Hardware Manual - Haydon Kerk Motion Solutions
Contents
1. cep Such as Haydon proximity sensor Input 1 Pin3 X Input 2 Pin E mnes Current Input 3 Pin 5X CX Bie pu mm Input 4 Pin 6 lt 5 Output pin of another IDEA drive 202. OUTRUT3 PINTO outputa B INVERTING RECEIVER INPUT 12 PCM7539E IDEA Drive Engineering Drawings INPUT SUPPLY AMP 284506 4 TYCO CONNECTOR 4 POS 2845122 TERMINAL MATES TO PLUG IN BLOCK CONN TYCO CONNECTOR 284506 2 FLYING LEADS 12 TO 75 VDC GROUND igi 12 75 VDC 2 244 22 0 0 866 8 7 xil 0 34 I xN x m 0 9153 PIN 1 Yo COMMUNICATIONS INPUT OUTPUT 76 0 USB CONNECTOR 2 992 MINI B HIROSE CONNECTOR DF3A 10P 2DS MATING CONNECTOR HIROSE 105 2 SEE TABLE A FOR PIN DESCRIPTIONS OY PIN 10 4X Q 4 50 0 177 THRU 2 0 0 079 JST CONNECTOR S5B PH K S LF SN MATING CONNECTOR JST PHR 5 SEE TABLE B FOR PIN DESCRIPTIONS TABLE A TABLE B PIN POSITION DESCRIPTION NOTES DESCRIPTION GROUND 1 0 SUPPLY SUPPLY 5 24 VDC GROUND INDEX CONNECTION CHANNEL INPUT 3 INPUT 4 A CHANNEL 13 Connections Basic Wiring To connect power to the drive and control it with the IDEA Drive User Interface you will need the following A power supply minimum of 12VDC A PC Power cable available from Haydon Kerk p n 56 1348 Haydon motor terminated with Molex connector 39 01 2040 4806 amp 4826 drives only o 7539 drive has screw terminals for a motor connection 10 wire I O cable available from Haydon Kerk p n 56 1352 Note this cable is only
3. DESCRIPTION 5V GROUND INDEX NO CONNECTION CHANNEL CHANNEL PCM4826E IDEA Drive Engineering Drawings INPUT SUPPLY TYCO CONNECTOR 284512 2 MATES TO PLUG IN TYCO CONNECTOR 284506 2 VIA FLYING LEADS 12 TO 48 VDC SUPPLY PIN 1 INPUT OUTPUT HIROSE CONNECTOR DF3A 10P 2DS MATING CONNECTOR HIROSE DF3 10S 2C SEE TABLE A FOR PIN DESCRIPTIONS PIN 10 MOTOR CONNECTOR MOLEX DUAL ROW CONNECTOR 39 01 2041 MATES TO PLUGIN MOLEX DUAL ROW CONNECTOR 39 01 2040 2 TABLE A PN2 VOSUPPLY STO24VDC PN3 NUT quee PINS INPUT3 f O PING ___ PIN OUTPUT J PINS PINS OUTPUTS GROUND 12 TO 48 VDC JST CONNECTOR S5B PH K S LF SN MATING CONNECTOR JST PHR 5 SEE TABLE B FOR PIN DESCRIPTIONS 4X 4 50 0 177 THRU PIN 3 B PC COMMUNICATIONS USB CONNECTOR MINI 8 TABLE B G INDEX ZNO CONNECTION _____ A CHANNEL 10 7539 PCM7539E IDEA Drive Specifications Drive Input Voltage Range 12Vdc up to the lesser of 8 times the motor voltage or 75Vdc Maximum Drive Current per phase 3 85Arms Plus optional 30 boost during ramping Step Modes Full Half 1 8 1 16 1 32 1 64 Communications USB Mini B connector RS 485 NEMUS Digital Output Maximum Sinkin
4. ACM4806E IDEA Drive Engineering Drawings INPUT SUPPLY TYCO CONNECTOR 284512 2 MATES TO PLUG IN TYCO CONNECTOR 284506 2 VIA FLYING LEADS 12 TO 48 VDC SUPPLY PIN 1 INPUT OUTPUT HIROSE CONNECTOR DF3A 10P 2DS MATING CONNECTOR HIROSE 105 2 SEE TABLE A FOR PIN DESCRIPTIONS PIN 10 4 MOLEX DUAL ROW CONNECTOR 39 01 2041 MATES TO PLUG IN MOLEX DUAL ROW CONNECTOR 39 01 2040 PIN 2 A TABLE A PIN GROUNDI O SUPPLY 570 24 VDC 2 VOSUPPLY STO24VDC Wur wur mera oum _ ___ GROUND 12 48 VDC JST CONNECTOR S5B PH KS LF SN MATING CONNECTOR JST PHR 5 SEE TABLE FOR PIN DESCRIPTIONS COMMUNICATION CONNECTOR PIN 1 HIROSE CONNECTOR DF11 6DP 2DS 24 2 PLACES MATING CONNECTOR HIROSE DF11 6DS 2C SEE TABLE B FOR PIN DESCRIPTIONS PIN 6 PIN1 A TABLE B TABLE C DESCRIPTION DESCRIPTION Y NON INVERTING DRIVER OUTPUT 5V Z INVERTING DRIVER OUTPUT GROUND GROUND INDEX NO CONNECTION GROUND B CHANNEL A NON INVERTING RECEIVER INPUT CHANNEL B INVERTING RECEIVER INPUT PCM4806E IDEA Drive Engineering Drawings INPUT SUPPLY TYCO CONNECTOR 284512 2 MATES TO PLUG IN TYCO CONNECTOR 284506 2 VIA F
5. each 8mA each 709C Measured at heat sink 85 Kbytes Flash 85 Referenced by 10 character program names Trapezoidal 4 inputs rising falling or both edges internal position counter when reaching a programmed position ACM4826E IDEA Drive Engineering Drawings INPUT SUPPLY TYCO CONNECTOR 284512 2 MATES TO PLUG IN TYCO CONNECTOR 284506 2 VIA FLYING LEADS 12 TO 48 VDC SUPPLY PIN 1 INPUT OUTPUT HIROSE CONNECTOR DF3A 10P 2DS MATING CONNECTOR HIROSE 105 2 SEE TABLE A FOR PIN DESCRIPTIONS PIN 10 PIN 4 B MOTOR CONNECTOR MOLEX DUAL ROW CONNECTOR 39 01 2041 MATES TO PLUG IN MOLEX DUAL ROW CONNECTOR 39 01 2040 TABLE A PIN POSITION DESCRIPTION PN GROUNDIIOSUPPLY STO 24 DC PN3 ms ers PN6 OUTPUT3 m GROUND 12 TO 48 VDC JST CONNECTOR S5B PH KS LF SN MATING CONNECTOR JST PHR 5 SEE TABLE C FOR PIN DESCRIPTIONS 4X 4 50 0 177 THRU PIN3 B TABLE B DESCRIPTION Y NON INVERTING DRIVER OUTPUT 7 INVERTING DRIVER OUTPUT GROUND GROUND A NON INVERTING RECEIVER INPUT B INVERTING RECEIVER INPUT 34 4 1 354 2 0 0 079 COMMUNICATION CONNECTOR HIROSE CONNECTOR DF11 6DP 2DS 24 2 PLACES MATING CONNECTOR HIROSE DF11 6DS 2C SEE TABLE B FOR PIN DESCRIPTIONS PIN 6 TABLE
6. IDEA Drive Hardware Manual Haydon kerk www haydonkerk com All Rights Reserved Table of Contents auis 3 IRtrod CtIi6 6n u uy 4 ACM4806E 8 4806 Specifications 2 2 2 2 2 5 ACMASOSE DFWINE sir 6 PCMASOSE CoU a vx 7 ACM4826E 8 4826 pecifications 2 02 2 0 8 ACN4826E Dr WIRBu u UU aes 9 PCM4826E Dia WIN u u ob I ME a ass 17 ACM7539E amp 7539 pecifications 4 222 21 11 ACM7539E 17 PCMZS539E DESWIRB ree t eov aded t ree tir ides 17 u E UT 14 CONNECTIONS DIS ray u u up cas aeq etn dec aeu Eee nn exe deque Due qua Ee bU 17 ACCeSSOLI S QU 15 RS 485 Pin usn es Sapa eek 16 Encoder E RU DEC UM 17 Encoder WIri g ooa Hoi ce Ww ee 17 Digital I O Pin Descriptions ac eee teca da odd Dat dut n lees 19 Digital I O Wiring n T 20 Di
7. LYING LEADS 12 TO 48 VDC SUPPLY PIN 1 INPUT OUTPUT HIROSE CONNECTOR DF3A 10P 2DS SEE TABLE A FOR PIN DESCRIPTIONS PIN 10 PIN4 B MOTOR CONNECTOR MOLEX DUAL ROW CONNECTOR 39 01 2041 MATES TO PLUGIN MOLEX DUAL ROW CONNECTOR 39 01 2040 2 TABLE ___ 2 VOSUPPLY STO24VDC pins meri PN4 Ns Jus pine deua PIN OUTPUT2 OUTPUTS emo MATING CONNECTOR HIROSE 105 2 GROUND 12 TO 48 VDC JST CONNECTOR S5B PH K S LF SN MATING CONNECTOR JST PHR 5 SEE TABLE B FOR PIN DESCRIPTIONS 4X 4 50 0 177 THRU PIN 3 B PC COMMUNICATIONS USB CONNECTOR MINI 8 TABLE B DESCRIPTION 1 2 GROUND INDEX NO CONNECTION B CHANNEL A CHANNEL 4826 4826 IDEA Drive Specifications Drive Input Voltage Range Maximum Drive Current per phase Step Modes Communications Digital I O Voltage Range Digital Inputs Digital Sinking Outputs Digital Output Maximum Sinking Current Digital Input Maximum Current Maximum Temperature Program Storage Size Type Maximum Number of Stored Programs Position counter range Type of Ramping Interrupt sources Value 12 48Vdc 2 6Arms Plus optional 3096 boost during ramping Full Half 1 8 1 16 1 32 1 64 USB Mini B connector 5485 5 24Vdc 200
8. capable of sinking up to 200mA each Note The inputs can be used in two ways They can be connected to logic levels that swing between 1 0 supply ground and 1 0 supply or they can be attached to a switch connected I O supply ground In the second configuration when the switch is open the drive will see this as a logic high when the switch is closed and the input is connected to I O supply ground the drive will see this as a logic low Note When an input is connected to a mechanical switch or relay a phenomenon called bounce can occur When the switch contact is almost closed several electrical arcs can form If an input is being used as an interrupt each arc will be seen as a rising and falling edge causing several false interrupts to trigger Any input being used as an interrupt source should only be attached to solid state devices or a switch with debounce circuitry Digital Output Wiring Examples Supply Ground pin k Yrs e T 5 24 I O Supply Pin 2 lt gt PA Solenoid Pullup Resistor Output 1 Pin 7 lt gt Output 2 Pin 8 lt gt Output 3 Pin 9 gt lt gt Digital signal to external device Output 4 Pin 10 2 9 7 7 Input pin of another IDEA drive 19 Digital Input Wiring Examples Supply Ground pin 1 lt 24 5 24Vdc Open Collector Output A or Open Drain Output Supply Pin as
9. g Current Maximum Number of Stored Programs 75 Referenced by 10 character program names Type of Ramping Trapezoidal Interrupt sources 4 inputs rising falling or both edges internal position counter when reaching a programmed position 11 7539 IDEA Drive Engineering Drawings PINT A PINT A MOTOR CONN INPUT SUPPLY AMP 284506 4 TYCO CONNECTOR 4POS 284512 2 TERMINAL MATES TO PLUGIN BLOCK CONN TYCO CONNECTOR 284506 2 VIA FLYING LEADS SUPPLY 12 75 VDC 2 244 22 0 0 866 8 7 0 34 a 23 25 0 9153 Ve De 0 11 60 205 24 E 2 PLACES i INPUT OUTPUT HIROSE CONNECTOR 48 0 2 992 DF3A 10P 2DS MATING CONNECTOR HIROSE 105 2 SEE TABLE A FOR PIN DESCRIPTIONS HIROSE 11 605 2 SEE TABLE B FOR PIN DESCRIPTIONS L G s PIN 10 4X 5 4 50 0 177 THRU 5 0 0 197 JST CONNECTOR S5B PH K S LF SN MATING CONNECTOR JST PHR 5 SEE TABLE C FOR PIN DESCRIPTIONS TABLE A TABLE B TABLE C PINPOSITION DESCRIPTION DESCRIPTION PIN3 INPUTI INDEX NO CONNECTION A RECEIVER INPUT A CHANNEL PN6 PIN7 OUTPUT C OUTPUT2
10. gital Output Wiring Examples 21 Digital Input Wiring Examples 21 Revision History January 2012 Added digital input wiring examples March 2013 Manuals combined Wiring examples revised Introduction This manual is intended to provide basic hardware specifications for the Haydon Kerk IDEA drive Several styles of the IDEA drive are available For detailed information on use and programming of the drive please refer to the IDEA Drive User s Manual available at idea drive com 4806 PCM4806E IDEA Drive Specifications Drive Input Voltage Range Maximum Drive Current per phase Step Modes Communications Digital I O Voltage Range Digital Inputs Digital Sinking Outputs Digital Output Maximum Sinking Current Digital Input Maximum Current Maximum Temperature Program Storage Size Type Maximum Number of Stored Programs Position counter range Type of Ramping Interrupt sources Value 12 48Vdc 0 6Arms Plus optional 30 boost during ramping Full Half 1 8 1 16 1 32 1 64 USB Mini B connector RS 485 5 24Vdc 200mA each each 702C Measured at heat sink 85 Kbytes Flash 85 Referenced by 10 character program names Trapezoidal 4 inputs rising falling or both edges internal position counter when reaching a programmed position
11. ied by the drive pin 2 must be connected to the same ground as the encoder This is internally connected to the IDEA drive s ground connection Pin 3 is for encoders with an index signal This may be left unconnected and is for future revisions which may make use of the index signal Pins 4 and 5 are the B and A connections respectively When the output shaft of the motor is rotating clockwise as viewed from the front of the motor phase A should lead phase B Check your encoder s documentation to check if A and B need to be swapped JST Connector S5B PH K S LF SN Mating Connector JST PHR 5 4 B Digital I O Pin Descriptions HIROSE CONNECTOR 205 MATING CONNECTOR HIROSE DF3 105 2C PIN POSITION DESCRIPTION GROUMDVOSUPPLY 5 24 VDC SUPPLY 5 24 INPUT 1 __INPUT 2 INPUT 3 INPUT 4 OUTPUT 1 OUTPUT 2 OUTPUT 4 Open Collector Output Pin Description Output Pin Ground I O Supply connected internally Input Pin Description Supply connected internally 3KO Input Pin 18 Digital I O Wiring The IDEA drive has four optically isolated inputs and four optically isolated open collector outputs A power supply is necessary to activate the opto isolators with a voltage range of 5 24VDC As the outputs are open collector they will need a pull up resistor tied to the 1 0 supply if a high level voltage is required The outputs
12. required if the drive is interacting with an external device PCM USB version USB to Mini B USB cable available from Haydon Kerk p n 56 1346 ACM RS 485 version USB to Mini B USB cable available from Haydon Kerk p n 56 1346 RS 485 cable available from Haydon Kerk p n 56 1536 4 USB to RS 485 converter available from Haydon Kerk p n UTR4852 The following page contains the proper wiring diagram for the IDEA drive power supply and PC The 1 0 and encoder cables are omitted 14 Basic Wiring Diagram Switch 12 48 12 75 VDC 7538 ONLY 4 power supply Power cable 56 1348 USB cable 56 1346 USB to RS 485 converter 7 LITRASS2 gt OR USB cable 56 1346 PCM EH J p EH Motor terminated with Molex 39 01 2040 or spliced to Haydon p n 56 1453 7539 drive is coupled with a screw terminal connector for connection to the motor Accessories Motor Connector Assembly 56 1453 USB to RS 485 Adapter UTR4852 Encoder Cable with flying leads 1 foot 56 1715 Encoder Harness to E4 encoder 1 meter 56 1639 4 Encoder harness to E5 E6 encoder 1 meter 56 1621 4 15 5 485 Descriptions Hirose Connector DF11 6DP 2DS 24 Maling Connector Hirose DF11 6DS 2C RS 485 pins are often referred to by their read write functionality Y Z Encoder Inp
13. uts The IDEA drive is equipped with inputs for a single ended Quadrature encoder attached to the motor it drives Quadrature encoders have 2 output signals A and B which are nominally 90 electrical degrees out of phase On each rising or falling edge the relative logic levels of the two phases can be used to determine the direction of rotation The decoder within the drive interprets A leading B as motion in the clockwise direction as viewed from the front face of the motor This means that if a rising edge is detected on phase A and phase B is at a logical high then the motor just rotated counter clockwise 16 The drive watches for and rising and falling transitions phase and increments or decrements the position counter accordingly Using this method a 1000 line optical rotary encoder would have 2000 counts per revolution and a change in position would be detected every 0 182 The IDEA drive line of products can be configured to use the encoder feedback in a number of ways For further detail on the encoder functions available please see the IDEA Drive user s manual available at idea drive com Encoder Wiring The encoder connector can be wired to any 2 channel quadrature encoder that operates between 3 3Vdc and 5Vdc For encoders that work on 5VDC power to the encoder can be supplied through pin 1 of the encoder connector otherwise a separate 3 3Vdc power supply is required Whether or not power is being suppl
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