wiki:BaysideRohd

Parker Bayside R100D Direct Drive Rotary Stage

http://factoryswblog.org/wp-content/uploads/2013/R100D-267x300.jpg

The R100D is a direct drive rotary stage consisting of a:

  • Brushless DC motor with hall sensors
  • High resolution encoder
  • Load mounting plate
  • Precision bearings

The official manual is here

The advantages of direct drive stages compared to gear driven stages include a very stiff assembly with no backlash or hysteresis, high speed, and no gear wear. On the other hand, unlike a worm gear stage, it will not keep its position when power is off (you would need a brake, and Parker does not offer one).

I really like this stage; it's beautifully made, and is very different from anything else I own (more poles, more inductance, more resistance, more inertia, etc).

For initial testing, I paired it with a Copley ACP-055-18 and used Copley's default tuning. This does not result in great performance, so when I get time I will play with tuning and other drives (a higher voltage drive should help).

Specifications

ParameterValueUnit
Axial Capacity165.3lb
Perpindicular Capacity @ Radius44.1 lb @ 2.0"
Inertia0.197oz-in-sec-sec
Max Speed700RPM
Continuous Torque92.0oz-in
Peak Torque277.4oz-in
Torque Constant101.9oz-in/A
Ke Voltage Constant75V/kRPM
Resistance, Line to Line59.9Ohm
Inductance, Line to Line50mH
Rated Voltage300V
Continuous Current0.9A
Peak Current2.72A
Poles12
Thermal Resistance2.0Deg C/W
Counts Per Rev473,600Quadrature Counts
Encoder Freq at Max Speed5.5MHz
Logic Voltage5VDC
Logic Current170mA

Connections

The R100D has two male DSub connectors, a DB15M for power and a HD26M for feedback (encoder and halls).

I made two custom cables with the other ends matching my standard power and encoder connectors.

Power Connector DB15M

PhasePin Numbers
U1,2,9,10
V3,4,11,12
W5,6,13,14
Case Ground7,8,15

This layout makes a lot of sense when you look at it graphically:

1-U 2-U 3-V 4-V 5-W 6-W 7-GND 8-GND
9-U10-U11-V12-V13-W14-W15-GND

Feedback Connector HD26M

My standard is positive is when the motor, when viewed from the front, is turning clockwise. (I have flipper the A+/A- and B+/B- signals compared to Parker's pin-out since they define positive as counter-clockwise).

PinSignal
1B-
2B+
3A-
4A+
5I-
6I+
7+5V
8GND
9->18N/C
19Hall X
20Hall Y
21Hall Z
22+5V
23GND
24Thermistor T1
25Thermistor T2
26Shield
Last modified 3 years ago Last modified on Nov 15, 2014 1:20:56 AM