Kollmorgen / API P325 User Manual
Contents
1. 15 16 17 18 19 21 FAULT EMIT 1 23 25 PIN CONNECTOR 1 0 SCHEMATIC 1 c gt RESET gt STEP lt gt SHUTDOWN lt gt SHUTDOWN 3 LOW PWR 4 LOW PWR c STEP ceo DIRECTION FAULT COLL lt gt DIRECTION RESET Externol CONNECTOR DB25 lt FEMALE gt HEPL2631 HCPL2631_ HCPL 2530 m Internal to Drive AMERICAN PRECISION INDUSTRIES CONTROLS DIVISION 4401 Genesee Street Buffalo New York 14225 716 631 9800 FAX 716 631 01522. NOTE 1 C NOTE 2 Amps per Block 2 Phase 12345678 a 1 6 10000 i 0 8 01000 F 0 4 00100 0 2 00010 Ps 0 1 00001 NOTE 1 See DIAGRAM 8 1 3 for location of Switch Block 2 A 0 indicates that the switch is OFF and a 1 indicates the switch is ON NOTE 2 The nominal current is 0 9 amps phase with switches 1 5 on block 2 turned OFF Drive output current is the sum of switches i 5 plus 0 9 amps phase Microstep Resolution Switch NOTE 1 Switch NOTE 2 Switch NOTE 3 Steps per Block 1 Block 2 Block 3 Revolution 12345678 12345678 12345678 fa E 200 1110 000 11111111 400 _ 1110 001 01111111 800 1110 010 00111111 1600 1110 OLL 00011111 3200 1110 100 00001111 6400 1110 101 00000111 12800 1110 110 i 00000011 25000 NOTE 4 111 11000001 25600 1110 111 00000001 NOTE 1 See DIAGRAM 8 1 3 for location of Switch Block 1 A 0 indicates that the switch is OFF and a 1 indicates the switch is ON Switches 1 4 are only utilized with the velocity control oscillator option P325V NOTE 2 See DIAGRAM 8 1 3 for location of Switch Block 2 A 0 indicates that the switch is OFF and a 1 indicates the switch is ON NOTE 3 See DIAGRAM 8 1 3 for location of Switch Block 3 A 0 indicates that the switch is OFF and a 1 indicates the switch is ON NOTE 4 Selectable current profile settings are available for specific frame size motors when utilizing a microstep resolut
3. 6 8 DRIVE CONFIGURATION AND CONNECTIONS O ree 7 8 1 Drive Configuration cee eee Ng algae dle les eR Get grag hae oe 7 Solids INPEOUCCT ION 2005 TAREE a Brees ould Abies eta Sore oo 7 8 1 2 Low Voltage Adjustment cee eee 7 8 10 3 Gurtent Switch Settings eo oa ek ec dee id See les 8 8 1 4 Current Profile Settings c oooccoconoonnmnararo ro 9 8 1 5 Microstep Resolution Switch Settings 0000s ee eee 9 8 2 Drive Connections obi orereta ath Gye Ma eae EW Sree Wallen Se A e 10 SoA INTO UCERO a it A A AAA A 10 3 22 Motor Connections 6 aie epee eed oe Gale eee Be di A 10 8 2 3 Logic Connections o ooo coco eee eens 11 9 2 4 Power Connections miei da a la es 12 9 INSTALLATION workami otun A A data 12 dl Cooling ido is O A Ia ere 12 92 Mounting e A A d wg 12 9 3 Drive Configutation 2 rico a tii dad al ee als 13 9 4 Drive Connections resorts iaa ao da ad Bela es 13 9 5 Applying Power vewieia a a e eee anc EW os 13 10 PERFORMANCE EXPECTATIONS 2 0 0 ccc ete 14 11 P327 SPECIFICATIONS ii eri aw a eho deed ben ASE a va ee E 15 12 TROUBLESHOOTING A anh oe a das SVR oD 16 13 VELOCITY CONTROL OSCILLATOR OPTION P325V ooooooooomo ees 18 LSet Description sia cached rae hugh Gee She eS eee lel BRON Boek nacre naa a 18 13 2 P325V Logic Connections 00 Soe Suhel at she NE 18 rs Adjustments Sei a RE Bate WG Bee cas t 20 IVA VCO Specifications t
4. P325 M421 600 4 2 4 9 3 55 3 11010 M421 32 P325 M422 800 4 2 7 0 3 8 3 11101 M422 08 See Section 8 for an explanation of motor connections Current switch settings for all the P325 series drives xx A O indicates that the switch is OFF and a 1 indicates the switch is ON See APPENDIX B for microstep resolution switch settings week Linear Acctuator Model Force is 100 lbs for the packaged model that includes a 050 inch lead screw 20 pitch Other lead screw pitches are available upon request Motors supplied with these packages come with the following gt Size 17 motors are 12 inch leads in an 8 lead configuration with a single ended shaft Size 23 and 34 motors may be supplied with the following features gt gt gt Dual shafted with a flat on the front shaft extension for positive load coupling Designed to accept a 1000 line Dual Channel Incremental Optical Encoder feature with Z channel home reference With 8 leads in twisted pairs in a six 6 foot shielded cable Size 42 motors may be supplied with the following features Dual shafted with a flat woodriff key on the front shaft extension for positive load coupling Designed to accept a 1000 line Dual Channel Incremental Optical Encoder feature with Z channel home reference With 8 leads in twisted pairs in a six 6 foot shielded cable P325 Operating Manual Rev 1190 Page 22 15 APPENDIX B Dip Switch Settings Current Settings Switch
5. RATE SYMMETRY ta td ta VERSES td FIGURE 13 3 13 4 VCO Specifications The P325V has the same general specifications as the standard P325 driver see SECTION 11 with the additional specifications listed below Ramp rate 50 to 1 control ratio 5 second max acceleration time 100 msec min acceleration time TTL LOGIC INPUTS x STOP RUN On a High signal the motor is stopped On a Low signal the motor runs at the BASE SPEED ACCEL On a High signal the motor is decelerated Ona Low s gnal the motor is accelerated E a aa H to Series TTL LOGIC OUTPUTS The logic outputs can drive one low power TTL load with a maximum capacitance of 15 picofarads AT SPEED indicator goes Low when at MAXIMUM SPEED CLOCK OUT indicator goes Low for each motor step P325 Operating Manual Rev 1190 Page 21 14 APPENDIX A API Motor Listing i smite gt Ea fi Bifilar iar P325 STATIG WIDTH TED VOLTAGE XDIP SWITCH CONTROLS DIV PACKAGES TORQUE LENGTH CURRENT TAP 2 MOTOR 0z In gt Inch mps ph 12345678 PART NUMBER P325 A231A RAK 2 3 2 0 0 3 00001 A231 02A P325 M171 15 L 1 L 3 1 7 2 01000 M171 03 P325 M172 20 1 7 1 8 2 1 2 01100 M172 04 P325 M231 55 2 3 2 0 1 0 3 00001 M231 02 P325 M232 90 223 3 3 1 8 2 01001 M232 04 P325 M233 120 2 3 4 0 2 9 2 10100 M233 06 P325 M341 150 3 4 1 9 3 0 2 10101 M341 06 P325 M342 300 3 4 3 7 4 0 2 11111 M342 08 P325 M343 400 3 4 5 3 3 5 2 11010 M343 07
6. and power stages of the drive in order to protect both circuits and eliminate electrical noise problems GROUND Terminal 1 This terminal is the reference ground for the 5V OUT supply This reference ground should be only be connected to the ground of the users controller when the optical isolation feature is defeated STEP INPUT Terminal 2 The motor will be instructed to step on the rising edge of each incoming pulse up to arate of 1 MHz The minimum input pulse width is 1 micro seconds DIRECTION Terminal 3 CW CCW A High or open connection on this terminal would cause a Clockwise CW rotation of the motor as viewed from the output shaft end When taken Low the direction will be counterclockwise CCW The direction input may be switched while the motor is rotating but may cause the motor to lose synchronism if operating above it s Start Stop torque capability LOW POWER Terminal 4 HI LOW POWER This input allows the user to reduce the power to the motor to one fourth of the high current setting The High or open state provides full current to the motor When taken Low the current is reduced to 25 of it s full rated power This may be used to maintain a holding current on the motor or to help reduce motor heating POWER ENABLE Terminal 5 ENA NO POWER This input allows the user to cut off power to the moter on command The High or open state allows normal stepping of the motor at it s
7. are set for the motor that you are running Section 8 1 3 5 Verify the Current Profile Settings Section 8 1 4 6 Select the Microstep Resolution desired Section 8 1 5 7 Plug the motor connector into the socket labeled motor Section 8 2 2 8 Connect the required logic control lines Section 8 2 3 9 Plug into your power source Section 8 2 4 10 Supply control signais to the drive The type of control utilized to supply step direction and other control signals to the drive depends on the application and the available equipment Methods offered by the Controls Division include the VCO option on the P325 Section 13 and the SAC 560 Smart Axis Controller Another option is for the user to supply the required signals directly from his system A brief synopsis of each option follows CONTROL SIGNALS USER INPUT This is a valid option when the user system already contains a computer or programmable logic controller With this method the user provides TTL inputs directly to the step motor drive to control motion in the system As a bare minimum step and depending on the application direction inputs must be provided to the step motor drive Additionally many applications will require efficient ramp routines to achieve the performance objectives of the system It is the responsibility of the user when this is the selected method of control SAC 560 Select this option when the user s system does not contain a l
8. each step taken AT SPEED Terminal 10 This output may be utilized by the user for indicating when the motor has reached MAXIMUM SPEED This output remains High and goes Low whenever the motor is at MAXIMUM SPEED OUTPUT COMMON Terminal 11 This terminal provides reference ground for all optically isolated outputs This reference ground should be connected to the return of the OPTO IN supply when the optical isolation is used or to the ground or the user s controller if the optical isolation is being defeated ACCELERATE Terminal 12 ACCEL This input will allow the user to control the transition acceleration and deceleration between the BASE SPEED and the MAXIMUM SPEED on command The High or open state causes the drive to decelerate the motor to the BASE SPEED When taken Low the drive will accelerate the motor to the MAXIMUM SPEED Note that the RUN input terminal 6 must be active or held Low during the operation of the ACCEL input control signal P325 Operating Manual Rev 1190 Page 19 13 3 Adjustments Determine the upper speed of your application and set switch block 1 as shown below only one switch 1 2 3 or 4 can be set to ON multiple settings will result in damage to the drive be sure power is disconnected The enclosure may be reinstalled at this time Selection of VCO Maximum Upper Speed Maximum Switch NOTE 1 NOTE 2 Pulse Rate Block 1 Pulses per Second 12345678 125 000 100
9. flow in only one direction in each coil of the motor Most motors which fall into the HYBRID motor classification will work Step angles of 0 9 and 1 8 degrees are the most common Other step angles will also work Appendix A lists the most common motors available through the Controls Division of API Number of Leads Hybrid style motors have 4 6 or 8 leads depending on how they are wound and connected Diagram 7 1 shows these 3 basic configurations note that the 4 lead motor is wound in a UNIFILAR fashion while the 6 and 8 lead motors are wound in a BIFILAR fashion ONLY 6 OR 8 LEAD WINDINGS CAN BE OPERATED RED RED BLK RAW YEL MOTOR R W Y ZW zl FP goa 3 LA y a a OF gd 6 LEAD BIFILAR MOTOR 8 LEAD BIFILAR MOTOR DIAGRAM 7 1 Motor Current Rating The basic current output range is 9 to 4 0 Amps per phase bifilar _fating Inductance The minimum motor inductance of 5mH bifilar is required on all models of drives for the power switching stage to be able to control currents Size Recommended motor sizes for the P325 Series is size 17 to size 42 motors see Appendix A Other controlling factors are the motor s current rating inductance and winding type If a question remains about whether a particular motor can be operated please contact the Controls Division for application assistance P325 Operating Manual Rev 1190 Page 6 8 DRIVE CONFIGURATION AND CONNECTIONS 8 1 Drive Config
10. output current is the sum of the switches 1 5 plus 0 9 amps phase Swe SW NOTE SWS TS LOCATED UN THE RIGHT Sie Ll Whines Poco SERIES RLV Ee P325 Operating Manual Rev 1190 Page 8 POT ADJ VCO UPTION If not known the user should determine the current per phase rating of the motor to be used and whether or not the rating meets the drive requirements _ Once the motor part number and current rating is known refer to Appendix A or B to determine the closest listed current setting If the closest current is within 10 of the rated eurrent it will probably suffice for most applications Current s ttings greater than 10 more than the rated value should not be used unless special cooling precautions are taken or intermittent operation allows for liberal use of the Low Power state These precautions should preclude motor temperatures greater than the maximums specified by the manufacturer By using a ball point pen or pointed object duplicate the switch settings given in the Appendix at the DIP switch on the drive DO NOT switch the settings with power applied to the motor 8 1 4 Current Profile Settings After selecting the proper low voltage tap and current for the rating of the motor you must select a current profile which is optimum for the motor This is done by dip switch 2 see Figure 8 1 3 for location Reference APPENDIX A for the values and set the switches as indicated 8 1 5 Microstep Resolu
11. rated current When taken Low all power is cut to the motor for the duration of the Low state Incoming step pulses are ignored when this line is heid Low Normally this input is used to issue an emergency stop command to the motor NO CONNECTION Termminal 6 NC This terminal is not connected internally OPTO INPUT Terminal 7 OPTO IN The user must provide 5 VDC here to operate the optical isolation feature of the P325 The optical isolation feature will be defeated if the user chooses to use the on board 5 VDC supplied by the P325 drive on logic terminal 8 5V OUT Terminal 8 This terminal can be jumpered to OPTO IN to defeat the optical isolation feature This output should not be used to drive any external loads as damage to the drive may result P325 Operating Manual Rev 1190 Page ll 8 2 4 Power Connections Ensure that your power source is 115 VAC 60 Hz A three prong power cord with a 3 pin plug type connector is provided with the package Simply plug the connector into the mating socket on the drive and plug into the power source When power is present the green LED will be illuminated Pin out list follows AC Input Black Wire Line Line AC Input White Wire Neutral Neutral AC Input Green Wire Ground Ground LED indicating power on Power 9 INSTALLATION The contents of this section will guide the user through the proper steps required to safely
12. 0 250 000 0100 500 000 0010 1 000 000 0001 NOTE 1 See DIAGRAM 8 1 3 for location of Switch Block 1 A 0 indicates that the switch is OFF and a 1 indicates the switch is ON NOTE 2 Switches 1 2 3 and 4 are set to OFF for user supplied pulse train j TABLE 4 Adjustment of Potentiometers Four potentiometers marked on logic end of the drive are set once for a given application These potentiometers must be set in the following order The BASE SPEED potentiometer should be set just below the error free start stop speed under load The MAXIMUM SPEED is set for the desired final speed of the motor by adjusting the potentiometer while monitoring the application or the CLOCK OUT terminal 9 The RAMP RATE adjustment is for control over the combined times of acceleration and deteleration The SYMMETRY potentiometer provides for control of the acceleration time verses the deceleration time within the established total time frame Acceleration and deceleration are near linear speed time relationships for most applications In an application where frictional loads assists stopping but hinders starting acceleration time is greater than deceleration time The SYMMETRY adjustment should be made to provide less slope more time for acceleration than for deceleration See FIGURE 13 3 1 P325 Operating Manual Rev 1190 Page 20 MAXIMUM SPEED REV SECOND Acceleration Deceleration Slope BASE SPEED RAMP
13. P325 User Guide Low EMI Microstep Power Drive Installation and User Reference Manual AMERICAN PRECISION INDUSTRIES INC CONTROLS DIVISION 4401 Genesee Street Buffalo New York 14225 716 631 9800 a 1 GETTING STARTED Our goal as a supplier is to provide the user with the proper tools to get his her application up and running as quickly as possible This includes designing products that are easy to learn use install and maintain in addition to providing the required documentation and support to quickly answer any questions that you might have To help you get started this section will provide you with a roadmap through this manual Depending on your level of expertise you can decide how to proceed We hope you find our recommendations helpful and we welcome any comments suggestions that you might have in helping us achieve our goal The primary intention of this manual is to guide the first time user of the P325 Series packages through the familiarization and installation into the chosen application After the initial installation is accomplished it can also serve as an ongoing reference manual for installation changes or future reference needs While this manual is intended to include as much available information as possible it is designed to also be easy to use for those who will not be reading the entire manual or who only want to refer to specific sections Users should classify themselves and proceed
14. accordingly First time users We recommend that all first time users and those basically unfamiliar with step motor drives read the entire manual before proceeding with installation i Experienced users Refer to the Precautions in SECTION 2 and to the Summary in SECTION 4 before proceeding with your installation Current users with specific information needs The comprehensive index contained in SECTION 3 will guide you to the specific Location with answers to your questions 2 PRECAUTIONS AND WARNINGS While we have designed these drives with safety issues in mind the user should keep the following precautions in mind gt Because potentially hazardous voltages can be present around this drive only qualified service and installation personnel should install this device gt All connections or changes to the drive configuration should be made with any power sources turned off and disconnected from the drive P325 Operating Manual Rev 1190 Page 1 3 SECTION l PAGE LAGETTENG STARTED 252 8 ra Gone endo deed ie ahha TA A ened a it 1 2 PRECAUTIONS AND WARNINGS 2 ccc cee eee ee nee tee eee 1 3 TABLE OFF CONTENTS 00 A Ae Mees aly 2 4 SUMMARY OF OPERATIONS sico a EE ee ee eee vr heuer ew eee 3 5 UNPACKING AND INSPECTION cece ec eee ee pete teen eens 4 6 DESCRIPTION OF OPERATION iia A PRESS ee UW ee aie ae a 5 7 MOTOR COMPATIBILITY oy 3 4 5 6 ete eG valve ee ae Clk Gt Pale bs a a we he ae we aoe
15. and the second is the motor current rating With the drive enclosure removed a transformer will be located with four spade lugs protruding from one end numbered 1 2 and 3 To configure the drive to the motor being used you must attach the BLUE wire to the proper low voltage lug see Figure 8 1 2 for location Consult APPENDIX A for the motor you intend to drive and its corresponding low voltage lug If you intend to run a motor not listed in APPENDIX A please consult the factory for appropriate instructions Figure 8 1 2 P325 Operating Manual Rev 1190 Page 7 8 1 3 Current Switch Settings If your drive and mot r were purchased together as a package then the current settings should have been previously made by your supplier lt is still advisable to verify that the settings are correct prior to applying power to the drive Before making connections to the drive the current setting for the motor s rated current per phase should be determined and set at the 8 position DIP switch located on the logic board see Diagram 8 1 3 for location Current Settings Switch NOTE 1 NOTE 2 Amps per Block 2 Phase 12345678 1 6 10000 0 8 01000 0 4 00100 0 2 00010 0 1 00001 NOTE 1 See DIAGRAM 8 1 3 for location of Switch Block 1 f A 0 indicates that the switch is OFF and a 1 indicates the switch is ON NOTE 2 The nominal current is 0 9 amps phase with switches 1 5 on block 2 turned OFF Drive
16. ation when taken Low Connector Type Three plug type connectors allow the user to make the necessary connections via recessed screw terminals which control a clamping action on the bare wire of each input It is recommended that connections be made prior to plugging into the drive NOTE 1 Motor Connections are made on the 7 pin connector 2 Logic Connections are made on the 8 pin connector 3 Power Connections are made on the 3 pin connector 8 2 2 Motor Connections MOTOR CONNECTIONS 7 PIN CONNECTOR MOTOR LEAD TERMINALS Terminal s 1 7 The leads from the chosen motor will be connected at some or all of these terminals Diagrams showing the possible connections for 6 or 8 lead motors MOTOR 6 LEAD MOTOR 8 LEAD MOTOR CAUTION Do not supply power to the drive without having all of the motor leads firmly connected to their appropriate terminals P325 Operating Manual Rev 1190 Page 10 8 2 3 Logic Connections The logic inputs required by the P325 are made on the 8 pin connector and plugged into the drive section labeled LOGIC All Logic inputs can be optically isolated by providing a 5 VDC source Each of the logic inputs is clamped High internally with a pull up resistor and requires the user s controller to pull them Low to return of the OPTO IN supply Each of the user s control lines should be capable of sinking at least 15 ma The optical isolation feature electrically isolates the motor
17. convection and heat removal from the drive The user should refrain from mounting where the heatsink is unexposed or where easy access to the connectors or adjustments is not practical In general the drive should be positioned close to the motor although step motors are fairly tolerant of long lead lengths Should the drive need to be positioned more than 6 feet from the motor consult the factory for the availability of motors with longer lead lengths P325 Operating Manual Rev 1190 Page 12 10 00 25 y 6 59 o 161 DIA SIDE VIEW Figure 9 2 9 3 Drive Configuration 9 4 Drive Connections Motor Connections Motor connections are made on the 7 pin pluggable connector provided with the drive If you purchased the drive with a motor then the motor connections and current switch settings will already have been made If not then refer to Section 8 Appendix A and Appendix B for the proper drive settings Logic Input Connections The minimum logic connection required to operate the P325 Series drive is the pulse input All other inputs will default to their High states during operation If other states are required then the ability to take them Low should be available Refer to the terminal descriptions in Section 8 2 3 to determine the required inputs Logic input connections are made through use of an 8 pin pluggable connector The connector may be pulled out by applying a force straight away from the drive Connec
18. for step motors when run at their rated current to be hot to the touch when operating In general if the motor case temperature is less that 85 C their is no cause for concern Current set too high check to see that the current is set at the appropriate level for the motor being operated MOTOR FAILS DURING ACCELERATION OR WHILE RUNNING Improper acceleration rate check that the increasing rate of pulses feed to the drive is not too fast for the motor to the driven load i maintain synchronism with Erratic loading if the driven load dramatically changes driving it could overcome the speed torque run the motor with the load disconnected while motor is capability of system try to No power logic be sure that Logic Pin 5 ENA NO POWER is High If all of the above remedies are attempted and the problem still remains you may have to return the drive for service For assistance contact Your local API representative Your local Distributor or CONTROLS DIVISION 4401 Genesee St Buffalo NY 14225 716 631 9800 FAX 716 631 0152 To return a drive for service Please call the number above to receive a Return Material Authorization Number You will be instructed at that time where to return the drive for the most expeditious service P325 Operating Manual Rev 1190 Page 17 3 VELOCITY CONTROL OSCILLATOR OPTION P325V 13 1 Description For applications requiring only the s
19. his may be used to maintain a holding current on the motor or to help reduce motor heating POWER ENABLE Terminal 5 ENA NO POWER This input allows the user to cut off power to the motor on command The High or open state allows normal stepping of the motor at it s rated current When taken Low all power is cut to the motor for the duration of the Low state Incoming step pulses are ignored when this line is held Low Normally this input is used to issue an emergency stop command to the motor RUN Termminal 6 STOP RUN A High or open connection on this terminal would cause the motor to stop When taken Low the motor will begin to rum at the BASE SPEED in the direction set by terminal 2 This input must be held Low for the duration of the desired motion OPTO INPUT Terminal 7 OPTO IN The user must provide 5 VDC here to operate the optical isolation feature of the P325 The optical isolation feature will be defeated if the user chooses to use the on board 5 VDC supplied by the P325 drive on logic terminal 8 5V OUT Terminal 8 This terminal can be jumpered to OPTO IN to defeat the optical isolation is feature This output should not be used to drive any external loads as damage to the drive may result CLOCK OUT Terminal 9 J This output will allow the user to monitor the number and frequency of pulses generated by the VCO Logic Board during a commanded move This output will go Low for
20. ials should be saved and set aside in case a return shipment has to be made The contents may include connectors mounting screws a motor or other components please compare these components to the parts list which is included on the shipper Immediately report any discrepancies to the shipping location P325 Operating Manual Rev 1190 Page 4 6 DESCRIPTION OF OPERATION Functional Overview The P325 Series are driver and power supply units that combines bilevel voltage drive technology with an integral linear power section Each model includes a motor drive linear power supply integral heatsink power cord connectors and a full enclosure The P325 Series packages are directly compatible with the Controls Division s Indexers Controllers for a total motion system solution All models contain the logic and power switching stages required to operate a large percentage of existing step motor designs The logic section of the drive acts to direct current in and out of the motor phases in a proper sequence in order to cause the desired rotation The power switching stage controls the rate and amount of current flow into the motor windings as directed by the logic In general the faster the current is pumped through a winding during each step the more torque and speed that will be obtained The P325 Series uses a bilevel voltage method of current control which will yield excellent speeds and torques This technique involves overd
21. install and hook up the P325 Series drivers This section should be read in it s entirety for first time installers and reviewed during the installation process 9 1 Cooling The base of the P325 is a heatsink which allows for heat dissipation produced by the internal components During operation the heatsink will become warm to the touch and should not be a concern to the user Additional air cooling devices are not required except where ambient temperatures are high or high current motors are used Consult the factory if these conditions exist The most fundamental rule to follow concerning proper cooling of the drives is to keep the heatsink surface temperature less than 65 C Since the drive is convection cooled it is recommended that you allow a minimum of one inch on all sides for air flow Operating in an enclosed area may require external cooling in order to keep the heatsink temperature less than 65 C ie forced air fan For a rule of thumb if you are not able to measure the heatsink temperature the heat sink temperature is within limits if you can comfortably hold your finger on it more than 3 seconds 9 2 Mounting The P325 is a self contained package requiring minimal concern for mounting methods and positions A dimensional outline of the P325 is given in Figure 9 2 Flanges with mounting holes have been provided to mount or secure the R325 The recommended mounting position is vertical with the heatsink exposed to allow
22. ion of 25 000 steps per revolution P325 Operating Manual Rev 1190 Page 23 Profile Settings 25 000 Steps per Revolution Only Switch NOTE 1 Switch NOTE 2 Switch NOTE 3 Step Motor Block 1 Block 2 Block 3 Frame Size 12345678 12345678 12345678 M171 03 0100 00001111 11000001 M172 04 0100 00001111 11000001 M231 02 0100 00001111 11000001 M232 04 1000 01001111 11000001 M233 06 0010 10100111 11000001 M341 06 0001 10101111 11000001 M342 08 0101 11111111 11000001 M343 07 1001 11010111 11000001 M421 32 1001 11010111 11000001 M422 08 1001 11101111 11000001 NOTE 1 See DIAGRAM 8 1 A 0 indicates switch is ON NOTE 2 See DIAGRAM 8 1 A 0 indicates switch is ON NOTE 3 See DIAGRAM 8 1 A 0 indicates switch is ON CLOSED 3 for location of Switch Block 1 that the switch is OFF and a 1 indicates the 3 for location of Switch Block 2 that the switch is OFF and a 1 indicates the 3 for location of Switch Block 3 that the switch is OFF and a 1 indicates the ON OPEN QFE SWITCH SETTINGS P325 Operating Manual Rev 1190 Page 24 16 APPENDIX C Performance Curves 20 110 100 450 Peres e SIZE 34 150 90 e ar Z 300 N N Oo 7 O 250 us uj e 2 200 O 50 o T O 10 cS 150 bh 30 100 20 30 10 0 o SPEED RPS SPEED RPS aca SIZE 42 TORQUE OZ IN Eh 3 SPEED RPS APS Revolutions Per Second Pullout curves gene
23. ive receives the first pulse 9 FAULT COLL and 21 FAULT EMIT These fault outputs work in conjunction to produce a fault signal if a fault condition arises The output transistor will conduct when the drive is functioning properly The transistor will not conduct when there is a fault condition The different fault conditions are OVER CURRENT OVER TEMPERATURE or UNDER VOLTAGE 11 RESET and 23 RESET These inputs are optically isolated and driven by producing a positive pulse to the RESET with respect to the RESET This input allows you to reset the motor phase currents to the power up position It must be active for 100 ms to reset and must be inactive for 100 ms before the first step pulse is received 16 SHUTDOWN and 17 SHUTDOWN These inputs are optically isolated and driven by producing a positive pulse to the SHUTDOWN with respect to the SHUTDOWN This input can only be enabled when the motor is not moving It must be active for 100 ms to shutdown and must be inactive for 100 ms before the first step pulse is received 183 LOW PWR and 19 LOW PWR These inputs are optically isolated and driven by producing a positive pulse to the LOW PWR with respect to the LOW PWR This input allows you to take the motor to low power to reduce heat It must be active for 100 ms to go into low power and must be inactive for 100 ms before the first step pulse is received P325 User Guide 1 2 2 11 14
24. nt will be pumped through the windings A bilevel drive such as the P325 Series is designed to minimize the current rise times by it s bilevel voltage driving action The user can expect to achieve relatively fast stepping rates with these drives running in an open loop capacity in general the lower the inductance of the driven motor also the higher the current rating the faster the drive will be able to step the motor Since all step motors exhibit resonant instability at lower speeds the user should try to minimize their effect by microstepping The unstable areas of a full or half stepped motor are characterized by erratic motion and a severe loss of torque A microstepped motor will exhibit less resonance than a full stepped motor Sample performance curves are provided in Appendix C for your reference P325 Operating Manual Rev 1190 Page 14 11 P325 SPECIFICATIONS General Drive Type oo oo o 4 Phase bi level voltage constant current Stepping Modes Dip switch selectable microstep modes 200 400 800 1600 3200 6400 12800 25000 25600 Power Requirements LOPUE i ee es Pes ee Es 100 122 VAC 60Hz Output Rating _ 9 to 4 Amps per phase Dip Switch Selectable Physical Dimensions 4 25 W x 5 0 H x 10 0 L Weight ascii eas an outs TERT 5 lbs anparatucd case ande 40 F to 185 F 40 C to 85 C Operating L50 F 65 C maxim
25. ogic device the motion sequences are complex the motion sequences are changing frequently or if performance requirements are demanding The SAC 560 is a self contained high speed microprocessor based controller Features include RS 232 communications programmable inputs and outputs that interface to external devices and an English like command language Ramping routines are automatically generated and or can be placed under user control P325 Operating Manual Rev 1190 Page 3 VCO OPTION P325V Select this option when motion in the system is fixed and logic is available to provide for timing of the Run Accel Decel and Stop signals required by this device When signals are received the VCO board will generate pulses to the motor at the rate established by the onboard Base Slew Accel and Decel potentiometers These potentiometers are preset by the user and require manual adjustment Section 13 5 UNPACKING AND INSPECTION Carefully remove the contents of the carton in which the driver was shipped Inspect the carton and the drive and make note of any apparent physical damage If severe damage is present then you should consider rejecting the shipment and making contact with the shipping company concerning in transit damage claims We have made every effort at the factory before shipment to fully inspect test and properly package this product so that it reaches you defect free and without damage All packaging mater
26. ogic Pin 2 Step No power logic check to see that Logic Pin 5 ENA NO POWER is High or open Low power logic check to see that Logic Pin 4 HI LO POWER is High ox open Fixed load check to see that driven load is not jammed or too large a load for the chosen motor size MOTOR MOTION IS ERRATIC Improper_ _ lead connections confirm that the leads of the motor are comected with the proper sequence Winding continuity check to see that each phase of the motor has the appropriate resistance with no shorts between windings or to the housing Incoming pulse integrity confirm that the pulses being supplied to the driver are the proper level and width and that the rates are not too fast for the motor to maintain synchronism Resonant instability confirm that the motor is not operating in a resonance range by adjusting the pulse rate Current profile adjustment confirm that the dip switches are set for selected motor If the problem of rough microstepping persists then the following procedure is recommended Adjust the pulse rate to achieve a shaft speed of one revolution per second next adjust the dc offset potentiometers R4 and R18 to achieve smooth rotation of the motor shaft see location next page The adjustment of the dc offset potentiometers will fine tune the drive to the selected motor P325 Operating Manual Rev 1190 Page 16 MOTOR RUNS VERY HOT Normal operating mode it is normal
27. os da A e on A 21 14 APPENDIX A APT Motor Listing riberas a Te dt ea YT S 22 15 APPENDIX B Dip Switch Settings ee iat eee Gib E EE beete 23 16 APPENDIX C Performance Curves 0 ici teeta 25 P3 TABLE OF CONTENTS 25 Operating Manual Rev 1190 Page 2 4 SUMMARY OF OPERATIONS This section is provided only for those who either have experience with step motor drives or wish to learn the minimum required to hook up and run the P325 Series step motor drives An assumption is made here that the user has a pulse train available to supply to the drive If not then other sections of the manual should be referred to as required The P325 Series is a bilevel voltage step motor drive with microstepping capability By microstepping a step motor its motion can be dramatically smoothed and the positioning resolution greatly enhanced without sacrificing its other attractive features Microstepping involves taking each of the motor s mechanical full steps and electrically creating many finer ones by precisely controlling the current flow to each of the windings The P325 series will drive 4 phase motors rated at up to 4 0 Amps per phase bifilar rating The basic installation steps include 1 Ensure that the AC power source is 115 VAC 2 Read Section 8 Drive Configuration and Connections 3 Ensure the Low Voltage Adjustment is properly set Section 8 1 2 4 Ensure that the drive current switch settings
28. rated utilizing 115VAC input 3200 steps per revolution and the SAC 560 Smart Axis Controller to provide ramping routines and step pulses j MOTOR SELECTIONS DIMENSIONS Statle Torque Motor Oz 1n Width Length P325 4231 Se 2 23 57 mm 2 00 Simm P325 M171 15 170 42mm 1 34 34mm P325 M172 20 1 70 42mm 1 54 39mMm P325 M173 2 1 70 42mm 1 84 47mm P325 M231 E 2 23 57mm 2 00 51mm P325 M232 MG 2 23 57mm 3 25 83mm 2325 M233 220 2 23 57 mm 4 00 102mm P325 M34 30 3 35 32mmi 2 45 62mm P325 M342 300 3 38 85mm 3 70 93mm P325 M343 400 3 35 85mm 5 31 135mm P325 M421 500 4 20 106mmj 4 74 120mm P325 M422 300 4 20 106mm 7 00 178mm t Linear Accuator model Force is 40 100 ibs P325 Operating Manual Rev 1190 Page 25 APPENDIX F Optional 25 pin D Logic Connector P325 DO DB25 1 STEP and 14 STEP These inputs are optically isolated and driven by producing a positive pulse to the STEP with respect to the STEP These inputs may also be differentially driven The step pulse must have a minimum of 200 nanosecond pulse and a 40 60 duty cycle 2 MHz max pulse rate 2 DIRECTION and 15 DIRECTION These inputs are optically isolated and driven by producing a positive pulse to the DIRECTION with respect to the DIRECTION These inputs may also be differentially driven The direction input must be stable for at least 2 ms before the dr
29. riving the windings with a high voltage to decrease the current rise times and then reducing the voltage to provide a constant current to the motor windings The inputs to the drives have been designed to handle many configurations see Section 8 for technical descriptions Power The required AC power is 115 Volts 60 Hz 5 VDC 100 milliamps for the optically isolated inputs Motor Either 6 or 8 lead hybrid motor leads can be connected to the drive See Section 7 for details Pulse Source The P325 Series accept pulse and direction control inputs from a wide variety of sources See Section 4 for optional methods of supplying control signals to the drive The maximum rate of pulses accepted is 1 0 MHz or 1 000 000 pulses per second Other Control Features The no power input is used to control a power down state disabling the motor The low power input is used to reduce the current to one third full power The microstep resolution current profile and current supplied to the motor are controlled by setting dip switches on the drive P325 Operating Manual Rev 1190 Page 5 7 MOTOR COMPATIBILITY The P325 Series is capable of running a wide range of step motors with it s bilevel voltage switching technique The limits of these ranges fall into several categories Winding Type The motor winding type should be basically a four phase motor which is capable of unipolar operation characterized by the need for current to
30. st 16 ma The optical isolation feature electrically isolates the motor and power stages of the drive in order to protect both circuits and eliminate electrical noise problems GROUND Terminal 1 This terminal is the reference ground for the 5V OUT supply on the drive This reference ground should only be connected to the ground of the users controller when the optical isolation feature is defeated STEP INPUT Terminal 2 The user may wish to input step pulses to this input when the VCO Option is disabled No connection is necessary when utilizing the VCO Option The motor will be instructed to step on the rising edge of each incoming pulse up to a rate of 1 MHz The minimum input pulse width is 1 micro seconds DIRECTION Terminal 3 CW CCW A High or open connection on this terminal would cause a Clockwise CW rotation of the motor as viewed from the output shaft end When taken Low the direction will be counterclockwise CCW The direction input may be switched while the motor is rotating but may cause the motor to lose synchronism if operating above it s Start Stop torque capability P325 Operating Manual Rev 1190 l Page 18 r LOW POWER Terminal 4 HI LO POWER This input allows the user to reduce the power to the motor to one third of the high current setting The High or open state provides full current to the motor When taken Low the current is reduced to 33 of it s full rated power T
31. t each input by inserting 1 4 inch of stripped bare wire into the socket and tighten the pressure screw until the wire is firmly secured 9 5 Applying Power Once the drive is properly mounted and all of the required connections have been made the drive may be powered up Plug the 3 pin mating plug into the drive and then the power cord into 115 VAC source Initial power should be applied with no pulses being fed to the drive The motor will lock into position at it s rated static torque Once the pulse input rate begins the motor should begin to step in the set direction At this point if the motor does not have any torque or will not properly rotate refer to Section 12 for possible remedies P325 Operating Manual Rev 1190 Page 13 5 00 10 PERFORMANCE EXPECTATIONS Step motors are quite unique in many aspects of their design performance and control Many attributes of a step motor can be attractive to the application designer such as their simplicity digital nature and inherent open loop capability Other attributes have to be overcome to allow a step motor to perform the best in an application such as resonant instability and loss of torque as a function of speed It turns out that a step motor s driving electronics play just as important a role in performance as the motor itself Since a motor s inductance acts to inhibit current buildup and decay the faster that current can be moved the more that torque producing curre
32. tart stop and direction control of the motor the P325V is equipped with a pulse generator capable of 1 to 1 000 000 pulses per second with built in acceleration and deceleration capability In essence the motor will start at a BASE SPEED when the STOP RUN input is taken lt Low After a subsequent ACCEL input is taken Low the motor will accelerate to an MAXIMUM SPEED The CLOCK OUT output is available for the user to monitor the number and frequency of pulses taken When the upper speed is reached the output AT SPEED terminal 10 becomes a logical Low signal available to the user This signal can drive one low power TTL load with a maximum capacitance of 15 picofarads The motor will decelerate to the base speed with a logical High or open at the ACGEL input and a subsequent High or open at the STOP RUN input will bring the motor to a halt The acceleration and deceleration rates upper speed and base speeds are adjustable by the user thru potentiometers on the drive 13 2 P325V Logic Connections The logic inputs required by the P325V are made on the 12 pin connector and plugged into the drive section labeled LOGIC All Logic inputs can be optically isolated by providing a 5 VDC source Each of the logic inputs is clamped High internally with a pull up resistor and requires the user s controller to pull them Low to OPTO IN supply return Each of the user s control lines should be capable of sinking at lea
33. tion Switch Settings The P325 Series drive allows the the user the versatility to select a microstep resolution that best matches his application requirements For a standard 1 8 step motor there are nine selectable resolutions that range from 200 to 25 600 steps per revolution Refer to APPENDIX B and determine the resolution that best meets your needs and set the swithces as indicated The user may wish to record the drive configuration settings in the table provided below before proceeding to the section on drive connections The drive may be closed at this time as further internal adjustments are not required P325 Configuration Settings Motor Model Date Current Setting Voltage Tap Step Resolution 12345678 Switch Block 1 Switch Block 2 Switch Block 3 Notes P325 Operating Manual Rev 1190 Page 9 8 2 Drive Connections l 8 2 1 Introduction This section will list and explain all the connections to the P325 Series drives which includes motor logic and power connections Notation and Conventions All available logic inputs have two possible input states which will be referred to as High and Low When a logic terminal is open it is in a High state by default since it is clamped High internally with a pull up resistor Any notation which uses the bar convention will assume that the state indicated by the bar is activated by taking that logic terminal Low ie CW CCW denotes CCW direction of rot
34. um heatsink temperature Logic Inputs Type ia Aa Seen ee abs Optical Isolated with a separate user supplied 5 VDC 100 milliamp minimum LEVEL coco Logic 1 HIGH 2 0 to 5 0 VDC Logic 0 LOW 0 to 0 5 VDC SEED taoi aiana tala Step on trailing edge of a square wave signal Requires 1 microseconds minimum width at a maximum rate of 1 MHz TIL compatible Direction wo eee i ee cee es CW CCW Low Power ooo ooo o HI LO POWER Reduces motor current to 25 of full power Power Enable ENABLE NO POWER reduces current to motor to zero Motor Motor Connections Connections for 6 or 8 lead hybrid motors P325 Operating Manual Rev 1190 Page 15 12 TROUBLESHOOTING If a problem occurs the operator should immediately turn off and disconnect all power to the drive before attempting any troubleshooting or repair Initial troubleshooting of the drive should be done with the load disconnected to isolate the drive from possible load related problems The following list of symptoms causes and corrections may help to guide the user through a problem salving session E MOTOR SHAFT FAILS TO TURN No power to drive check if AC voltage is present by checking if the green LED indicator on the drive is illuminated Open motor windings check that each motor winding phase has the appropriate resistance with no open coils No incoming pulse check for proper level and width of pulse at L
35. uration 8 1 1 Introduction To provide the user with the greatest amount of versatility four adjustments can be made to configure the drive for the application The first adjustment selection of the low voltage tap on the transformer sets the drive for the voltage rating of your motor Th second and third adjustments are dip switch settings which tell the driver the current rating of the motor and the optimum current profile for your motor The fourth setting establishes the microstep resolution desired s Depending on how you ordered the drive may have already been set for a specific motor or to standard default conditions which require you to go through a setup process for your specific application and motor The setting will be found ona label affixed to the drive at the factory Examine the label If a motor is listed and corresponds to the selected motor then continue with the microstep resolution switch settings Section 8 1 5 If the listed motor differs or if no label can be found follow the procedures in this section to verify and adjust the settings disconnect power before proceeding After making any adjustments be sure to note of them for future reference 8 1 2 Low Voltage Adjustment The P325 has the capability of running any hybrid 1 8 degree step motor with ratings from 1 4 0 amps per phase Two settings must be made to configure the driver to the power rating of the motor The first is the motor voltage
Download Pdf Manuals
Related Search