaft Power Heat Total** OEM57-40-MOS 2.
INSTALLATION • OEM650/OEM650X Current (Amps) Compumotor has assigned the values shown in Table 2-14 for OEM Series motors to produce the highest possible torque, while maintaining smoothness. Higher currents will produce higher static torque; but, the motor will run roughly and may overheat. Do not run the parallel rated current into a motor that is wired in series—it will destroy the motor's windings.
OEM650/OEM650X • TUNING & SPECIFICATIONS 3 Tuning & Specifications Chapter Objectives The information in this chapter will enable you to: ❏ Tune and operate your system at maximum efficiency. ❏ Use the information to compare system performance with different motor, power, and wiring configurations (speed/torque curves). Short-Circuit Protection The OEM Series is protected against phase-to-phase and phase-toground short circuits. The drive is designed to withstand short circuits during initial power up.
TUNING & SPECIFICATIONS • OEM650/OEM650X results, the drive and motor should be on, connected to the load, and warmed up for 30 minutes prior to tuning. Phase B Offset Top View Phase A Offset Figure 3-1. Tuning Potentiometers Gauging Motor Resonance There are several methods that you can use to determine the level of motor resonance in your system. Tachometer Method Use an oscilloscope to gauge the output of a tachometer attached to the motor shaft.
OEM650/OEM650X • TUNING & SPECIFICATIONS Touch Method After you have had some experience with tuning, you should be able to locate the motor’s resonance speed by placing your fingertips on the motor shaft and adjusting the motor’s velocity. Once the resonance speed is located, you can tune the motor for maximum smoothness in the same way. Tuning the Drive to the Motor To tune the OEM650X, follow the directions below: 1.
TUNING & SPECIFICATIONS • OEM650/OEM650X Performance Specifications Accuracy ±5 arcminutes typical (unloaded, bidirectional) with OEM Series motors. Repeatability ±5 arcseconds typical (unloaded, bidirectional). Hysteresis Less than 2 arcminutes—0.0334° (unloaded, bidirectional). Rotor Inertia Motor Size OEM57-40-MO OEM57-51-MO OEM57-83-MO OEM83-62-MO OEM83-93-MO OEM83-135-MO Rotor Inertia oz-in2 0.38 0.65 1.36 3.50 6.70 10.24 Rotor Inertia Kg-cm2 0.07 0.12 0.25 0.64 1.23 1.87 Table 3-2.
OEM650/OEM650X • TUNING & SPECIFICATIONS OEM650/OEM650X with OEM57-51-MOS (75VDC @ 3.3A) 80 70 Torque Shaft Power 50 WATTS TORQUE (OZ-IN) 60 40 30 20 10 0 0 10 20 30 40 50 SPEED (RPS) OEM650/OEM650X with OEM57-83-MOS (75VDC @ 3.
TUNING & SPECIFICATIONS • OEM650/OEM650X OEM57 Motors (Parallel Configuration) OEM650/OEM650X with OEM57-40-MOP (38VDC @ 5.3A) 40 Shaft Power 35 Torque 25 WATTS TORQUE (OZ-IN) 30 20 15 10 5 0 0 10 20 30 40 50 SPEED (RPS) OEM650/OEM650X with OEM57-51-MOP (38VDC @ 6.
OEM650/OEM650X • TUNING & SPECIFICATIONS OEM650/OEM650X with OEM57-83-MOP (38VDC @ 7.5A) 150 Torque 90 Shaft Power WATTS TORQUE (OZ-IN) 120 60 30 0 0 10 20 30 40 50 SPEED (RPS) OEM83 Motors OEM650/OEM650X with OEM83-62-MO (75VDC @ 4.
TUNING & SPECIFICATIONS • OEM650/OEM650X OEM650/OEM650X with OEM83-93-MO (75VDC @ 5.6A) 250 Torque 150 WATTS TORQUE (OZ-IN) 200 Shaft Power 100 50 0 0 10 20 30 40 50 SPEED (RPS) OEM650/OEM650X with OEM83-135-MO (75VDC @ 6.
OEM650/OEM650X • TROUBLESHOOTING 4 Troubleshooting Chapter Objectives The information in this chapter will enable you to: ❏ Maintain the system to ensure smooth, efficient operation ❏ Isolate and resolve system problems Drive Maintenance Ensure that the drive's heatplate has proper thermal contact with the mounting surface.
TROUBLESHOOTING • OEM650/OEM650X Determine if the problem is mechanical, electrical, or softwarerelated. Can you repeat or re-create the problem? Random events may appear to be related, but they may not be contributing factors to your problem. Investigate the events that occur before the subsequent system problem. You may be experiencing more than one problem. You must solve one problem at a time. Document all testing and problem isolation procedures. You may need to review and consult these notes later.
OEM650/OEM650X • TROUBLESHOOTING Symptoms Power LED is not on (illuminated) Possible Causes The drive is not receiving adequate DC voltage Solutions Verify the VDC+ and VDC- connection Verify you power supply is producing adequate power Verify that there is DC voltage at the drive and at the VDC+ and VDCconnection Power LED is flashing Drive screw are terminals loose Tighten screws—do not tin wires DC Line voltage is too low I/O incorrectly connected Check DC line voltage (24VDC minimum) Internal d
TROUBLESHOOTING • OEM650/OEM650X Symptoms The drive loses pulses at high speed Solutions Indexer is overdriving step input Verify that the step input current is not greater than 15 mA Indexer is underdriving step input Verify that the step input current is greater than 6.
OEM650/OEM650X • TROUBLESHOOTING Testing the Motor If the motor fails to move, you should test the motor with an ohmmeter to examine the resistance between the motor connections. If the motor is not malfunctioning, the source of the problem is probably within the drive. If you operate a faulty drive with a reliable motor, you may damage the motor. If you find that the motor is not faulty, remove power, and remove the motor from the drive. Use the following steps to test the motor. 1.
TROUBLESHOOTING • OEM650/OEM650X 2. Confirm that the host and peripheral are configured for the same baud rate, 8 data bits, 1 stop bit, and no parity. 3. Use DC common or signal ground as a reference, not earth ground. 4. Cable lengths should not exceed 50 ft. unless you are using some form of line driver, optical coupler, or shield. As with any control signal, be sure to shield the cable-to-earth ground at one end only. 5.
OEM650/OEM650X • TROUBLESHOOTING • How many units failed? • What was happening when the unit failed (i.e., installing the unit, cycling power, starting other equipment, etc)? • How was the product configured (in detail)? • What, if any, cables were modified and how? • With what equipment is the unit interfaced? • What was the application? • What was the system sizing (speed, acceleration, duty cycle, inertia, torque, friction, etc.
TROUBLESHOOTING • OEM650/OEM650X 48
OEM650/OEM650X • INDEX Index M A enclosure 14 Encoder Compatibility 29 end-of-travel limits 27 Evaluation kits 4 Metric Heatsink 16 mid-range instability 33 misalignments 22 motor motor waveform 35 Motor Configuration parallel 6 series 6 motor current 8 Motor Current Selection Resistor 7 motor current.
INDEX • OEM650/OEM650X power supply 9 Power Supply Sizing 31 R radial load 22 Remote Input 25 repair 46 Repeatability 36 resistor 7 Resistors 4 Resonance 33 resonance speed 34, 35 Return Material Authorization (RMA) 47 Rigid coupling 23 Rotor Inertia 36 RS-232C 11, 45 Baud Rate 11 Daisy Chaining 30 Data Bits 11 Handshaking 12 Parity 11 Stop Bit 11 S shaft couplings 23 double-flex 23 rigid 23 single-flex 23 Ship kit 3 sine wave 35 single-flex coupling 23 sinusoidal current waveforms 35 Sizing Power Supply
Internal Connections +5V +5V 243Ω 8 Inputs & Outputs 464Ω 2 6 3 +5V 5 HCPL-2601 464Ω 243Ω Step Input 1 2 Direction Input 11 14 5 15 6 12 8 7 10 16 Remote Input 681Ω 17 +5V 9 464Ω 21 Fault Output Gear Shift Input 15 9 11 4N35 1 2 16 23 +5V ILQ2 10kΩ BS170 ILQ2 681Ω 14 4 3 13 HPCL-2631 25 Pin D-Connector Mounted on OEM650 OEM650 Inputs & Outputs, and Internal Connections 2 14 Tx 15 Rx 16 Shutdown Slave Drive 1 Direction Output N.C. CW Limit 3 N.C.