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HPD2, HPD 5, HPD8, HPD16 User Manual

1. b2 LY HPD User s Manual flags used by operating mode inputs outputs timer 1 timer 2 flags used by PLC flags used for PLC and commands PLC area length 128 bytes addresses to 7Fh 86 Parker Hannifin S p A Divisione S B C HPD User s Manual Appendix A HPD drive mechanical dimensions B weightkg Parker Hannifin S p A Divisione S B C HPD User s Manual Appendix B MB series motor connectors CONNECTIONS FOR MBmax BRUSHLESS MOTORS resolver A white red EXCT B white yellow EXCT FAN MOTOR CONNECTOR FOR MBmax 105 C blue Dz yellow Cos CONNECTOR Male CONNECTOR Female F red Sin Gnd shield of cable d Hz Gnd shield of cable K 24V A 7 white green motor C blue D Gnd E Gnd F Brake G Brake FAN MOTOR CONNECTOR FOR MBmax 145 and 205 24v 10 CONNECTOR Male CONNECTOR Female 220V 88 Parker Hannifin S p A Divisione S B C HPD User s Manual Appendix C hardware characteristics digital input input impedance VH VL digital output type PNP open collector VH using internal supply 20 26 V IO for single output 100 mA IT current for outputs BEBE mA using internal supply IT current for all outputs using mA ext supply 24 VIN VSW max voltage between 110 V out 6 A and out
2. 2 8 1557 SALE 8 2 INSTALLATION Daly o Safety INStrUCHONS 9 2 2 Interference suppression Dots so io oce tet eR p dp i 10 2 3 Mains filter installation instructions 10 2 4 Control cubicle layout example eene 12 2 2 HPD drive mains 13 20 Terminal 20 251 Poser CONNEC 22 2 8 Power connection TAY 23 29 Signal cable COMME HOD 23 2 10 Signal cable connection layout aste tiae n dna 24 2 11 Frequency input 2200 rb RR 24 ZW WLM OLE s decies qua d jx 25 2012 Serial Dine ste 26 2 15 Braking PES SUM zi co ep ERIS e Hone idis 26 2d Backup eso use quede 21 3 PARAMETERS AND PROGRAMMING sss Sok gt tlie ect 29 3 2 Commissioning HPD Ot Ve siete ettet eth E 30 3 9 BASIC paramielets eerie 33 524 BasiccommandS o Noo dau 38 3 0 Calibrating Speed 39 3 6 Operating 45 3 6 1 Torgu Contro
3. Parker Hannifin S p A Divisione S B C HPD User s Manual Pr25 Pr26 Pr27 Pr28 Pr29 Pr30 Pr31 Pr32 Pr33 Pr34 Pr35 Pr36 Pr37 Pr38 Pr39 Code describing installed software version Read only parameter Serial line baud rate code Default 8 This is the code for programming transmission speed For more information consult the section on the serial interface Serial line address code Default 0 possible settings 0 31 For more information consult the relative section of the manual Motor shaft position Unit steps range 0 4095 Read only parameter that shows the absolute position of the resolver Number of motor poles Possible settings 2 64 default 8 Resolver position offset Default 0 use Pr30 for electronic correction of the mechanical resolver position Operating mode Default 0 Use Pr31 to select the active operating mode 0 indicates no operating mode Rated speed Unit rpm range 0 9000 default 3200 Nominal motor speed Should be programmed with the motor speed at which rated voltage corresponds to drive power feeding voltage reduced by 13 Consult the formula in section Commissioning the HPD drive Motor rated current Unit of peak current range 10 0 50 0 resolution 0 1 default 50 0 Enter motor rated current Tacho generator emulation output gain Default 127 Use parameter 34 to alter analogue output gain in proportion to speed terminal 9 on board X2 The analog output
4. FERRITE CORE TOROIDAL coL K RESOLVER SERVOMOTOR DRIVE FERRITE COIL MOTOR FILTER OR NO PROTECTION ACCORDING TO CHOSEN CONFIGURATION 2 9 Signal cable connections A twisted and shielded pair must be employed for the analogue reference The cable for emulated encoder signals must comprise three twisted pairs with a common shield Normal cables can be used for digital inputs outputs Minimum size of all signal wires is 0 35mm2 24 Parker Hannifin S p A Divisione S B C HPD User s Manual 2 10 Signal cable connection layout HPD CONTROLLER e R TRE Reference out HEC gt lt gt lt i 1 2 X2 Reference in i id 1 1 1 1 1 Encoder in 11 gt lt gt lt 1 1 1 1 2 31 4 i X7 Encoder out 5i 6 7 24Vdc Output X3 Inputs Enable B TI DR NEM 1 E li i X2 Outputs E 2 11 Frequency input connection The RS 422 type frequency input can be software configured in two modes the first default to accept quadrature signals from encoders the second is frequency direction mode see chapter Basic parameters bit b42 5 In the former case follow this connection diagram In the case of parallel connections to more than one HPD connections to pins 9 5 6 and 8 must be made only on the last drive in t
5. b91 Y Digital input Y status If Y is greater than 7 parameter with save facility at user s disposal Parameter Pb91 is not saved at power up and is definitely at zero 59 Parker Hannifin S p A Divisione S B C HPD User s Manual Pr92 First PLC timer Every 6 144 ms if Pr92 is not at 0 the timer is decreased if set to zero b99 0 is set at 1 Pr93 Second PLC timer Every 6 144 ms if Pr93 is not at 0 the timer is decreased if set to zero b99 1 is set to 1 b94 0 Forces a double word formatted operation When the drive is powered up this parameter is on zero If it is on one the first mathematical operation of the pico PLC is executed setting the three operands as double word type after the operation is executed b94 0 is automatically set to zero If Pr60 Pr68 are utilised double word formatting is automatic see text b94 5 Disables the first fast input b94 5 0 Set to zero at power up 94 6 Disables the second fast input b94 6 0 Set to zero at power up b94 7 Disables the third fast input b94 7 0 Set to zero at power up b99 0 First timer status At 1 if Pr92 0 b99 1 Second timer status At 1 if Pr93 0 b99 2 At 1 if the result of the last PLC operation is negative 99 3 Atlifthe result of the last PLC operation is zero b99 13 PLC status Default 1 If set to 1 the PLC program is executed if on zero the program is not executed and modification of PLC instructions is enabled PLC INSTRUCTIONS Pay LD Pa y load bit y
6. SBC3R20 15 Parker Hannifin S p A Divisione S B C HPD User s Manual SYMMETRICAL MINIMUM GUARANTEED ATTENUATION ASYMMETRICAL MEASUREMENT MIL STD 220 A 0 01 0 1 1 10 100 1000 10000 KHz SBC3R35 SYMMETRICAL MINIMUM GUARANTEED ATTENUATION MEASUREMENT MIL STD 220 A gt MMETRICAL 0 01 0 1 1 10 100 1000 10000 KHz SBC3RD35 16 Parker Hannifin S p A Divisione S B C HPD User s Manual RESONANT FREQUENCY til M SBC3M10 RESONANT FREQUENCY Kohm 100 LL SBC3M20 HPD User s Manual Parker Hannifin S p A Divisione S B C Configuration 1 Class drives motor filter SBC3MYY HPD mains filter SBC3RXX MAINS SBC3MYY SBC3MYY SBC3MYY can be 10 20 35 and stands for the mains filter rated current the sum of drive rated currents must not exceed the mains filter rated current HPD HPD HPD Where HPD rating is between 2 and 16 A XX can be 10 or 20 and represents the motor filter rated current the drive rated current must not exceed that of the filter YY PMM 8010 dBuV MHz 30 10 01 120 90 60 e Date 06 25 1995 Title DEFINIT4 Limit C22_A_QP 18 HPD User s Manual Parker Hannifin S p A Divisione S B C Configuration 2 Class drives a a a a n n n n 5 8 tr c
7. Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Deceleration for negative speeds required of the motor by way of the speed reference is internally limited so that deceleration of 1000 rpm takes Pr11 seconds 34 Parker Hannifin S p A Divisione S B C HPD User s Manual Pr12 Pr13 14 Pr15 Pr16 Pr17 Pr18 Pr19 Pr20 Pr21 Pr22 Pr23 Pr24 35 Deceleration ramp for stroke end stop functions Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Deceleration required of the motor by the stroke limit and stop functions is internally limited so deceleration of 1000 rpm takes Pr12 seconds Overspeed threshold Unit rpm range 0 13000 default 3500 If the absolute value for motor speed exceeds the value entered in Pr13 b41 0 must be 1 otherwise it will be 0 High speed threshold Unit rpm range 13000 default 20 When b40 7 0 if the speed difference between motor and reference is less than 14 and greater than 15 b41 1 will be 1 otherwise it will be 0 In the case of b40 7 1 if motor speed is less than Pr14 and higher than Pr15 b41 1 will be 1 otherwise it will be 0 Low speed threshold Unit rpm range 13000 default 20 When b40 7 0 if the speed difference between motor and reference is less than 14 and greater than 15 b41 1 will be 1 otherwise it will be 0 In the case of b40 7 1 if motor speed is less than Pr14 and higher than P
8. 6 Short memory parameters are PrO Real speed of motor shaft in rpm Prl Analogue reference offset terminals 1 and 2 of terminal board 2 Pr2 Analogue reference full scale speed value in rpm corresponding to 10 V reference signal Pr8 Acceleration deceleration ramp values in seconds per 1000 rpm Prl6 Integral gain of speed control loop 17 Speed control loop damping Pr19 Peak current delivered to drive expressed as a percentage of the peak rated value of the drive 29 Number of motor poles Pr32 Rated speed rpm Pr33 Rated current that can be delivered by the drive be maintained indefinitely expressed in percent of the peak rated current of the drive Pr35 Instantaneous current requested by the motor expressed as a percentage of drive peak rated current b99 6 Enable extended menu Default 0 Set to 1 to obtain the extended menu b99 7 Security Default 0 Set to 1 to protect parameters from modification 2599 10 Alarm reset command b99 13 PLC status Default 1 At 1 the PLC program is executed at 0 the program is not executed b99 15 Parameter storage command Using extended menu you can manage all parameters and pico PLC instructions Restoring default parameters If you need to restore the factory set default parameter values disable the drive via hardware open terminal 11 on board X3 power up the system the display will show IdLE after approximately 3 seconds set b99 7 a
9. 6 B ISW max current trough out 6 A mA and out 6 B analogue reference type differential impedance 20 range ____ 10 260 dB resolution 15 bits aux analogue input type differential impedance 250 range ____ 10 V CMMR dB resolution 10 bits analogue output et ended resolution 89 Parker Hannifin S p A Divisione S B C HPD User s Manual Appendix D DC bus voltage thresholds 1024 800 OVER VOLTAGE ur od E ELS E pr AEA BRAKE HIGH THRESHOLD 744 BRAKE LOW THRESHOLD ee ee Ge Be ee 120 INRUSH CONTROL ON 56 UNDER VOLTAGE 40 INRUSH CONTROL OFF Appendix E Standard settings Shaft moving motor shaft view clockwise B _F LS torque 19 e Iu Iv IN AUX positive P122 positive Pr38 positive OUT AUX Positive B cuc Lr 90 Parker Hannifin S p A Divisione S B C HPD User s Manual Appendix F Software timers Task running Torque vector generation peed loop Fast operating mode manager S Torque limit evaluation Speed reference manager Brake resistor manager Fast input Slow operating mode Motor thermal image algorithm Digital input PLC instruction scan Digital output 49 152 ms Speed windows manager 91 Parker Hannifin S p A Divisione S B C HP
10. LUN PAR D1 CHK In this case LUN 2 two bytes are transmitted for the data the first byte is the mask containing O in the positions of the bits to change and 1 in the other positions the second byte contains 1 in bit positions to be set to and 0 in the other positions The address PAR corresponds to the parameter 81 Parker Hannifin S p A Divisione S B C HPD User s Manual byte in which one or more bits is to be modified If the parameter is a word and the bit to be modified is among the first 8 60 67 parameter address otherwise if the bit to modify is one of the upper 8 b8 b15 PAR parameter address 1 CMD7 parameter write broadcast message to all drives connected to the serial line format STX 11100000 LUN PAR D0 Dn CHK The address of peripheral device ADDR must be zero Notes Parameters shown on the display with decimals must be treated as integer values e g 978 5 will be read and written as 9785 All values preceded by the symbol are hexadecimal numbers The value in square brackets is the basic unit byte of the message To be considered valid all messages must be terminated within a clearly defined time interval time out which is a function of speed and they must have correct parity and checksum The drive responds to data requests or transmission only if the message is received correctly if the message contains an error no answer will be tran
11. MODE feed forward servo error window b70 5 a k mul servo error pulses input proportional gain Pr 61 Pr60 reserved reference target position max regulator speed Pr 63 Pr62 motor position reset 1 gt gt target position motor position 0 gt target position motor position shaft position reset 2 gt target position motor position reset 3 SPINDLE ORIENTATION OPERATING MODE proportional gain oriented window not oriented target position reserved reference max regulator shaft position motor Speed 58 Parker Hannifin S p A Divisione S B C HPD User s Manual 3 8 Digital input and output programming 3 8 1 Pico PLC The internal pico PLC makes it possible to connect peripheral systems inputs outputs to the parametric system of the HPD drive The PLC can be used to copy a digital input into a bit parameter copy a bit parameter into a digital output and perform mathematical and boolean calculations The PLC program must be entered as a list of instructions from the keypad alternatively the PLC can be programmed with the ladder diagram system using a PC on the serial line with an interface such as Pcbrush Default parameterisation b99 12 provides a PLC program see appendix G designed to fill the requirements of the broadest possible range of applications therefore it is not necessary to reprogram the PLC in the majority of cases Ma
12. Pr2 is used to standardise the analogue reference If set to 1 parameter Pr3 is used 36 Parker Hannifin S p A Divisione S B C HPD User s Manual b40 1 b40 2 b40 3 b40 4 b40 5 b40 6 b40 7 b40 8 b40 9 b40 10 b40 11 b40 12 b40 13 b40 14 b40 15 b41 0 b41 1 b41 2 b41 3 b41 4 b41 5 37 Activation of algorithm for the suppression of vibration at 0 rpm Default 0 Set to 1 to activate the algorithm Selecting user reserved reference If set to 1 the reserved reference is used in accordance with the currently active operating mode If set to zero the reference selected by b40 0 b40 12 and b40 13 is employed Default is 0 Reference freeze Default 0 If set to 1 the reference will not be updated so that motor will not follow input reference modifications If set to zero the reference will follow variation in the input reference Left hand stroke end Default 0 If set to 1 and the selected reference requires negative speed the reference will be forced to zero in accordance with the ramp in Pr12 If set to Zero no type of control is performed Right hand stroke end Default 0 If set to 1 and the selected reference requires positive speed the reference will be forced to zero in accordance with the ramp set in Pr12 If set to zero no control Is performed Stop function Default 0 If set to 1 the motor is stopped according to the ramp set in Pr12 Absolute relative speed window selection De
13. above functions is active you can set this bit to one to evaluate the vibration of the motor shaft incrementing parameter Pr64 in absolute terms by a value proportional to the vibration detected The user is responsible for evaluating Pr64 and bringing it to zero in relation to the appropriate time interval b70 6 Reserved b70 7 Reserved b70 8 Reserved 3 6 4 Positioner Operating mode 9 executes a simple trapezoidal profile For this profile the user must define acceleration with Pr51 steady time rpm with Pr52 and displacement using the pair of long format parameters Pr64 and Pr65 At each profile execution command b70 8 the motor executes Pr64 65 steps one motor revolution is equivalent to 4096 steps The parameters of a trapezoidal profile cannot be changed during execution b70 7 1 except Pr64 65 In the block diagram note the four different reset types the availability of servo error indication and the possibility of using space contro with or without feed forward The incremental position must be always positive and movement direction must be selected with parameter b70 1 Displacement can be defined using the drive frequency input Additional features are available using the internal PLC Note that the profile execution command is not generated on a constant time base profile calculation may require more than 2 milliseconds PARAMETERS FOR OPERATING MODE 9 Pr50 Pulse input multiplication factor Default 1 If b70 9 1 f
14. b91 12 Program see on next page 69 Parker Hannifin S p A Divisione S B C 70 8 91 12 40 2 LD SET RST LD SET AND ADD HPD User s Manual 91 12 70 8 91 12 91 10 40 2 90 1 70 8 91 1 72 72 52 90 2 91 10 40 2 90 3 91 10 70 10 72 72 70 72 80 51 72 81 52 72 60 64 70 4 71 75 31 91 12 70 8 41 2 91 12 31 0 31 31 31 72 82 51 72 84 53 72 72 58 72 72 70 70 6 72 75 31 91 1 return start management with trapezoidal profile if homing exec ref pr6 locking start request locking cycle output on no ramp pr52 0 homing request stand by for proximity reset dimensions homing exec flag if OPM 10 if homing is done and locked forces double word release dimension reached set release ramp and release axis if speed is zero disable OPM reset all b70 trapezoidal profile ramp trapezoidal profile speed copy position in incremental dimension and reverse for return set OPM 9 preset start profile at next scan if no profile in exec Motor stopped no profile preset and OPM is 9 disable OPM reset ratio reset ratio zero set slip zero set all bits enable feed forward set OPM 10 zero set current cycle program end 70 Parker Hannifin S p A Divisione S B C HPD User s Manual Example 10 Inter Drive Communication IDC Inter Drive Communication refers to a specific configuration of the serial p
15. be shielded and wherever possible kept segregated minimum distance 20 cm If control and power cables must cross the intersection must be at a right angle Shielded cables must be installed on a copper bar by means of a high conductivity wire clamp The area of contact must be as large as possible and the shield must be unbroken In general the shield should be connected at each extremity In certain circumstances however control cable shields may be connected only at one end to eliminate mains hum that could interfere with the control signal Decide case by case as numerous factors must be considered Adopt the following general approach if the shield is solely for shielding connect at both ends If current flowing in the shield interferes with the shielded signals connect at one end only The incoming cable must be connected to an earth terminal by means of a screw to ensure proper contact between shield and earth RF interference suppression filters must be installed as close as possible to the drive and must have a large area of contact with the power panel or the baseplate Remove all paint The filter earth terminal must be connected to the earth bar along the shortest possible route As far as possible keep the power side drive and control side PLC or NC physically separated by separating the metal mounting plates Do not route any cables through the mounting plates Protective measures for drives with gt 3 5mA dispersio
16. constant Pr19 OBEh 2 user current limit Pr20 2 DC bus voltage Pr21 04Ch 2 reserved torque limit Pr22 2 auxiliary reference Pr23 051h 1 current alarm code Pr24 052h 1 previous alarm code Pr25 053h 1 software version code Pr26 05 1 baud rate Pr27 1 serial address Pr28 2 shaft position 0 4095 Pr29 061h 1 motor poles Pr30 OC2h 2 resolver offset Pr31 054h 1 operating mode Pr32 2 rated motor speed Pr33 0C6h 2 rated current Pr34 055h 1 scale factor for tacho generator Pr35 OC8h 2 filtered torque request Pr36 058h 2 i t accumulation Pr37 05Ah 2 thermal image for braking Pr38 OCAh 2 auxiliary analogue output Pr39 2 Pb40 05Ch 2 flags used by main block Pb41 056h 2 flags used by main block Pb42 060h 1 flags used by main block Pr50 064h 2 85 Parker Hannifin S p A Divisione S B C Pr51 Pr52 Pr53 Pr54 Pr55 Pr56 Pr57 Pr58 Pr59 Pr60 Pr61 Pr62 Pr63 Pr64 Pr65 Pr66 Pr67 Pr68 Pr69 Pb70 Pr80 Pr81 Pr82 Pr83 Pr84 Pr85 Pr86 Pr87 Pr88 Pr89 Pb90 Pb91 Pr92 Pr93 Pb94 Pb99 066h 068h 06Ah 06Ch O6Eh 070h 072h 074h 076h 078h 07 07Ch 07 080h 082h 084h 086h 088h 08Ah 062h OCEh 0D2h O0D4h OD8h ODAh ODCh ODEh OEOh OE2h 08Ch 090h 032h 092h b2 b2 b2 b2
17. input Internal reference Unit rpm range 9000 default 0 If b40 12 1 and b40 13 0 Pr7 will be the same as Pr5 Reserved read only speed reference Unit rpm range 9000 If b40 2 1 Pr6 is only utilised as a speed reference for the control loop The active operating mode will enter its speed request in parameter Pr6 Main reference read only parameter Unit rpm range 9000 If b40 2 0 Pr7 is used as a reference for the speed control loop In certain operating modes Pr7 can be used as a reference for other factors torque acceleration In this case Pr7 is expressed in a suitable unit Acceleration ramp for positive speed values Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Acceleration for positive speeds required of the motor by way of the speed reference is internally limited so that acceleration of 1000 rpm takes Pr8 seconds Deceleration ramp for positive speed values Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Deceleration for positive speeds required of the motor by way of the speed reference is internally limited so that deceleration of 1000 rpm takes Pr9 seconds Acceleration ramp for negative speed values Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Acceleration for negative speeds required of the motor by way of the speed reference is internally limited so that acceleration of 1000 rpm takes Pr10 seconds Deceleration ramp for negative speed values
18. internal MANAGER STOP REGULATOR OPERATING MISCELLANEOUS MODE LIMIT SPEED WINDOWS TORQUE POSITIO STEPPER EXTERN MODE MODE MODE MODE MANAGER See chapter Block diagrams for a better description of how to use the drive especially for operating modes See chapter Pico PLC to understand how to connect peripheral systems inputs outputs to the parametric system of the HPD drive TRIPS MANAGER DIGITAL LOCK MODE SPINDLE ORIENT MODE Parameters are divided as follows from PrO to Pb42 from Pr50 to Pb70 operating mode parameters from Pr71 to Pb99 pico PLC parameters from InO to In63 pico PLC instructions The principal parameter units and resolutions are revolutions per minute 1 seconds 1000 rpm 4096 steps revolution 1 4096 revolution of the drive peak current 29 Parker Hannifin S p A Divisione S B C HPD User s Manual 3 1 Using the keypad The keypad display module is designed to provide an intuitive operator interface It can be used to program operating data monitor system status and enter commands The module has only three keys located at the top of the front panel just below the display The keys are marked M and M is used to change the display mode and consequently also the function of and There are two display modes parameter mode and parameter value mode When the unit is powered up provided there are
19. m 7 e lt Where HPD rating is between 2 and 16 A the sum of drive rated currents must not exceed 35 A PMM 8010 dBuV MHz 30 10 01 120 90 60 e Date 06 25 1995 Title DEFINI13 Limit C22 A QP 19 HPD User s Manual Parker Hannifin S p A Divisione S B C Configuration 3 Class B drivesi motor filter SBC3MYY HPD mains filter SBC3RD35 MAINS SBC3MYY SBC3MYY SBC3MYY HPD The sum of drive rated current values must not exceed 35 A PD HPD Where HPD rating is between 2 and 16 A can be 10 20 and represents the motor filter rated current drive rated current must not exceed that of the filter YY PMM 8010 dBuV MHz Date 06 25 1995 Title DEFINI12 Limit C22 20 Parker Hannifin S p A Divisione S B C 2 6 Terminal assignments HPD User s Manual power serial interface resolver encoder in encoder out analog signals and digital outputs control voltages and digital inputs 21 Parker Hannifin S p A Divisione S B C Terminal board X1 motrPTC 24V 2 moorPTC 5 3 resolverExcithigh 0 4 resolverExcitlow 5 resolver Sinhish 6 rsolvrSinlow 00 2 7 resolvrCoshigh 8 rmsolvrCoslow 9 quy 77 golov ________ Terminal board X2 reference high 0 2 referncelow Aux
20. no active alarms the message IdLE drive disabled or drive enabled is displayed this is also the position of parameter Press or to scroll through the parameters If you want to check a parameter value press M when the value is shown it can be updated using and To return to parameter mode press M again The display can be shown in various forms depending on the parameter in question If you need to increase or decrease a parameter value quickly press M while the up key or down key is pressed TA MIN XXXXX H P D keypad In 00 PLC inst mH 1st oper gt 2nd oper u PTF G AD fu E 30 Parker Hannifin S p A Divisione S B C HPD User s Manual In addition to the parameter values and the pico PLC instructions the display may show the following messages XX At the time of power up this message indicates the software version installed 2 seconds approx IdLE At power up and in correspondence with PrO this message shows that no alarms are present and the system 15 disabled run At the time of power up and in correspondence with PrO this message indicates that no alarms are present and the drive is enabled the motor shaft may be spinning correspondence with PrO this message indicates that the drive has detected an alarm xx indicates the alarm code and has therefore been disabled When an alarm 1s de
21. of parameter Pa in the stack load inverted bit y of parameter Pa in the stack Pa y OUT set y of parameter Pa to the value loaded in the stack NE OUTN set bit y of parameter Pa to the stack value and invert it SET Pa y if stack is at 1 set bit y of parameter Pa to 1 m RES if stack is at 1 set bit y of parameter Pa to zero Pay AND Pay the bit loaded into the stack assumes the result of the logical I AND operation between itself and bit y of parameter Pa ANDN the stack bit assumes the result of the logical AND between v lt v lt 3b v lt P 79 79 79 79 m m m m m gt v lt a itself and inverted y of parameter OR Pa y the bit loaded into the stack assumes the result of the OR between itself and bit y of parameter Pa ORN the stack bit assumes the result of the OR between itself and inverted bit y of parameter Pa therefore Pc Pb parameters therefore Pc Pa Pb parameters therefore Pc Pa Pb parameters therefore Pc Pb END program end FIN y 0 1 fast scanning input 60 ADD Pa Pb Pc if stack bit is at 1 parameter sum operation is executed SUB Pa Pb Pc if stack bit is at 1 subtraction operation is executed on MUL Pa if stack bit is at 1 m
22. powered laptop i e not connected to ground use the following connection layout personal computer X5 HPD DB9 DB25 1 put To install Pcbrush open WINDOWS insert the diskette in drive A select File menu in Program Manager and then the Run option Now run Setup exe by typing the following string on the Command line A setup exe or by selecting the file with the Browse button The following installation procedure automatically creates a new icon for Pcbrush Once the program is installed launch it by double clicking the relative icon or select the icon and then press ENTER Set the following parameters on the drive Pr26 6 Pr27 0 b40 14 1 b42 3 1 Windows and the Windows logo are registered trade marks or trade marks owned by Microsoft Corporation in the United States of America and or other countries 79 Parker Hannifin S p A Divisione S B C HPD User s Manual 4 SERIAL INTERFACE The drive communication protocol is master slave half duplex type on an asynchronous RS 485 RS 422 line The drives assume control of the line only following interrogation by the master Up to 32 drives can be connected on the same serial line allocating each a different serial address in parameter Pr27 It is also possible to set transmission speed in parameter Pr26 as specified in the table Pr26 decimal base time out ms 0 600 1200 2400 4800 9600 9600 19200 38400 57600 125000 57
23. short as possible and in any event no longer than 3 metres 27 Parker Hannifin S p A Divisione S B C HPD User s Manual 2 14 Backup When you need to keep the drive electronics powered up during mains losses for example to maintain the simulated encoder function certain precautions are necessary A Use an external 24V d c 2 A power supply B Ensure that the drive is not started up with the backup voltage which is only intended to maintain it in standby To ensure this condition use the setup shown in the following figure C When mains voltage is restored the drive must not be enabled until 10 seconds have elapsed When the mains fails the HPD will generate an undervoltage alarm example 11 in the Examples and applications chapter indicates a method for resetting this alarm automatically ensuring a 10 second delay CONNECTION OF BACKUP POWER SUPPLY HPD 24V relay 28 Parker Hannifin S p A Divisione S B C HPD User s Manual 3 PARAMETERS AND PROGRAMMING The features torque speed acceleration and position control are the task of a dedicated electronic circuits In this chapter you can see how to set up and the meaning of any parameter functional block diagrams and advanced functions description too In the figure below it is described the general block diagram of the drive s functions that you can configure by parameters analogue on TORQUE DEMAND digital REFERENCE LIMIT SWITCH SPEED EIS
24. stop 78 Parker Hannifin S p A Divisione S B C HPD User s Manual 3 9 Programming with Pcbrush The HPD serial kit is supplied to enable communication between a PC and the drive The kit includes an RS 422 RS 232 converter relative 230V power supply and serial connection cable The enclosed communication software supplied free of charge designated has the following HW SW requirements 486 microprocessor or higher Windows 3 1 or more recent version mouse and serial port for drive connections The main features of Pcbrush are serial connection of up to 32 drives reading and setting of basic parameters and drive commands reading and setting of commands and parameters of operating modes functional block diagrams pico PLC program displayed as ladder diagrams display of pico PLC program status during operation status storage of parameterisation including pico PLC program uploading of parameterisation including pico PLC program from a file that can be selected from among those previously stored speed regulator and position controller simulation PC HPD connection layout HPD serial kit CL 422 X5 HPD personal computer DB9 DB25 207 Pom 2 307 Gy 5 707 refer to text for burden resistors To create line load burden resistances jumper pins 2 and 6 and pins 4 and 7 on connector X5 of the last drive on the serial line If the PC is a battery
25. use of filters is aimed at reducing conducted interference on wiring and the return of conducted interference to source drive through routes offering the lowest impedance This method provides effective protection for other systems connected to the same electrical line also protecting the drive from interference originating from other systems When installing filters consider the mains input and motor feeding output the motor feeding output can be protected with output filters that minimise interference levels generally torroidal ferrite core coils bearing several windings of all three motor wires 2 3 Mains filter installation instructions To guarantee electromagnetic compatibility in compliance with the relevant standards the maximum priority must be awarded to EMC requirements when designing the control cubicle To obtain the best results from filters follow the instructions in this section carefully because even a complex and expensive filter 15 ineffective unless it is installed taking EMC aspects into consideration Avoid routing noise emitting cables parallel to clean cables parallel cables especially in the vicinity of the filter ensure physical separation cable loops keep cables as short as possible and close to the common potential 11 Parker Hannifin S p A Divisione S B C HPD User s Manual Additional measures With the exception of mains cables to the filter all power and control wiring must
26. value Volt is facho2 where K 1 if Pr32 lt 875 K 15875 K 4 if 875 lt Pr32 lt 3500 16 if Pr32 gt 3500 Torque monitor Unit of peak torque resolution 0 1 This parameter indicates the percentage of torque or current that the motor is delivering Thermal image of motor winding Unit of reference temperature This read only parameter indicates an estimation of the heat on the innermost windings of the motor If the value reaches 100 0 96 which is equal to the nominal value b41 11 switches to 1 so that current can be limited to the rated value Thermal image of braking resistor Unit of nominal temperature This read only parameter indicates an estimation of the heat on the braking resistor If the value reaches 100 0 or more consider using an external braking resistor Auxiliary analogue output Unit of 9 76V default 0 range 100 0 resolution 8 bit If b40 11 is equal to 1 the auxiliary analogue output will be equal to 976 Pr38 100 volts Phase correction This parameter may be used in certain applications with special motors that are to run also at constant power Range 32000 default 0 BINARY PARAMETERS Binary parameter Pb40 can be read written and saved Binary parameter Pb41 provides information regarding system status Parameters Pb42 and Pb99 are read write parameters with save facility b40 0 Selecting the first or second speed reference full scale value Default 0 If set to 0
27. will invalidate the guarantee immediately Guarantee cover is otherwise provided for 1 one year This instruction manual is applicable to the standard version of the drive Parker Hannifin S p A Divisione S B C declines all liability for any whatsoever form of damage caused by inappropriate use of the drive Installation and maintenance of the drive and connected equipment must be performed exclusively by qualified and trained personnel with basic skills in electronics Commissioning of the drive must performed exclusively by qualified and trained personnel with advanced skills in electronics and drive technology Training courses can be supplied by Parker Hannifin S p A Divisione S B C on request The quoted performance of the HPD drive is guaranteed only when used with series MB synchronous motors manufactured by Parker Hannifin S p A Divisione S B C ISBN0204101609 Parker Hannifin S p A Divisione S B C HPD User s Manual CONTENTS 1 INTRODUCTION OON DG Mt pcr n DL General IDfOPRIAUOfic 3 1 2 Produet description so datei ae ctm 5 I 3 Direct mams CONNECHON a eer E a 6 6 1 5 Main hardware 5 44 0 1 0 7 SONA 5 oo aseo Uae Due RE 8 1 7 Compliance with EMC
28. 00 1C The drive answers with 7E 20 Case 7 writing a PLC instruction Assume you want to set the first PLC instruction as LD 90 4 assume the drive serial address is 0 The message to transmit is 7E 60 02 00 40 5 A FC The drive answers with 7E 20 Case 8 reading the first PLC instructions Assume you want to read the first instructions of the PLC default program assume the serial address of the drive is 0 The message to transmit is 7E 40 04 00 44 The drive answers with the message 7E 20 04 00 10 5A A7 5A 8F which corresponds to the acquisition of the following instructions LD 90 1 ORN 90 10 84 Parker Hannifin S p A Divisione S B C HPD User s Manual 4 2 Serial addresses and parameter lengths Parameter Address Length Meaning PrO 038h 2 motor speed in rpm 034h 2 analogue reference Pr2 03Ah 2 full scale 1 Pr3 03Ch 2 full scale 2 Pr4 036h 2 frequency full scale Pr5 2 internal reference Pr6 040h 2 reserved reference Pr7 042h 2 chosen reference OAEh 2 positive acceleration in seconds Pr9 OBOh 2 positive deceleration in seconds Pr10 0B2h 2 negative acceleration in seconds 11 OB4h 2 negative deceleration in seconds Pr12 OB6h 2 limit switch deceleration Pr13 OB8h 2 overspeed threshold 14 044h 2 top speed limit Pr15 046h 2 lower speed limit Pr16 048h 2 integral gain Pr17 OBAh 2 damping factor Pr18 OBCh 2 filter time
29. 128 5 Rear panel view H P D connector P2 pins 4 11 11 3 11 11 5 X5 m 2 m m 3 8 N 8 for burden resistors refer to Serial line connection L1 12 96 Parker Hannifin S p A Divisione S B C HPD User s Manual Appendix M application description form In order to develop our products in co ordination with user s needs we are most interested to learn about your HPD application Please fill in this form and return it to us This will also enable us to tailor our technical support to your individual requirements to Parker Hannifin S p A Divisione S B C ITALY R amp D department fax 39 2 66016116 CUSTOMER name Contact name 7 lVLlJ IIII I aR ater MODEL SERIAL NUMBER gt MOTOR MODEL 22022 MOTOR SERIAL NUMBER OPERATING VOLTAGE o FIRST HPD APPLICATION ves O nog MACHINE TYPE TASK PERFORMED BY AMPLIFIER FUNCTIONS USED EXTERNAL BRAKING MAINS FILTERS ENCODER IN BACK UP LOW VOLTAGE FUNCTION ENCODER OUT PARALLEL BUS INTERNAL PLC MOTOR COILS SERIAL LINE AMPLIFIER CONTROLLED BY MAKE MODEL NUMERICAL CONTROL gn EQ _ PLC E SINGLE AXIS CARD REI MASTER SLAVE CARD 2 2 gt 97 Parker Hannifin S p A Divisione S B C HPD User s Manual
30. 6 SET 94 0 ADD 82 72 64 AND 90 4 SET 94 0 ADD 84 72 64 LDN 70 8 ANDN 90 4 ANDN 90 5 AND 90 6 SET 94 0 ADD 86 72 64 if profile terminated and LDN 70 8 input 1 1 execute profile AND 91 10 resetting direction bit and AND 90 1 calculating distance with SET 70 8 respect to current motor RST 70 4 position SUB 64 60 64 if negative sign set AND 99 2 b70 4 1 SET 70 4 digital output 2 indicates LD 70 8 profile on OUT 91 1 program end END 76 Parker Hannifin S p A Divisione S B C HPD User s Manual Example 14 reading 4 digit preselector BCD Thumbwheels FILE E005 HPD To change the value of parameter Pr82 by means of a 4digit preselector This procedure involves the use of four digital outputs and four digital inputs terminal 12 on X2 output for selection of first preselector digit least significant terminal 13 on X2 output for selection of second preselector digit terminal 14 on X2 output for selection of third preselector digit terminal 15 on X2 output for selection of fourth preselector digit terminals 12 15 inputs for reading digit in BCD terminal 12 is least significant bit connection diagram shown on next page LD 90 1 Copy bit 0 BCD digit OUT 80 0 LD 90 2 copy bit 1 BCD digit OUT 80 1 LD 90 3 copy bit 2 BCD digit OUT 802 LD 90 4 copy bit 3 BCD digit OUT 80 3 LD 91 1 if first digit MUL 80 73 81 calculate units LD 91 2 if second digit MUL 80 75 81 calculate first decimal plac
31. 600 1 2 3 4 5 6 7 8 9 The version with code Pr26 4 differs from Pr26 5 because of the 25 ms response delay This version was developed to interface with PLCs that require this characteristic The version with code 26 10 was developed to allow data communication between two HPD drives Refer to the heading Serial line connection for connection diagrams 4 1 Communication protocol The right hand column in the table shows the time out value in milliseconds for each communication speed this is the time starting from the beginning of each message STX within which the transmission of the message must terminate Therefore if the message is interrupted after the time out the drive will ignore the information already received and stand by to receive a new message Messages are made up of several consecutive data in the following format 1 start bit 8 data bits following one byte between square brackets parity bit even 1 stop bit The message structure is STX CMD ADDR LUN PAR 00 Dn where 80 Parker Hannifin S p A Divisione S B C HPD User s Manual STX 7E transmission start indicator If a field other than STX should assume the value 7E in the message this field is followed by a 00 to ensure that it cannot be interpreted as an STX CMD ADDR command and address of peripheral device always different to zero This datum is composed as follows the
32. 91 11 at power up SET 40 2 SET 91 11 END program end Inputs and outputs can be read and written directly via the serial communications line so there is no need to use the pico PLC if you have an intelligent unit connected to the drive via the serial line For more information regarding the serial line refer to the HPD user manual 74 Parker Hannifin S p A Divisione S B C HPD User s Manual Example 13 5 positioning FILE E004 HPD Referring to the figure below assume you need to move the carriage to 5 different positions selected by means of three digital signals MOTOR PROXIMITY SENSOR CARRIAGE POSITIONS 0 1 2 3 4 5 The positions are set in parameters Pr80 Pr89 in resolver steps taking the position of the proximity sensor as the zero value When the machine is powered up the drive remains in standby mode awaiting the homing execution command when a pulse command is supplied to digital input 2 of the HPD drive the motor shaft will turn at the speed set in parameter Pr5 until the proximity switch provides a signal at digital input 3 At this point digital inputs 4 5 and 6 select the position to be reached while a pulse on digital input 1 makes it possible to perform positioning on a trapezoidal profile The following table shows the relationship between parameters Pr80 Pr89 and the encoding on the 3 digital inputs for example only input 4 on one selects position 1 and the distance in steps between the zero axis poi
33. AMPLIFIER PROGRAMMING IF YOU USE AN INTERNAL PLC PROGRAM OTHER THAN THE DEFAULT PROGRAM PLEASE ENCLOSE THE LISTING 115 7 8 98
34. Automation Divisione S B C HPD HPD2 HPD5 HPD8 HPD16 1 x User s manual rev 7 January 1997 software rel 18 HPD HIGH PERFORMANCE DRIVE 4 SOFTWARE amp HARDWARE EXPANSION e RS 485 RS 422 SERIAL LINK Parker Hannifin S p A Divisione S B C Via Gounod 1 20092 Cinisello B Milano Italy Phone 39 02 66012478 Fax 39 02 66012808 E mail drivesoc parker com EXTENDED VOLTAGE RANGE DIGITAL LOCK VARIABLE RATIO POSITIONER STEP MOTOR SIMULATION EASY MAINTENANCE TORQUE CONTROL ACCELERATION CONTROL SPINDLE ORIENTATION FOR TOOL CHANGING BUILT IN P L C HPD everywhere for any application WARNING HIGH VOLTAGE Certain circuits in the HP D drive carry dangerously high voltages that could cause serious personal injury or death Do not attempt to service any parts of the drive when it is connected to the power supply If you need to access internal parts before working on the drive allow at least 15 minutes after power down to allow the DC bus capacitors to discharge It is the User s responsibility to make sure that the installation is executed in accordance with established industrial health and safety standards In relation to the interpretation of standards note that the drive is considered as a component and not as a machine Any tampering or unauthorised modification of the drive
35. D User s Manual Appendix G pico PLC default program 90 1 90 10 90 10 90 3 90 10 90 4 404 UD 40 5 UD 40 6 UD 40 0 90 5 90 5 90 11 05 71 05 05 05 05 4012 LD ORN OUTN LD ORN OUTN LD ORN OUTN LD OUT 90 1 90 10 40 4 90 2 90 10 40 5 90 3 90 10 40 6 90 4 40 0 90 5 05 05 05 41 0 91 0 41 1 91 1 41 2 91 2 41 3 91 3 41 4 91 6 41 11 91 4 90 11 99 0 92 78 92 05 71 05 90 5 90 11 40 12 digital input 1 for left hand limit switch enabled only if b90 10 1 digital input 2 for right hand limit switch enabled only if b90 10 1 digital input 3 for emergency stop enabled only if b90 10 1 digital input 4 for clockwise or counter clockwise rotation digital input 5 for start stop reset parameter Pr5 digital output O indicates speed greater than Pr13 digital output 1 indicates motor speed reference digital output 2 indicates motor speed 0 digital output 3 indicates clockwise or counter clockwise motor shaft rotation digital output 6 indicates drive healthy digital output 4 indicates active motor thermal image if b90 11 1 the drive performs a direction inversion at 6 second intervals at the speed in Pr5 digital input 5 for start stop disabled if b90 11 1 program end 92 Parker Hannifin S p A Divisione S B C HPD User s Manual Appendix H flash information 93 USE b99 15 TO SAVE PARA
36. ING MODE reserved reference wiring test selector pos 670 0 error code motor poles resolver phase alo start stop reference input aux analog input digital input status 1 err std dev test speed test stroke starting point delay digital input status 2 encoder in counter ko ola al olm bus voltage offset compensation U offset compensation V 56 Parker Hannifin S p A Divisione S B C HPD User s Manual TRAPEZOIDAL POSITIONER OPERATING MODE in progress profile generator feed forward Servo error window Servo error reserved reference proportional gain Pr 61 Pr60 ramps steady time speed target position Pr 63 Pr62 reset 1 reverse forward profile on motor position target position motor position 0 pulses reset 2 steps for pulse target position motor position shaft position Pr 65 Pr 64 incremental position target position motor position reset 3 Uo VU incremental position Pr 65 Pr 64 2 0 reset 4 DIGITAL LOCK OPERATING MODE master speed encoder master feed forward proportional gain reserved reference max regulator speed motor position reset 1 Servo error window gt gt target position motor position 0 servo error 57 Parker Hannifin S p A Divisione S B C HPD User s Manual STEPPER LIKE OPERATING
37. METERS USE b99 14 TO SAVE PLC PROGRAM TO CHANGE PLC INSTRUCTIONS b99 13 MUST BE AT 0 WHEN CHANGING OPERATING MODE USE 9911 TO LOAD DEFAULT PARAMETERS b40 2 0 WARNING BEFORE CHANGING Pr31 MAKE SURE b40 2 0 SPEED REFERENCE IS LIMITED TO THE VALUE IN Pr32 IN TORQUE CONTROL Pr2 AND Pr3 MUST BE SET TO 1000 TO USE THE ACTIVE OPERATING MODE b40 2 MUST BE SET TO 1 TO USE Pr32 TO CHANGE FEEDBACK RESOLUTION ON THE FLY DISABLE TORQUE COMPENSATION b42 6 0 IF YOU CANNOT UPDATE READ WRITE PARAMETERS FROM THE KEYPAD MAKE SURE b99 7 0 IF b99 7 0 THE PARAMETERS ARE PROBABLY MANAGED BY THE PLC PROGRAM Parker Hannifin S p A Divisione S B C HPD User s Manual Appendix I S B C filter mechanical dimensions Gu P mi MOTOVARIATOR FILTRI 5 3RD 16 s 16 94 Parker Hannifin S p A Divisione S B C 95 HPD User s Manual as aaa paa 5 22 Parker Hannifin S p A Divisione S B C HPD User s Manual Appendix L remote communications interface If the application calls for a simple operator interface use console 048 049 064 The console is connected to the drive by means of the serial line it does not provide I O capabilities and it does not have buffered memory The connection cable is not part of the standard supply and the software must be generated by Parker Divisione S B C to client specifications Power supply type 064
38. NCE GAIN FOR TACHO ENCODER OUT RESOL QUADRATURE FD EXTERNAL OPM FLAGS PRE ALARM VIBRATION STOP LOW VOLTAGE OP R W lt 22 lt lt lt lt lt lt 2 HPD User s Manual left sw HIGH PERFORMANCE DRIVE b40 2 b40 3 right sw MAIN BLOCK DIAGRAM torque demand ramps values S H band width i speed control limitator 1 16 Pr 17 user current limit torque Beale demand 0 b40 11 value analog out RE motor speed rated current Vout aux reserved current limit high max at speed 3 gt trip code present low aux reference drive enabled Pr 15 zero speed over voltage under voltage over current resolver break hardware enable motor over temp power stage over temp external trip aux trip output short circuit PLC check sum PAR check sum software enable 54 Parker Hannifin S p A Divisione S B C REFERENCE SELECTION full scale main ref ref 1 full scale ref 2 max fq ref ore internal reference b40 13 reserved reference TORQUE CONTROL OPERATING MODE max speed reserved 55 HPD User s Manual ramps values current limit Parker Hannifin S p A Divisione S B C HPD User s Manual ACCELERATION CONTROL OPERATING MODE reserved reference MAINTENANCE amp COMMISSIONING OPERAT
39. ad fault b41 12 1 if communication between keypad and drive has failed External operating mode If set to 1 an external operating mode 15 installed External operating mode time slot If set to 1 indicates that the external operating mode is controlled at 2 ms intervals otherwise at 5 1215 Selector to configure encoder emulation Selector to configure encoder emulation Selector to configure encoder emulation Pr32 up to 9000 rpm Pr32 up to 3500 rpm Pr32upto 875 rpm 1 1 0 0 0 0 1 1 the double line indicates encoder resolutions available in the various speed ranges Default value is 1024 b42 4 b42 5 b42 6 b42 7 b99 6 b99 7 b99 13 24V over current Digital output trip Frequency input board X6 If set to 1 the frequency input is programmed to receive two phases in quadrature This is the default If set to O it is enabled to receive a frequency direction type input Torque compensation Default 1 When set to 1 torque compensation is implemented to improve linearity of response Reserved Extended menu enable Default 0 Set to 1 to enable the extended menu Security Default 0 Set to 1 to prevent parameter modification pico PLC status Default 1 If on 1 the PLC program is run if on zero the program is not run and the PLC instructions can be modified if required 38 Parker Hannifin S p A Divisione S B C HPD User s Manual 3 4 Basic commands To transmit the following commands b99 7 must o
40. amming with Pcbrush or directly from the keypad In this latter case to facilitate procedures when you need to delete an instruction select it and then press M to display the type of instruction now keep M pressed and simultaneously press when keys are released the instruction will be deleted On the contrary in order to add an instruction after In06 for example select the next instruction 1107 press M to display the type of instruction now keep M pressed and press simultaneously when both keys are released an FIN instruction will be inserted In this latter procedure make sure that the instructions in the program are no more than the maximum number or you will lose the last one s The pico PLC program can be edited or altered only when the PLC is in stop status 699 13 0 62 Parker Hannifin S p A Divisione S B C HPD User s Manual 3 8 2 Examples and applications The following examples illustrate possible functionalities obtained by suitable programming of the HPD pico PLC The suggested solutions offer the possibility of reducing the components required to build the machine or part of the machine while in many cases also cutting the overall cost of the application Note that the pico PLC scanning time is 6 144 msec and the maximum number of instructions is 64 moreover the PLC 15 designed principally to manage the drive s digital inputs and outputs In addition to a concise description of the application
41. ase A phase B and phase C reference zero The signals are RS 422 type For the relative programming of pulses per revolution consult the Basic parameters chapter in this manual bit b42 0 b42 1 and b42 2 default 2 1024 pulses revolution 26 Parker Hannifin S p A Divisione S B C HPD User s Manual 2 12 Serial line connection The HPD drive serial line can be configured as RS 422 or RS 485 depending on the connection In both cases termination resistors must be used 150 Where more than one HPD drive is connected to the bus the final node must be terminated as shown below The two cases are illustrated in the following diagrams NODE 1 NODEn LAST NODE MASTER x5 X5 NODE 1 NODE n LAST NODE 2 13 Braking resistor HPD drives are equipped with an integrated braking resistor The effective use of the braking resistor can be checked by monitoring the value of parameter Pr37 which is expressed as a percentage If you intend to dissipate more power use an external braking resistor To connect up the system which must be carried out in conditions of complete safety disconnect the jumper between terminals 9 and 10 of terminal board X4 connect one end of the resistor to terminal 9 and the other to terminal X4 The external resistor value must be 40 ohm and a thermal magnetic circuit breaker must be installed between resistor and drive The minimum wire size for the connection is 4 mm the connection cables should be as
42. been lost and restored Simply set the following instructions in the PLC program 20 90 72 LD 99 13 Check real DC bus SUB SUB 20 80 72 voltage if gt than Pr80 LD 992 2045535 ADD 76 78 92 set delay time ADD LDN 24 0 AND 244 If Pr24 2 ie ME MES UE 39 10 ANDN 24 2 undervoltage alarm and ANDN 24 3 timer expired AND 99 0 reset alarms SET 99 10 Only the undervoltage alarm Pr24 2 is reset automatically the nominal DC bus voltage 1096 must be set in parameter Pr80 for 380V power supplies Pr80 500 timer 1 must not be utilised in any other section of the pico PLC program 72 Parker Hannifin S p A Divisione S B C HPD User s Manual Example 12 5 positioning with teach in FILE E003 HPD To obtain the following functionality with reference to the figure assume you need to acquire 5 different machine positions and then execute them automatically MOTOR PROX SENSOR CARRIAGE POSITIONS 0 1 2 3 4 5 This can be achieved using a smart keypad module see appendix L SBC1 program connected on the serial communications line with the drive and with the internal PLC When the machine is powered up the drive will stand by to receive the homing exec command and the keypad will show the message axis zero F4 By pressing F4 or sending a pulse command to digital input 2 of the drive the motor shaft will turn at the speed established by parameter Pr5 until the intervention of the proximity sensor a
43. ctions in the table LD ORN and the SET and RES instructions the remaining 4 bits of the first byte b4 b7 contain the value y while the second byte contains the value Pa For instructions ADD SUB MUL and DIV the second byte contains the value Pa the third Pb and the fourth Pc The second byte is not utilised for the END instruction For the FIN instruction the fifth bit b4 of the first byte selects the parameter b4 0 refers to 40 b4 1 refers to Pr 70 the sixth bit b5 of the first byte is used for negative logic if required b520 the bit is copied b5 1 the bit is inverted and then copied The second byte of the FIN instruction contains the value of y If FIN instructions are used they must be the first of the program and there must be no more than 3 so they will occupy addresses from Oh to 5h If a FIN instruction is included from address 6h forward or anyway after any other instruction it will be ignored NOP The instructions must be one after the other starting from address Oh without any free bytes There is just one program and it terminates with the END instruction Serial line application examples For a better understanding of how to implement the serial line communication protocol we have provided a few examples for each type of message The values are entered simply by way of example Case 1 reading a 1 byte parameter Assume you want to read the value of parameter Pr 31 operating mode and that the val
44. d so that a speed decrease or increase of 1000 rpm takes Pr52 thousandths of a second this function is useful during catch on fly cycles Reference division factor Default 1 range 32000 32000 This parameter together with Pr51 makes it possible to set the required ratio for the input reference frequency Reserved Required speed Unit rpm Read only parameter Shows the input reference frequency converted into rpm Servo error window Unit steps default 100 If the absolute value of the position error exceeds the value set in Pr56 b70 5 is set to 1 If utilised b70 5 must be reset by the user e g by the PLC program following servo errors Position controller proportional gain Default 100 range 0 32000 Slip speed Reserved Pr60 61 Position controller reference Unit steps Pr62 63 Motor position Unit steps 4096 steps per revolution Pr64 65 Reserved Pr66 67 Reserved Pr68 69 Reserved b70 2 b70 3 b70 5 b70 6 b70 8 b70 9 b70 10 b70 15 Digital locking engaged During locking with ramp Pr52 other than zero this bit indicates the termination of the transitional phase Enable position Default 0 During unlocking b70 3 1 enable position with Pr61 60 Servo error b70 5 is set to 1 if the absolute value of the position error exceeds the value set in If utilised b70 5 must be reset by the user e g by the PLC program following servo errors Feed forward Default 1 If set to 1 feed forward is enabled on th
45. e LD 91 3 if third digit MUL 80 76 81 calculate second decimal place LD 91 4 if fourth digit MUL 80 77 81 calculate third decimal place LD 99 13 add calculation result to auxiliary ADD 81 82 82 parameter Pr81 LD 91 4 if last digit most significant ADD 82 72 83 copy final value in Pr83 SUB 82 82 82 Zero set parameter Pr82 LD 91 3 refresh outputs to enable reading of OUT 91 4 next digit LD 91 2 OUT 91 3 LD 91 1 OUT 912 LDN 91 2 ANDN 91 3 if last digit already acquired start ANDN 91 4 scanning digits starting from units OUT 91 1 END program end 77 Parker Hannifin S p A Divisione S B C HPD User s Manual CONNECTION OF 4 DIGIT PRESELECTOR Example 15 programmable zero speed window Assume you want the value of the main analogue reference to remain below a programmable threshold when it is cancelled In practice a speed window around zero rpm is defined within which speed is set to zero The value of the threshold is set in parameter Pr88 in rpm parameter Pr89 15 used as an auxiliary memory area The required pico PLC program is as follows 99 13 07 72 89 LD ADD ADD 89 15 8971 89 MUL MUL 99 13 89 88 72 SUB LD SUB 992 40 6 AND L QO our 99 13 07 72 89 89 15 89 71 89 99 13 89 88 72 99 2 40 6 Copy analogue reference value in Pr89 if Pr89 0 invert Pr89 to obtain the modulus calculate difference between Pr89 and Pr88 if negative set drive to
46. e equal to the value of Pr87 86 when this distance is reached the drive unlocks and stops according to the ramp programmed in parameter Pr83 The motor now automatically returns to the origin position executing a trapezoidal profile with the ramps set in Pr80 and the speed in Pr81 Note that one motor revolution corresponds to 4096 steps so the value to set in Pr87 86 should correspond to the number of steps of the motor shaft needed for the carriage to execute the required translation The master encoder on the conveyor shaft provides the drive with the necessary position reference during digital locking SLAVE MOTOR PROX SENSOR CARRIAGE SENSOR lt MASTER ENCODER After having set the default values program the following parameters Pr5 10 homing speed Pr31 10 b99 11 1 b40 2 1 b40 12 1 Pr80 trapezoidal profile ramp Pr81 trapezoidal profile speed Pr82 copy of P 51 in digital locking Pr83 digital locking release deceleration ramp Pr84 copy of Pr53 in digital locking Pr87 86 release dimension in steps terminal 13 on X3 pulse command for homing execution terminal 14 on X3 axis zero position PNP proximity sensor terminal 12 on X3 digital locking sensor pulse command terminal 12 on X2 output high during cycle execution digital locking commands received during cycle execution will be disregarded The digital locking delay interval can be up to 6 144 msec The following auxiliary bits are utilised b91 10
47. e keypad For example if the modulus is 40960 steps Pr89 must be set to 0 and Pr88 must be set to 24576 Terminal 13 on X3 homing pulse command Terminal 14 on X3 NPN type axis zero proximity sensor Terminal 12 on X3 pulse command digital locking engage sensor Terminal 12 on X2 exit high during modulus execution if a digital lock command is transmitted during execution of the modulus it will be ignored The delay before digital locking varies by up to 2 048 msec max The following auxiliary parameters are utilised Pr83 Pr84 Pr85 b91 10 b91 12 It is assumed that parameter Pr34 is not used The program is as follows 67 Parker Hannifin S p A Divisione S B C ADD AND ADD SET 72 72 60 SUB 94 0 88 62 84 94 0 84 55 83 91 12 91 12 94 0 88 62 84 94 0 84 83 84 72 84 05 41 2 72 72 60 94 0 62 88 62 91 12 HPD User s Manual Fast input for digital lock trigger if the axis 15 locked fast input disabled and output enabled cycle in progress if homing has been carried out the bit is enabled Force double word operation comparison comparison for release test release test Pr86 lt Pr62 copy master speed into internal speed reference and enable it release axis force double word operation Pr84 remaining space force double word operation Pr83 time to reach zero rpm ramp stopped flag ramp down management Force double word operation Pr84 remaini
48. e position controller Axis lock release With this bit you can lock 1 or release 0 the axis from the input encoder reference Reserved Reset type 1 Resets motor and reference position Implemented only with b70 8 0 Reserved 50 Parker Hannifin S p A Divisione S B C HPD User s Manual 3 6 6 Stepper motor emulation This mode emulates the operation of a stepper motor each pulse received on the frequency input terminal board X6 channel A frequency channel B direction is multiplied by Pr51 and the result is added to the reference position The frequency input must be programmed as a direction sign signal by setting b42 5 0 Just as in all other operating modes it is possible to enable feed forward limit the action of the proportional part obtain servo error indication and select the most suitable type of reset Note that the frequency count occurs on the negative front of the signal and changes of the direction signal must be made at least 1 uS before the negative frequency front Unlike stepper motors in this case there is no risk of step loss Refer to Frequency input connection chapter for the connection diagrams PARAMETERS FOR OPERATING MODE 11 Pr50 Maximum speed Unit rpm default 3000 range 0 9000 This parameter makes it possible to limit maximum motor speed Pr51 Reference multiplication factor Default 1 range 0 4096 This parameter allows you to set the required multiplication ratio for input reference frequ
49. en reference speed and motor speed The error value is utilised by the speed control loop to calculate using calibration parameters how much current to supply to the motor TORQUE current flowing through the motor windings is converted into torque which allows the motor to accelerate and decelerate GAIN in consideration of the typical applications of the HPD drive the expression gain in this section of the manual refers to stiffness To understand the concept of stiffness imagine a motor controlled by a drive with speed demand of zero rpm The motor shaft will appear immobile but if we apply torque to the shaft it will rotate through an angle that depends on the amount of torque applied We can then apply the rated torque of the motor and then measure the stiffness angle in degrees The resulting value provides an indication of the fidelity of the drive thus parametrised although it is clearly not the only fidelity indicator WHAT S NEEDED To calibrate an HPD drive correctly we recommend using an oscilloscope with memory Obviously the technician in charge must be well versed in the use of the instrument If it is impossible to use an oscilloscope we illustrate at the end of this section of the manual an alternative although less accurate method 40 Parker Hannifin S p A Divisione S B C HPD User s Manual BEFORE STARTING Before starting observe figure 1 Tek Run 500 S s Hi Res 200v 00
50. en the incremental value is programmed on the frequency input 170 4 Forward Reverse When the start profile command is transmitted b70 8 if b70 4 0 the motor will execute Pr64 65 steps in the positive speed direction If b70 4 1 it will execute the same number of steps in the negative speed direction b70 5 Servo error b70 5 is set to 1 if the absolute value of the position error is greater than the value set in Pr56 If utilised b70 5 must be reset by the user e g using the PLC program following servo errors b70 6 Feed forward enable Default 0 If set to 1 feed forward is enabled on the position controller b70 7 Profile in execution 70 7 1 indicates that the drive is executing a positioning profile b70 8 Start profile To start positioning b70 9 Enable frequency input Default 0 If set to 1 Pr64 65 can be set on the frequency Input b70 10 Reset type 1 Resets motor and reference position This command is only accepted when no profile is in execution b70 11 Reset type 2 Command to set motor and reference position to equal the absolute position of the shaft Accepted only when no profile is in execution b70 12 Reset type 3 Command to set the reference equal to the motor position Accepted only when no profile is in execution b70 13 Reserved b70 14 Reserved b70 15 Reserved 3 6 5 Digital locking Operating mode 10 is a tracking function referred to a frequency input signal connector X6 set as an encoder signal
51. ency Pr54 Reserved Pr56 window Unit steps default 100 If the absolute position error is greater than the value in Pr56 b70 5 is set to 1 If utilised b70 5 must be reset by the user e g by the PLC program following servo errors Pr57 Position control loop proportional gain Default 100 range 0 32000 Pr60 61 Position control loop reference Unit steps Pr62 63 Motor position Unit steps 4096 steps per revolution Pr64 65 Reserved b70 5 Servo error b70 5 is set to 1 if the absolute position error is greater than the value in Pr56 If utilised b70 5 must be reset by the user e g by the PLC program following servo errors b70 6 Feed forward enable Default 0 If set to 1 feed forward is enabled on the position controller b70 8 Axis lock release With this bit you can lock 1 or release 0 the axis from the input encoder reference b70 9 Reserved b70 10 Reset type 1 This command resets motor and reference position b70 11 Reset type 2 Sets motor and reference position equal to the absolute shaft position 170 12 Reset type 3 Sets the reference equal to the motor position 51 Parker Hannifin S p A Divisione S B C HPD User s Manual 3 6 7 Spindle orientation When this mode 12 is selected it becomes operational when b40 2 1 The motor reaches the speed in Pr50 on the ramps in Pr52 It now spins at constant speed until it reaches the position set in Pr54 at this point the positi
52. ero rpm in Ampere InD is rated drive current in Ampere The maximum value of Pr33 is 50 0 Pr19 calculation peak current 19 Pr33 3 31 Parker Hannifin S p A Divisione S B C HPD User s Manual The maximum value must be no higher than three times the value of Pr33 Pr29 calculation number of poles Use the following table for MB series motors Flange mm _ 0 8 4 8 O 205 Pr32 calculation rated speed If Pb 42 620 Pr32 Vmax 1 12 If Pb 42 6 1 Pr32 MOT where is nominal motor speed in rad sec Vmain is HPD power supply in Vrms Vmot is motor rated voltage in Vrms Evaluation of Pr16 and Pr17 speed regulator gain The default values of Pr16 and Pr17 have been chosen considering identical motor and drive rated currents if this is not the case correct the values of parameters Pr16 and Pr17 with the ratio of the motor rated current drive rated current Preventive execution of this compensation will eliminate the risk of motor vibration at the first start up 6 Set the analogue reference signal to 0 V terminals 1 2 of board X2 and enable the drive 24 V on terminal 11 of board X3 7 The motor shaft must be stopped when the analogue reference voltage is changed motor speed should change proportionally If this is not the case check your wiring 8 Save your changes with b99 15 The drive is preset with default values designed to meet the requirements of the
53. esponse is accompanied by a current fluctuation that can generate acoustic noise and mechanical vibration increasing Pr18 to the value 3 will improve this condition significantly fig 6 Tek Run 500 5 5 Sample T TE cn 00V Tooms Chi 08 46 27 Fig 5 43 Parker Hannifin S p A Divisione S B C HPD User s Manual Tek Run 500 S s Hi Res Trig T 08 47 40 Fig 6 If the driven mechanical system is prone to oscillation we recommend using very low values for Pr16 in this configuration the HPD drive will smooth out motor torque requests to prevent the creation of mechanical oscillation Figure 7 shows this type of configuration Tek Run 250 S s Hi Res Trig T TE cn 00V M 200ms Chi 08 50 13 Fig 7 44 Parker Hannifin S p A Divisione S B C HPD User s Manual CALIBRATION WITHOUT INSTRUMENTS If an oscilloscope is not available proceed as follows A Calculate the value of Pr16 as described earlier B Calculate Pr17 using the following formula uc Nm peak where is total inertia motor load in kgm2 N Mpeak is available torque with peak current of the system C Start the drive and moving the axis with an external control change Pr17 to seek the value at which the axis moves as required D Calculate Pr18 using the following formula Pr17 18 017 21 Pr16 If the resulting calibration is unsatisfact
54. fault 0 If set to zero speed windows 14 15 b41 1 will operate in relative mode if set to 1 the speed windows will operate in absolute mode Analogue torque limit Default 0 If set to 1 Pr22 i e auxiliary analogue input will be used to limit motor torque Software enable Default 1 If set to zero the drive cannot be started Low voltage operation enable Default 0 If at 1 the inrush current circuit will be connected each time the drive is disabled thus permitting rapid increases in power supply voltage When the drive is started the inrush current circuit will be connected before the effective start up of the power stage This procedure causes a drive start up delay of 120ms Analogue output selector Default 0 If set to 0 the analogue output will carry a signal proportional to motor torque If set to 1 it carries a value proportional to Pr38 Digital analogue reference selector Default 0 If set to the analogue input is selected as the main reference If set to 1 the reference will be digital and by means of 40 13 it can be set for internal or external If set for an external input using b42 5 this can be set for quadrature or frequency direction Internal or frequency reference selector Default 0 If b40 12 1 b40 13 can be set to 0 to select internal reference or to 1 to select the frequency input encoder in which in turn can be configured as frequency direction or quadrature signal using b42 5 Serial communication e
55. first 5 bits from 0 to 4 define the drive address from 0 to 31 the remaining 3 bits from 5 to 7 define the type of message as described in the following table CMD 7 bit5 message type 0 0 1 drive response 0 read PLC instruction 1 write PLC instruction 0 read parameter 1 write parameter 0 bit change 1 broadcast parameters to all drives 1 0 0 1 1 LUN total number of bytes transmitted parameter or PLC instruction can assume values from 1 to 4 This value must not hold zero characters 00 after values that coincide with the initial transmission character 7E PAR parameter or PLC instruction read write address D0 Dn 2 datum transmitted 256 modulus sum of all fields except STX checksum Message types 1 drive response to data request format STX 001 ADDR LUN PAR 00 Dn or confirm message in response to data entry or update format STX 001 ADDR where ADDR identifies the answering drive CMD2 read message of PLC area instruction format STX 010 ADDR LUN PAR CMD3 write message of PLC area instruction format STX 011 ADDR LUN PAR Dn CMD4 parameter read message format STX 100 ADDR LUN PAR CHK CMD5 parameter write message format STX 101 ADDR LUN PAR 00 Dn CHK CMD6 byte parameter bit change message format STX 110 ADDR
56. he drive off before switching it on again 1 4 Identification HPD drives are available in 4 models HPD 2 HPD 5 HPD 8 and HPD 16 The number that follows HPD is the value of drive rated current in amperes HPD drives carry an identification plate on the right hand side showing all essential information for correct identification of the unit Make a note of the information on this plate before consulting S B C on technical matters The identification plate is shown below model identification plate Parker Hannifin S p A Divisione S B C HPD User s Manual 1 5 Main hardware specifications Power supply ele pr ee ee Rated outputcurrent 2 5 8 l6 18 Dissipation from power componens W 25 60 89 158 Power stage switching frequency 8 NO 1 7 KH 800 200 Serial line 1 PR 8 O RENEEN lel Encoder emulation RS 422 steps rev 128 16384 800 00 Parker Hannifin S p A Divisione S B C HPD User s Manual 1 6 Software features The following capabilities are implemented in the basic software supplied with the HPD drive Speed control Advanced torque limit manager Speed windows management Positioning with trapezoidal speed profile Digital locking functions with variable transmission ratio and phase shifting Spindle orientation Stepper motor emulation Torque control with overlaid speed control Acceleration ramp control with overla
57. he group 25 Parker Hannifin S p A Divisione S B C HPD User s Manual If the frequency direction mode configuration is adopted channel A is dedicated to frequency while channel B handles direction Frequently a 24V interface is preferred to an RS 422 serial port Using push pull configuration the conversion can be implemented on the external connector by following this wiring diagram 24 4 2K2 X6 HPD connection with digital locking X7 HPD master X6 HPD X6 HPD 0 see text for burden resistors The example in the figure shows the connection between two HPD drives in digital lock with a master but this configuration can be extended to several drives connected in series On the final drive in the series connect the burden resistors by jumpering pin 1 with pin 9 pin 2 with pin 5 pin 3 with pin 6 and pin 4 with pin 8 on connector X6 The master can be an externally fed encoder or the simulated encoder output on another drive The signal from the master encoder must be differential type 5 RS 422 it is therefore possible to connect a maximum of 10 slave HPDs If the master is an HPD drive then up to 32 units can be connected in digital lock mode using the same simulated encoder signal RS 422 standard For the relative programming of the HPD consult the Digital locking chapter in this manual 2 11 1 Encoder emulation On connector X7 there are signals of encoder emulation ph
58. hile provides the start stop in a negative direction the translation speed in this case must be set in parameter Pr4 Once the required position has been reached press C to confirm the dimension Press F2 to set automatic mode To store the parameters you have programmed press 5 After having set the default values set the following parameters on the HPD drive Pr4 10 manual translation speed Pr5 5 homing speed Pr31 9 b99 11 1 b40 2 1 b40 12 1 Pr81 80 dimension 1 Pr83 82 dimension 2 Pr85 84 dimension 3 Pr87 86 dimension 4 Pr89 88 dimension 5 terminal 12 on X3 pulse command execute positioning terminal 13 on X3 pulse command execute homing terminal 14 on X3 PNP zero axis proximity sensor terminal 15 on X3 select position terminal 16 on X3 select position terminal 17 on X3 select position terminal 11 on X2 output high during homing terminal 12 on X2 output high during positioning terminal 13 on X2 output high during manual translation The following auxiliary bits are utilised b91 10 b91 11 The program is as follows LD 90 2 If digital input 2 and homing not yet ANDN 91 10 executed executes homing RST 40 2 LD 90 3 If digital input 3 and homing not yet ANDN 91 10 executed SET 70 10 reset mode counters SET 91 10 set homing executed flag RST 91 0 set digital output 0 to zero LD 70 8 copy bit b70 8 to digital output 1 OUT 91 1 LD 41 4 if drive OK enable operating mode ANDN
59. id speed control Simplified maintenance and start up mode Internal PLC for advanced input output programming functions 1 7 Compliance with EMC standards Immunity EN50082 1 EN50082 2 Basic immunity specifications TEC1000 4 2 ex IEC 801 2 level 3 Electrostatic discharge immunity 1000 4 3 ex IEC 801 3 level 3 Electromagnetic field immunity 1000 4 4 IEC 801 4 level 4 Fast transient burst conducted immunity Compatibility EN50081 1 EN5008 1 2 Basic radio interference specifications EN55011 group 1 class Measurement limits for radio interference EN55011 group 1 class B Measurement limits for radio interference 1 8 Safety Safety standard EN60065 Low voltage Directive 73 23 CEE amended by 93 68 CEE Applied standard EN60204 1 Conformity for use in domestic or industrial surroundings depends on the nature of the installation Parker Hannifin S p A Divisione S B C HPD User s Manual 2 INSTALLATION e The HPD drive must be installed in a vertical position power terminal block at the top Leave at least 190 mm clearance above and below the drive 2 1 Safety instructions Make sure the drive is correctly sized for the motor you intend to connect Compare rated voltage and current Wire up electrical panel drive motor in accordance with the instructions in this section of the manual taking into consideration EMC requirements and established safety legislation The User is respo
60. in features of the PLC Program steps 64 scan time 6 144 ms timers 2 instructions 15 stack depth 1 mathematic operations 16 32 bits fast inputs fast copy 3 512 us PLC PARAMETERS Pr71 Constant value 1 Double word Pr72 Constant value 0 Double word Pr73 Constant value 1 Double word 74 Constant value 2 Double word Pr75 Constant value 10 Double word Pr76 Constant value 100 Double word Pr77 Constant value 1000 Double word Pr78 Constant value 1024 Double word Pr79 Constant value 4096 Double word Pr80 parameter Parameter with save facility at user s disposal word Pr81 Free parameter Parameter with save facility at user s disposal word Pr82 Free parameter Parameter with save facility at user s disposal word Pr83 Free parameter Parameter with save facility at user s disposal word Pr84 Free parameter Parameter with save facility at user s disposal word Pr85 Free parameter Parameter with save facility at user s disposal word Pr86 Free parameter Parameter with save facility at user s disposal word Pr87 Free parameter Parameter with save facility at user s disposal word Pr88 Free parameter Parameter with save facility at user s disposal word Pr89 Free parameter Parameter with save facility at user s disposal word b90 X Digital input X status If X is greater than 7 parameter with save facility at user s disposal b90 0 drive enable
61. in reference Pr7 for dynamic modulation of the ramps To program analogue acceleration control the first requirement is a stable speed loop When this is present set Pr2 ACC 3 2 where ACC is acceleration in rad s2 required with a 10V reference signal b40 0 0 b40 12 0 b40 2 1 and Pr31 2 Maximum speed must be programmed in Pr50 PARAMETERS FOR OPERATING MODE 2 Pr50 Maximum speed Unit rpm default 3000 range 0 9000 This parameter makes it possible to limit maximum absolute motor speed during operation with acceleration reference 55 Acceleration deceleration ramp read only parameter Unit s krpm range 2 30000 resolution 1 thousandth of a second Pr60 61 Reserved Pr62 63 Reserved Pr66 67 Reserved 46 Parker Hannifin S p A Divisione S B C HPD User s Manual 3 6 3 Maintenance and commissioning This operating mode is designed to assist technical personnel during commissioning Mode 8 provides various tests to check drive wiring It s also possible to move the move the shaft manually by means of Pr50 b70 1 and b70 2 or using the internal profile generator which simplifies speed control loop set up and ensures that there is no overrun on the programmed movement Programming parameters for generating internal profiles are speed motor revolutions starting position and interval in seconds between forward and reverse movement To perform the wiring test the motor must be disconnected from all loads includi
62. ing execution of the profile the drive stops between positive speed movement and negative speed movement for an interval of Pr54 at Zero rpm Pr55 Deviation factor During execution of the profile assuming the same value of Pr16 the optimal value of Pr17 can be achieved by minimising the value of Pr55 Pr56 Value Returns information requested with Pr57 Pr57 Information request This parameter serves to query the drive A table of queries is shown in the block diagram of operating mode 8 58 Reserved Pr59 Reserved Pr60 61 Reserved Pr62 63 Reserved Pr64 65 Reserved 47 Parker Hannifin S p A Divisione S B C HPD User s Manual Pr66 67 Reserved Pr68 69 Reserved b70 0 Start profile Set 1 to execute the programmed profile Remember to set b40 2 1 to effectively switch the speed reference to the control loop b70 1 Manual forward speed If at 1 with b70 0 0 and b40 2 1 the shaft will rotate at the speed programmed in Pr50 b70 2 Manual reverse speed If at 1 with b70 0 0 and b40 2 1 the shaft will rotate at the speed programmed in Pr50 but in the opposite direction b70 3 Wiring test When you set this command the drive performs a test procedure and returns the result as an error code that can be viewed using parameters Pr56 and Pr57 Before entering this command make sure the motor is disconnected from all loads even pure inertia loads Also ensure that b40 9 0 b70 4 Reserved b70 5 Vibration test If none of the
63. ion b99 2 is set to O if the result is positive and to 1 if the result is negative likewise b99 3 0 if the result is zero and 699 3 1 if it is different from zero These settings remain valid until the next mathematical operation is performed the operation is executed only if the stack bit is equal to one A mathematical operation can be performed setting the result in one of the constant parameters Pr71 Pr79 in order to set bits b99 2 and b99 3 In the case of the DIV operation if it is executed on a double word the most significant part of the result contains the rest of the division i e if you set b94 0 1 and perform DIV 79 77 80 the result will be Pr80 4 and 81 96 61 Parker Hannifin S p A Divisione S B C HPD User s Manual Note that parameters Pr23 Pr24 Pr25 Pr26 Pr27 Pr29 Pr31 and Pr34 are bytes like Pb42 and Pb94 therefore these parameters cannot be used for mathematical operations logical operations must be used to alter their values FIN instruction Three instructions are provided for high speed input acquisition in this case the scan is executed at 5125 normal scanning is 6 144ms If used FIN instructions must be the first PLC instructions The first FIN instruction copies digital input 1 into bit y of parameter Pb40 second operand 0 or Pb70 second operand 1 The second FIN instruction copies digital input 2 into bit y of parameter Pb40 second operand 0 or Pb70 second operand 1 The third FIN ins
64. ith an RS 422 RS 485 serial interface which can be used for configuration monitoring or simultaneous transmission of commands to a multiple system comprising up to 32 HPD drives In addition to the above functionality the HPD drive is designed as an open system with the facility to accommodate hardware and software expansion cards For further information on currently available expansion cards contact Parker Hannifin S p A Divisione S B C directly or your local Dealer Parker Hannifin S p A Divisione S B C HPD User s Manual 1 3 Direct mains connection The HPD series of drives is specifically designed for direct connection to a three phase mains power supply from 90 to 460V 50 60 Hz without interposing transformers It is the responsibility of the User to connect the system via protection fuses The use of single phase power supplies is permitted although motor power output must be derated in this case Maximum motor power is calculated by the following formula Pmax 27 10 3 Vmains2 watt All protections required for safety such as overvoltage detection short circuit fault protection and inverter and motor overtemperature detection are integral with the drive Mains filters and motor filters must be calculated during the design of the electrical cubicle so that EMC standards are met in order to qualify for CE marking Chapter 2 provides a detailed view of problems related to EMC N B leave at least 60 sec after switching t
65. l e 45 3 6 2 Acceleration Control er psit op R 45 3 6 3 Maintenance and commissioning eese 46 3 6 Mine IIo ORE P 47 30 9 hc yen I E T 49 3 6 6 Stepper motor emulafiQn epo poseen e RA 51 3 6 7 Spmdle oFlepntatlOE a 52 21 52 3 8 Digital input and 0000 59 59 Parker Hannifin S p A Divisione S B C HPD User s Manual 3 8 2 Examples and applieali Pisas 63 3 9 Programming with POebr slis 79 4 SERIAL INTEREAGE babe aE adn s te AER 4 1 Communication 80 4 2 Serial addresses and parameter lengths sess 85 APPENDIXES A HPD drive mechanical dimensions eere 87 B series motor CODTIGCIOES 88 Harndware Characteristics 89 D DC bus voltage thresholds ere reete teet eene ene et 90 E 90 METS 91 jPieo PEG default ae eel eee 92 is MEE I reinigen 93 I S B C filter physical dimensions oobis acida 94 L Remote communications interface 6 sscedeiedesvssssasestssnessset
66. loped a special series of filters for HPD drives When the filters are installed in accordance with our instructions compliance with EN55011 class A is guaranteed for class B rating add a transformer to the power supply shielded primary and secondary Users must allow space in the control cubicle to accommodate filters implemented at the time of the project S B C filters provide both mains and motor output filter functions Filters of different manufacture can also be utilised In this case S B C offers its technical support by testing the filter you intend to use and generating a test data report CERTIFIED FILTER CONFIGURATIONS IN COMPLIANCE WITH EN55011 group 1 classes A and B High attenuation S B C three phase filters are specifically designed for S B C brushless motor drives in compliance with the standard IEC950 for stray current up to 3 5 mA 380 50 Hz for semi static equipment TECHNICAL FEATURES Enclosure metal Temperature 25 85 Rated voltage 460 V 50 60 Hz S B C FILTERS SBC3RIO F SBOR SBC3R3S F7 SBCGRD35 mains 35 5 SOMO moor 10 6 SBC3M20 motor F6 14 Parker Hannifin S p A Divisione S B C HPD User s Manual SYMMETRICAL MINIMUM GUARANTEED ATTENUATION MEASUREMENT MIL STD 220 A 0 01 ASYMMETRICAL SBC3R10 SYMMETRICAL MINIMUM GUARANTEED ATTENUATION MEASUREMENT MIL STD 220 A ASYMMETRICAL 0 1 1 10 100 1000 10000 KHz
67. majority of applications With the default values the pico PLC in the drive runs the program described in appendix G so the following functions will be present on the input and output terminal boards TERMINAL BOARD X2 TERMINAL BOARD X3 start drive motor speed reference 20 rpm left hand stroke end n c real speed 0 right hand stroke end n c 14 real speed gt 0 emergency stop n c 15 motor thermal image active it clockwise counter clockwise rotation start stop terminal A drive ready terminal B n c contact 32 Parker Hannifin S p A Divisione S B C HPD User s Manual The functions on terminals 12 13 and 14 must le enabled by setting bit b90 10 to one This requires access to the extended parameters menu The default PLC program controls parameter Pr5 in addition to timer 1 Pr92 and bits b40 0 b40 4 b40 5 b40 6 b40 12 so in this case the above binary parameters and switches cannot be utilised unless the pico PLC is disabled b99 13 0 or the basic program is modified Short and extended menu When the HPD drive is in default status only a limited number of parameters are displayed These parameters are the only ones required for applications in which the HPD is employed as a straightforward frequency converter i e you are not using the advanced functions of the drive e g using HPD with a Numerical Control or an intelligent axis control card Switch between short and extended menu using b99
68. n current per phase Interference currents dispersed through the earth system may be considerable in certain conditions Therefore make sure all suppression filters are properly earthed before they are connected Cable sizes must be in line with the requirements of safety standards If a suppression filter is permanently connected and current dispersion during normal operation is greater than 3 5mA which would be expected with most drives adopt one of the following measures additionally a Increase shield size to at least 10 mn b Install a detection system to monitor the shield and automatically disconnect the drive in the presence of faults c Install a second conductor in parallel electrically with the shield using separate terminals The installer must ensure that filter terminals are protected 12 Parker Hannifin S p A Divisione S B C HPD User s Manual 2 4 Control cubicle layout example conductors down line of the mains filter must be shielded and mounted to a copper bar with large contact area Also the copper bar must present an ample area of contact with the cubicle mounting plate Large surface area partition shield with generous contact area around perimeter Remove paint from contact points in the cubicle control cable Cubicle interior or mounting plate POWER CONTROL 13 Parker Hannifin S p A Divisione S B C HPD User s Manual 2 5 HPD drive mains filters S B C has deve
69. n zero For commands b42 3 and b94 1 b99 6 must be on one b42 3 b94 1 b99 9 b99 10 b99 11 b99 12 b99 14 b99 15 39 Re initialise serial line Command to reinitialise the serial line when the communication speed Pr26 has been modified In any event the serial line is initialised when the drive is started up Reset main reference offset This command automatically sets parameter 1 in order to reset any voltage offset on the main analogue reference This procedure is only possible if the absolute offset value is less than 200 mV Current offset calibration request The command is accepted only if the drive is disabled The calibration procedure is executed when the drive is started up Alarm reset This command resets Pr23 and Pr24 if the alarm persists it is shown on the display The command is not accepted in the presence of checksum errors Pr23 10 11 in this case set default parameters b99 12 and then reset the alarm If the backup power supply is present terminals 8 and 9 on X3 when mains power is restored to the terminals X4 you must wait 10 seconds before transmitting the undervoltage alarm reset command and enabling the drive Operating mode parameter default values This command sets current operating parameters to default values The command is executed only if b40 2 0 Default values This command sets all parameters to default values and cancels the values used by the operating modes it al
70. nable Default 0 Set this parameter to 1 to enable serial comms Reserved Must remain on zero Overspeed When the absolute motor speed value exceeds the value set in Pr13 b41 0 is on 1 otherwise it is on 0 At speed With b40 7 0 if the speed difference between motor and reference is lower than Pr14 and higher than Pr15 b41 1 will be 1 otherwise it will be 0 With b40 7 1 if motor speed is lower than Pr14 and higher than Pr15 b41 1 will be 1 otherwise it will be 0 Zero speed If motor speed Pr0 is zero rpm b41 2 1 otherwise b41 2 0 Forward If motor speed Pr0 is positive b41 3 1 otherwise b41 3 0 Drive Healthy If 1 no alarms are present otherwise 0 Hardware enable status 1 when hardware enable is set Parker Hannifin S p A Divisione S B C HPD User s Manual b41 6 b41 7 b41 8 b41 9 b41 10 b41 11 b41 12 b41 13 b41 14 b41 15 b42 0 b42 1 b42 2 Temperature pre alarm 10 degrees before reaching the maximum temperature of the power stage b41 6 is set to 1 External alarm Alarm for user s equipment Auxiliary alarm Second alarm for user s equipment Calibration failed b41 9 1 indicates that initial calibration of current offsets has terminated incorrectly Speed control saturation b41 10 1 when the speed control loop is delivering maximum current active Indicates that Pr36 has reached 100 0 96 and therefore the drive is restricting current to the rated value Drive enabled Keyp
71. nd b99 13 to zero enter command b99 12 save your changes with b99 14 and b99 15 33 Parker Hannifin S p A Divisione S B C HPD User s Manual 3 3 Basic parameters To access all the following parameters open the extended menu by setting b99 6 to one For this procedure b99 7 must be set to zero DECIMAL PARAMETERS Prd Pri Pr2 Pr3 Pr4 Prs Pr6 Pr7 Pr8 Pr9 Pr10 Motor speed this is read only parameter expressed in rpm the message PrO never appears on the display In its place a message corresponding to drive status is shown Analogue reference offset This is expressed in input A D converter counts Programming limits 10000 and 10000 while the range of the A D converter is from 16384 to 16383 over 10 V First full scale of analogue reference Unit rpm range 10000 default 3000 If b40 0 0 and b40 12 0 Pr7 will be equal to Vin Pr2 9 76 where Vin is the voltage on the analogue input Second full scale of analogue reference Unit rpm range 10000 default 3000 If b40 0 1 and b40 12 0 Pr7 will be equal to Vin Pr3 9 76 where Vin is the voltage on the analogue input Frequency reference full scale connector Unit rpm range 32767 default 3000 If b40 12 1 and b40 13 1 Pr7 will have the following value ifb42 520 Pr7 Fin Pr4 2000000 frequency direction signal ifb42 5 1 Pr7 Fin Pr4 500000 quadrature signal where Fin is the frequency on the encoder
72. ng inertia loads disable the drive via software b40 9 0 Pr30 must be zero enable the drive via hardware and set b70 3 1 The drive will now execute the test routine When terminated b70 3 0 the error code in Pr56 can be displayed after setting Pr57 0 Error codes 0 no error 1 b40 9 1 or drive disabled via hardware 2 motor phase sequence and resolver direction incompatible 3 number of motor poles and Pr29 incompatible 4 resolver phase error 5 Pr30 value not zero 99 procedure aborted By setting the various values in Pr57 you can get other useful information for installation and maintenance see table in block diagrams PARAMETERS FOR OPERATING MODE 8 Pr50 Manual speed Unit rpm default 100 This speed value is used for manual movements executed using b70 1 b70 2 with b70 0 0 and b40 2 1 Pr51 Profile execution speed Unit rpm default 1000 This is the speed at which the trapezoidal profile is executed Pr52 Distance Unit revolutions default 30 This is the number of revolutions of the motor shaft that must be performed during generation of the profile Pr53 Starting point Default 1 If set to 1 at start profile 670 0 the motor will start rotating and execute Pr52 revolutions with positive speed If set to 2 the motor will start rotating and execute Pr52 2 revolutions with positive speed If you set 3 the motor will start and execute Pr52 revolutions at negative speed Pr54 Pause Unit tenths of a second default 1 Dur
73. ng space force double word operation calculate ramp speed and write in internal reference if speed is zero reset position reference modulus close force double word operation subtract modulus from motor dimension deactivate ramp in progress flag deactivate cycle in progress output enable fast output test if reference must be Pr6 test whether to execute homing execute homing Zero proximity sensor input honing end test position reset homing flag enable fast input if homing not executed disable fast input program end 68 Parker Hannifin S p A Divisione S B C HPD User s Manual Example 9 movement with digital locking and return to origin FILE E002 HPD To obtain the following functionality with reference to the figure below assume there is a conveyor transporting product and a carriage running parallel to the conveyor and controlled by an HPD drive On receipt of an external start command the carriage is aligned on a zero reference position proximity sensor With a second pulse command provided by a product detection sensor the drive locks on to the conveyor in order to perform an operation on the product at a precisely defined position when this operation is terminated the carriage returns to its starting position In this case the program makes it possible to execute homing see chapter 1 after which on receipt of the manual command from the sensor the carriage locks on and covers a distanc
74. nsible for installing fuses on the drive power supply Power conductors and control circuits must be kept apart at least 20 cm and when they must cross intersections must be at a right angle Motor lines and mains power lines must never parallel e All power conductors must be sufficiently sized refer to table in heading 2 7 in all cases compliance with IEC227 2 must be guaranteed Conductors connected to the system by means of the terminal strip must not be soldered 60065 art 15 3 5 Make sure drive and motor and properly earthed Make sure that the maximum voltage on terminals L1 L2 L3 does not exceed rated voltage by more than 10 in the worst possible case see EN60204 1 section 4 3 1 Excessively high mains feeding voltage can damage the drive Do not detach electrical connections when the drive is connected to the power supply Follow all installation instructions in this manual step by step If you are in doubt contact S B C customer service Dangerous voltages may remain for 60 seconds after mains disconnection and system power down do not touch power cables during this interval Do not open the drive casing This action is potentially dangerous and will automatically invalidate the guarantee Installation and wiring must be carried out with the entire electrical panel disconnected from the power supply Make sure that the drive enable command is disconnected from the emergency ci
75. nt and position 1 is set in steps bearing in mind that one revolution of the motor shaft corresponds to 4096 steps 0 After having set the default values set the following parameters on the HPD unit Pr5 5 homing speed Pr31 9 b99 11 1 b40 2 1 b40 12 1 Pr81 80 dimension 1 Pr83 82 dimension 2 Pr85 84 dimension 3 Pr87 86 dimension 4 Pr89 88 dimension 5 other combinations 75 Parker Hannifin S p A Divisione S B C HPD User s Manual terminal 12 on execute positioning pulse command terminal 13 on execute homing pulse command terminal 14 on PNP axis zero proximity sensor terminal 15 on position selection terminal 16 on position selection terminal 17 on position selection terminal 12 on X2 output high during positioning The following auxiliary bits are utilised b91 10 b91 11 Program 91 10 40 2 LD 91 10 If homing already m SET 402 executed enable operating 90 2 91 10 40 2 mode LD 90 2 BST ANDN 91 10 If digital input 2 execute 90 3 91 10 10 SET 402 homing if not yet done SET LD 90 3 m ANDN 91 10 if digital input 3 and SET 170 10 homing not executed SET 91 10 reset counters 70 8 72 72 64 5 homing exec flag LDN 70 8 digital output 0 at zero ADD 72 72 64 AND 90 4 if profile terminated ANDN 90 5 select dimension SET 94 0 according to the three ADD 80 72 64 digital inputs AND 90 6 SET 94 0 ADD 88 72 64 LDN 70 8 AND 90 5 ANDN 90
76. on loop is closed PARAMETERS FOR OPERATING MODE 12 Pr50 Pr51 Pr52 Pr53 Pr54 Pr56 Pr57 Pr58 Pr59 b70 5 Maximum speed during spindle orientation Unit rpm default 200 range 0 500 This parameter makes it possible to limit maximum motor speed during spindle orientation Reserved Deceleration ramp Unit s krpm default 500 range 2 30000 resolution 1 thousandth of a second When the spindle orientation command is set b40 2 1 deceleration required of the motor can be limited by this parameter so that a change of 1000 rpm takes Pr52 thousandths of a second Reserved Motor shaft position for spindle orientation Unit steps default 0 range 0 4095 One revolution of the motor shaft corresponds to 4096 steps Servo error window Unit steps default 100 If the absolute position error is greater than the value set in Pr56 b70 5 is set to 1 Position control loop proportional gain Default 100 range 0 32000 Reserved Reserved Servo error b70 5 is set to 1 if the absolute position error is greater than the value in Pr56 otherwise it is set to zero 3 7 Block diagrams The main block diagram provides a graphic description of how to use the drive Each rectangular block represents one or more read write parameters each rhomboid shape represents read only parameters In the diagram there are other functional blocks such as greater than equal to the smallest among logical and or we have used standard s
77. or 60 msec b99 0 will be set to 1 and b90 11 1 if digital input 1 is high load 60 msec on counter if digital input 1 is low for 60 msec b99 0 1 and b90 11 0 b90 11 is the status of filtered digital input 1 calculate difference between PrO and Pr80 to set b99 2 and b99 3 if PrO Pr80 then 681 0 1 if PrO Pr80 then 681 1 1 if PrO lt gt Pr80 then 681 2 1 if PrO gt Pr80 then 681 3 1 if PrO gt Pr80 then 681 4 1 if PrO lt Pr80 then b81 5 1 64 Parker Hannifin S p A Divisione S B C HPD User s Manual Example 6 filter 600 msec for reading the value of a parameter 99 13 35 60 60 iss LD 99 13 Add Pr35 and Pr60 ADD 35 60 60 99 0 60 76 81 LD 99 0 if timer 1 expired calculate filtered Pr35 DIV 60 76 81 setting result in Pr81 SUB 60 60 60 zero set Pr60 92 76 92 ADD 92 76 92 reset time m 1 to 600 milliseconds 81 15 817181 LD 81 15 if Pr81 is negative its sign changes MUL 81 71 81 Example 7 homing If you are using an operating mode with spatial control 9 10 or 11 and you need to align the motor with a zero position defined by a proximity sensor when the system is powered up You can use two digital inputs one for the homing command and one to acquire the proximity sensor signal The commands are pulse type and the homing command is executed once only After setting the default values set up the required operating mode 31 b99 11 1 b40 2 1 and any other settings required and then se
78. or capacitance must not exceed 8 nF If cable length exceeds 50 m install a triple 1 mH inductance between drive and motor with rated current identical to HPD rated current Minimum conductor size is 1 5mm2 for HPD2 and HPD5 7 2 5mm for HPD8 4mm for HPD106 For the mains power cable Power cables must not be shielded Minimum conductor size is 1 5mm2 for HPD2 and HPD5 2 5mm for HPD8 and 4mm for HPD106 Input fuses must be rated as follows MODEL Slow blow fuses A HPD 6 HPD5 HPDI6 Resolver cable The cable must comprise 4 twisted pairs with individual shields and one common shield Capacitance for the length of cable must not exceed 10 wire size must be no less than 0 35mm 2 Maximum length is 100 m EMI filter connection The connection between filter and drive must never exceed 30 cm If the distance 15 less than 15 cm unshielded cables are possible otherwise a shielded cable must be used Earth connections To reduce the length of individual conductors that must be connected to earth we recommend using an earth busbar located as near as possible to the drive The busbar must be made of copper to ensure low inductance It must also be Length m width mm oe RE T O table shows minimum dimensions according to length 23 Parker Hannifin S p A Divisione S B C HPD User s Manual 2 8 Power connection layout 4 1 uns o EARTH STUD ye 19 MAINS
79. ort of the HPD drive that makes it possible to interchange parameters between two or more units With IDC enabled Pr26 10 if bit b99 5 is set to 1 the HPD activates a broadcast command by sending the value of Pr81 to the address of Pr80 HPDs that receive broadcast commands with 26 10 automatically set b99 5 to 1 causing automatic transmission of Pr81 to the address of Pr80 in broadcast mode Using this potential it is extremely simple to connect two HPD drives in a loop via the serial ports and a short program on the internal PLC will suffice to start transmission at power on and restore it in the event of communication errors The following example describes the PLC program required to copy Pr81 from the two drives in parameters Pr80 Connection function drive 1 drive 2 drive 1 drive 2 81 Pr80 Pr80 Pr81 AON DOA FWD 99 5 75 74 92 LD 99 5 If broadcast is received DIV timer is set to 30ms DIV 75 74 92 99 0 99 5 if time out is present LD 99 0 SET 99 5 reset serial comms 75 74 92 DIV 75 74 92 and set timer These PLC instructions must be entered on only one of the drives both drives must have parameter Pr26 10 to enable the IDC function 71 Parker Hannifin S p A Divisione S B C HPD User s Manual Example 11 automatic undervoltage alarm reset In applications in which the auxiliary backup power supply is utilised it may be necessary to reset the undervoltage alarm automatically after power has
80. ory repeat the procedure with lower values for Pr16 45 Parker Hannifin S p A Divisione S B C HPD User s Manual 3 6 Operating modes Operating modes are selected by means of parameter Pr31 whose default value 15 0 Each operating mode commands a speed loop by means of parameter Pr6 and can limit motor torque with parameter Pr21 see block diagrams Speed control uses Pr7 or Pr6 as a reference depending on the value of b40 2 Before changing Pr31 b40 2 must be set to 0 to prevent undesired motor movement it is now possible to set Pr31 to the value of the chosen operating mode and load default parameters by means of parameter b99 11 The operating mode will be enabled by setting b40 2 to 1 3 6 1 Torque control This operating mode 1 does not perform classic torque control because the speed loop remains active to monitor limit speed the torque reference is the main reference Pr7 To set torque control first program the speed loop to create a stable system Now set 2 1000 10 V 100 0 96 torque b40 0 0 amp b40 12 0 b40 2 1 to program the reserved reference Pr31 1 to enable the operating mode and Pr50 for maximum speed PARAMETERS FOR OPERATING MODE 1 Pr50 Maximum speed Unit rpm default 3000 range 0 9000 This parameter makes it possible to limit maximum absolute motor speed during torque control operation 3 6 2 Acceleration control Instead of performing closed loop acceleration control this mode 2 uses ma
81. pay attention when setting the reference amplitude and frequency to avoid problems in the case of limited stroke axes On the oscilloscope note that the response changes as 17 is altered Lowering Pr17 will allow you to approach system response as shown in figure 2 41 Parker Hannifin S p A Divisione S B C HPD User s Manual Tek Run 500 S s Hi Res T 2 00V 00V M Chi FOV 2s Mar 1996 08 42 16 Fig 2 For higher values of Pr17 system response will resemble the situation of figure 3 below Tek Run 500 S s Hi Res T 08 43 22 Fig 3 The optimal value of Pr17 can be considered when system response is as shown in figure 4 42 Parker Hannifin S p A Divisione S B C HPD User s Manual Tek Run 500 5 5 Hi Res etr DEI eee eee 1 2 00V 5009 100ms Chi 77097 28 Mar 1996 chi 08 44 37 Fig 4 We must therefore obtain approximately 10 overshoot Make sure that the overshoot is not followed immediately by undershoot Once you have set the optimal value for Pr17 pay attention to the movement of the motor shaft if it moves smoothly without vibration and noise you can deduce that system calibration procedures are terminated Otherwise repeat all the previous steps using lower values for Pr16 In certain applications you can reduce system acoustic noise levels by raising parameter Pr18 by a few points Fig 5 shows that the optimal system r
82. pe axis zero proximity sensor Terminal 11 on X2 digital output Switches to 1 when the homing phase is terminated The following bits are utilised b91 8 b91 9 b91 11 The program is as follows oa RE 45 LD 90 2 If homing command is given ANDN 91 9 and not yet executed disables RST 40 2 operating mode the motor runs at speed set in Pr5 90 3 91 0 91 9 LD 90 3 ANDN 91 0 when proximity sensor SET 91 9 operates alignment is enabled a0 SET 402 on the resolver zero position 91 9 41 2 91 8 79 28 64 LD 91 9 AND 412 proximity sensor is ANDN 91 8 followed by trapezoidal profile SUB 79 28 64 to align with resolver zero SET 708 poston SET 91 8 LD 91 8 2 2 70 8 if alignment with resolver zero SET ANDN 91 0 is terminated sets axis zero t inated output 41 4 91 11 40 2 SET 91 0 SET LD 41 4 91 11 if drive is OK operating mode 2r SET 402 is enabled SET SET 91 11 66 Parker Hannifin S p A Divisione S B C HPD User s Manual Example 8 execution of modulus in digital locking FILE E001 HPD To obtain the following functionality with reference to the figure assume you have a conveyor transporting product and a blade roller driven by the HPD drive At start up on an external command the blade roller is aligned with a zero reference proximity sensor On receipt of the next pulse command which is generated by a product detection sensor the blade roller drive locks onto the conveyo
83. r master so that the product is always cut at precisely the same length when the cut is terminated the blade roller reassumes the starting position awaiting the next cutting command In this case the program permits the homing procedure see chapter 1 and then on receipt of the command from the product sensor it assumes digital locked mode and covers a space equal to the value of Pr87 86 when it reaches this distance the drive unlocks and ramps down to the standby position defined by parameter Pr89 88 modulus Note that one motor shaft revolution corresponds to 4096 steps so the modulus value to set is equal to the number of steps required by the motor shaft to execute a full revolution of the blade roller The value of Pr87 86 must be less than the value of the modulus Pr89 88 The master encoder mounted to the conveyor shaft provides the drive with a position reference during the digital locking phase o PROX SENSOR SLAVE MOTOR SENSOR MASTER ENCODER When you have set the default values set the following parameters 5 10 homing speed 31 10 b99 11 1 640 2 1 b40 12 1 52 0 b70 3 1 Pr87 862modulus ramp Pr89 88 modulus in which the ramp is expressed in steps i e it is the space that the axis must cover during ramp down Pay attention when programming Pr89 88 and Pr87 86 because these parameters are utilised as double word format by the PLC but they must be set up as two pairs of single whole words from th
84. r use as 5 double word parameters For mathematical operations the pico PLC has 9 constants available from Pr71 to Pr79 selected from those that are most frequently utilised in standard applications When using mathematical instructions ADD SUB MUL DIV note that operators are assumed as words with their relative signs If a double word operation is necessary parameter b94 0 must be set to 1 before the operation after the operation the PLC will automatically set the bit to zero Parameters Pr60 Pr69 are considered as double words so an operation like ADD 71 72 64 will write the result 1 in the double word Pr64 65 without having to set b94 0 1 before the operation If Pr80 1 and Pr81 0 the operation ADD 80 72 64 will have the result Pr64 65 1 while the same operation performed with b94 0 1 will assume Pr81 as the high part of the double word Pr80 81 so the result will be Pr64 65 65535 In the first case therefore operands other than Pr60 Pr69 will be treated as words while in the second case they will be treated as double words Note that in mathematical operations on double words operands and results are defined as follows the operand parameter defines the least significant part while the most significant part is represented by the word with the next serial address see chapter Serial addresses and parameter lengths Parameters from Pr50 to Pr69 and from Pr80 to Pr89 are successive At the completion of each mathematical operat
85. r15 641 1 will be 1 otherwise it will be 0 Integral gain of speed control loop Range 0 32767 default 120 Speed control loop damping Range 0 32767 default 2000 If 16 is set to zero Pr17 sets the value for proportional gain of the speed control loop Bandwidth limiter 01151215 range 0 1000 default 1 Use Pr18 to set the time constant of a first order filter located on the digital torque demand signal The filter cut off frequency will be 310 Pr18 Hertz Peak current Unit range 0 100 0 resolution 0 1 default 100 0 Maximum current that the drive can deliver to the motor expressed as a percentage of drive peak current It is good practice to maintain this value to within 3 times the rated motor current DC bus voltage Unit volt read only parameter Shows the value of DC bus voltage Torque limiter read only parameter Unit Can be used by operating modes to restrict motor torque Auxiliary analogue reference Unit The displayed value will be Pr22 Vin 100 9 76 Resolution is 0 2 Alarm code This code shows the currently active alarm zero means that no alarms are active Consult the table of alarm codes for more details Last alarm This parameter stores the last alarm Pr24 is reset when the alarm reset command is entered b99 10 o 2 3 overcurrent 4 mseeraam 6 ____ drive overheating 8 auxiliary alarm _______ 9 digital output overcurrent alarm
86. rcuit Qualified technical personnel must preside when the power panel is powered up for the first time 10 Parker Hannifin S p A Divisione S B C HPD User s Manual 2 2 Interference suppression hints Because of the high speed voltage wavefronts in PWM high levels of stray current may sometimes flow through capacitive couplings and earth systems Stray currents of this type can affect other functional units It is therefore prudent to calculate the presence of an amount of spurious energy that depends on the size of the system drives motor lines motor Spurious energy generates EM radiation that can interfere with the operation of nearby systems Existing standards do not set down limits for this type of radiation Preventive measures Basic methods for preventing interference are decoupling of drive from its surroundings high quality and properly sized conductors to neutralise voltages earthing and adequate shielding Shields filters and drives must have a large contact area to achieve the maximum possible decoupling and hence optimal noise suppression Attention must be paid however to the entire installation as this is one of the most important precautions in assuring efficient noise suppression High frequency interference takes the form of radiation especially from the motor lines This effect can be reduced with the use of shielding Another essential counter measure for noise suppression is the use of filters The
87. reference high Auxreferencelow O 0 0 O Aux analogue ouput OV tacho output digital outO o digital out2 o ooo O digital out3 digital out4 digital out5 7 digtalotGA 8 9 24V OUT 200m D type X5 4 6 m 2 EE EN 5 7 _ 8 cA EN 12_ 13 14 EA 16 17 18 19 20 D type X6 HPD User s Manual Terminal board X4 LIVE O LIVE2 O VPHASE A BUS 2 BRAKE COMMAND O INTER BRAKE RESISTOR FDCBUS _ oOo ooo o oo 12 Terminal board X3 10 10 10 10 backup D driveenable digital input digital input2 digital digital input4 digital inputS 7 digital imputo digital input7 9 24 OUT 200mA NI 2 gt 22 Parker Hannifin S p A Divisione S B C HPD User s Manual 2 7 Power connections For the motor cable consider Choice between cable for fixed or floating installation Cable must be shielded and suitably sized in terms of insulation and wire sections Reticulated polypropylene is the preferred insulation material Length max 100 note that conductor conduct
88. requency direction input pulses are multiplied by Pr50 and the result is added to Pr64 65 The frequency input direction signal must be forced to a fixed level logical 0 Refer to the chapter Frequency input connection for the connection diagrams Pr51 Acceleration time Unit s krpm range 0 002 30 000 resolutionz0 001 sec default 0 002 S Acceleration ramp for positioning profile 52 Rpm at speed Unit rpm default 1000 Steady state speed used during generation of the positioning profile Pr53 Reserved Pr54 Reserved 48 Parker Hannifin S p A Divisione S B C HPD User s Manual Pr55 Reserved Pr56 Servo error window Unit steps default 100 If the position error as an absolute value exceeds the value set in Pr56 b70 5 is set to 1 If b70 5 is utilised it must be reset by the user following servo errors This can be achieved for example by the PLC program Pr57 Position controller proportional gain Default 100 range 0 32000 58 Reserved Pr59 Reserved Pr60 61 Position controller reference Unit steps Pr62 63 Motor position Unit steps 4096 steps per revolution Pr64 65 Incremental position Unit steps On receipt of the profile request b70 8 the motor will execute Pr64 65 steps in the direction set in b70 4 Pr66 67 Reserved Cannot be used during profile generation Pr68 69 Reserved Cannot be used during profile generation b70 2 Reset incremental position Resets Pr64 65 This command is useful wh
89. smitted The only exception is message type 7 with which a datum is transmitted with a single message addressed to all drives connected to the serial line Serial line initialisation and management Drive serial communication can be enabled or disabled by means of bit b40 14 The drive is factory set with b40 14 0 i e serial line disabled default If you want to use the serial line first set the baud rate in Pr 26 now set the serial address in Pr 27 finally enable serial communication by setting b40 14 1 and initialise using b42 3 At this point you must save the configuration using command 699 15 For parameter addresses and lengths refer to the relative table In the case of PLC instructions each one occupies 2 or 4 bytes the format of which is described below Instruction length bytes LD Pa y LDN Pay OUT Pay OUTN Pa y AND Pa y ANDN Pa y OR Pa y ORN Pay ADD Pa Pb Pc SUB Pa Pb Pc MUL Pa Pb Pc DIV Pb Pc SET RES Pa y FIN Pb40 y Pb70 y END N 2 2 2 2 2 2 2 4 4 4 4 2 2 2 2 82 Parker Hannifin S p A Divisione S B C HPD User s Manual The memory area available for PLC instructions is 128 bytes with addresses from Oh to 7Fh As the minimum length for each instruction is 2 bytes the PLC program can hold a maximum of 64 instructions The first four bits of the first byte in each instruction b0 b3 contain the instruction code For the first 8 instru
90. so sets the pico PLC program as described in appendix G If a checksum alarm is present Pr23 and Pr24 are set to zero so that the alarm can be reset The command is executed only if b99 13 0 Save pico PLC instructions Saves the pico PLC program If an error occurs while saving retry is shown on display in this case transmit the command again Save parameters Stores all parameters This command is not possible in the presence of a checksum error in this case set default parameters reset the alarm and then save the new parameterisation settings If an error occurs while saving retry is shown on display in this case transmit the command again Parker Hannifin S p A Divisione S B C HPD User s Manual 3 5 Calibrating speed loop IMPORTANT CONCEPTS SPEED LOOP the main task of any drive is to control motor speed so that it follows as faithfully as possible the required speed which is generally referred to as the REFERENCE High fidelity reproduction of the reference implies that motor speed is identical to reference speed in static conditions and also that it follows speed requirements closely also in the case of sudden changes in the speed reference dynamic conditions To perform this task the drive must be informed of various characteristics of the motor and the mechanical system to which the motor 15 coupled this type of information is set in the CALIBRATION PARAMETERS ERROR the error refers to the difference betwe
91. ssavasavedececeesdsseesase 96 M Application description 97 Parker Hannifin S p A Divisione S B C HPD User s Manual 1 INTRODUCTION 1 1 General information This manual describes operations required for he installation and commissioning of the HPD High Performance drive drive for brushless motors Read all chapters of the manual carefully before using the drive 1 2 Product description The HPD drive is a digital frequency converter for driving AC brushless motors The adoption of a Parametric Operator Interface makes drive configuration procedures faster and easier to repeat The large number of configuration possibilities makes the drive suitable for numerous applications A high power 16 bit micro controller allows speed control with the characteristics required of a servo controller plus a range of auxiliary functions that can help reduce the presence of control electronics in the application and thus permit considerable economic savings In addition to the positioner functions with trapezoidal profile digital lock spindle orientation stepper motor emulation torque control and acceleration control the HPD drive also has an internal pico PLC The pico PLC adopts the most diffused industrial programming standards and offers considerable freedom for use of inputs and outputs It also enables users to develop a range of additional functions that are not among the basic features of the drive The HPD drive is complete w
92. t digital input 3 The keypad display will now present the message automatic dimension 1 digital inputs 4 5 and 6 select the position to be reached while a pulse supplied to digital input 1 provides a trapezoidal profile to reach the selected position The following table shows the relationship between parameters 80 89 and the encoding of the 3 digital inputs for example input 4 on one selects position 1 and the distance in steps between the zero axis point and position 1 is set in Pr81 80 bearing in mind that one revolution of the motor shaft is equivalent to 4096 steps Input 4 dimension 1 Pr81 80 Pr83 82 1 Pr85 84 Pr87 86 1 Pr89 88 other combinations 0 O axis Zero If you want to set the dimension from the keypad press F3 and the display will show the message dimension xx where xx defines the dimension in question and yyyy determines the relative value The and keys are used to modify the value yyyy while F3 changes the value If you wish to acquire the required position by moving the carriage press F1 the display will show the message manual dimension xx 5 F1 selects the xx dimension to be programmed while uu cr 0 m 0 73 Parker Hannifin S p A Divisione S B C HPD User s Manual and are used to move the carriage The key provides the motor start stop in the positive direction w
93. t the homing speed for the zero proximity sensor in Pr5 and set b40 12 1 to enable Pr5 when b40 2 reaches zero Terminal 13 on pulse command execute homing Terminal 14 PNP axis zero proximity sensor Bit b91 10 is utilised to signal that the operation is terminated Note that bits from b91 8 to b91 15 are at the disposal of the PLC and cannot be stored in the memory The program is as follows 90 2 9110 40 2 LD 90 2 If homing command not ANDN 91 10 executed disables operating RST 40 2 mode 91 10 40 2 LD 91 10 If homing command executed SET 40 2 re enables operating mode 90 3 91 10 70 10 LD 90 3 if proximity switch operated ANDN 91 10 resets operating mode counters 21610 SET 70 10 sets homing executed flag SET SET 91 10 In certain cases a more precise axis zero reference is required this is achieved using in addition to the proximity sensor on the machine also the motor position transducer In this setup the proximity sensor signal is correlated with the first zero on the motor position transducer The following example provides this functionality using operating mode 9 trapezoidal profile 65 Parker Hannifin S p A Divisione S B C HPD User s Manual After setting default values set up operating mode 9 Pr31 9 b99 11 1 b40 2 0 b40 12 1 and any other settings required and then enter the zero proximity sensor homing speed in Pr5 Terminal 13 on X3 homing pulse command Terminal 14 on X3 PNP ty
94. tected the display automatically switches to parameter PrO and shows the alarm code dcbuS correspondence with PrO this message indicates that the drive is not operating at low voltage b40 10 0 and that DC bus voltage is still below the 120 V threshold the inrush current circuit is still connected so the drive is not yet ready 641 4 0 Prxx Indication of parameter xx value displayed by pressing Indication of bit parameter xx bxx yy Indication of bit yy of parameter xx press to display bit status In xx Indication of instruction xx of PLC program donE Displayed for approximately 1 second each time a command is entered rESet Displayed for approximately 1 second each time an alarm reset command is entered b99 10 tESt Displayed during wiring test b70 3 rEtrY 105 displayed when a writing error is detected storing the pico PLC instructions 699 14 or while saving parameters 699 15 3 2 Commissioning the HPD drive The steps described in this section must be followed carefully when the drive is started up for the first time 1 Connect the motor to the drive in compliance with the wiring diagrams in the manual 2 Make sure the drive is disabled terminal 11 of board X3 must be open 3 Power up the drive 4 After some seconds the display shows IdLE 5 Setting essential parameters Pr33 calculation rated current 22M 100 InD 2 where InM is rated motor current at z
95. the examples show the settings required for HPD parameters and the pico PLC program The program is shown in ladder diagrams and instruction listings Example 1 two inputs for on off functions 90 1 90 2 912 LD 90 1 digital input 1 sets bit b91 2 to on OR 912 digital input 2 sets bit b91 2 to off 912 ANDN 90 2 OUT 912 Example 2 changing a parameter value with the up down keys 90 1 99 0 05 73 05 LD 091 digital input 1 in high status increases AND 99 0 parameter Pr5 by one unit every 614 ADD 05 73 05 msec ADD 92 76 92 LD 902 digital input 2 in high status decreases AND 99 0 parameter Pr5 by one unit every 614 ADD 05 71 05 msec ADD 92 76 92 Example 3 command on positive front of a digital input 901 9010 708 LD 904 digital input 1 sets bit b70 8 just once ANDN 90 10 when the signal changes from low to SET 70 8 high 90 1 90 10 LD 90 1 OUT 90 10 63 Parker Hannifin S p A Divisione S B C HPD User s Manual Example 4 filtered digital input at 60 msec 72 7592 LD n ANDN ADD RST RST 72 7592 LDN AND 99 0 ADD RST RST 90 10 LD OUT d LD 90 11 AND SET SET 90 11 AND RST RST 90 1 90 10 72 75 92 99 0 90 1 90 10 72 75 92 99 0 90 1 90 10 90 1 99 0 90 11 90 1 99 0 90 11 99 13 0 80 72 99 3 81 0 99 2 81 1 99 3 81 2 99 2 99 3 81 3 99 2 81 4 99 3 99 2 81 5 if digital input 1 is low load 60 msec on counter if digital input 1 is high f
96. truction copies digital input 3 into bit y of parameter Pb40 second operand 0 or Pb70 second operand 1 If the second operand is added to value 2 before the input is copied it will be inverted If a FIN instruction is included at any other position in the program it will have no effect FIN instructions can be enabled disabled for each FIN 1st FIN enabled if b94 5 0 2nd FIN enabled if b94 6 0 3rd FIN enabled if b94 7 0 A FIN instruction in the PLC program after the first three instructions or after any other type of instruction will always be ignored There are two timers Pr92 and Pr93 at the disposal of the user To use the first timer simply load the time in terms of number of samplings 6 144 ms in parameter Pr92 for example Pr92 100 is equivalent to 614 milliseconds Pr92 automatically decreases through time bit b99 0 remains on zero until the timer interval has elapsed when Pr92 0 then b99 0 1 The same functionality applies to the second timer regarding parameter Pr93 and bit b99 1 Ensure that Pr92 Pr93 b99 0 and b99 1 are refreshed only after the first pico PLC program scan The maximum number of instructions is 64 including the END instruction Note that mathematical operations occupy the space of two logical operations so when they are used the maximum number of instructions available is decreased accordingly The PLC program must always be terminated with an END instruction The pico PLC program can be edited on a PC see Progr
97. ue of this parameter is 9 assume the drive serial address is 0 The message to transmit 15 7E 80 01 54 D5 The drive answers with the message 7E 20 01 54 09 7E 00 Case 2 reading a 2 byte parameter Assume you wish to read the reference speed Pr 7 and that the relative value 15 2000 assume also that the drive serial address is 1 The message to transmit is 7E 81 02 42 C5 The drive answers with 7E 21 02 42 DO 07 3C Case 3 writing a 1 byte parameter Assume you want to select operating mode 1 Pr 31 assume also that the drive serial address is 3 The message to transmit is 7E A3 01 54 01 F9 The drive answers with 7E 23 83 Parker Hannifin S p A Divisione S B C HPD User s Manual Case 4 writing a 2 byte parameter Assume you intend to set rated current at 25 390 Pr 33 assume also that the drive serial address 15 3 The message to transmit is 7E A3 02 C6 FD 00 68 The drive answers with 7E 23 Case 5 setting a bit to 1 Assume you want to enter the command to save the PLC program b99 14 1 assume also that the drive serial address is 0 The message to transmit is 7E CO 02 93 SBF 40 54 The drive answers with 7E 20 Case 6 setting a bit to 0 Assume you want to disable the drive by software b40 9 0 assume that drive serial address is 0 The message to transmit is 7E CO 02 5D FD
98. ultiplication operation is executed on DIV Pb Pe if stack bit is at 1 division operation is executed on the Parker Hannifin S p A Divisione S B C HPD User s Manual OPERATIONAL DESCRIPTION The pico PLC program is scanned every 6 144 msec at each sampling first the inputs are read then the two timers are updated Pr92 Pr93 b99 0 and b99 1 the user program is scanned and finally the outputs are updated Therefore reading of the inputs and output updates can deviate temporally by up to 6 144 ms with respect to the physical event All pico PLC instructions with the exception of mathematical instructions operate on single bits moreover available stack depth is a single bit Instruction LD LDN loads the bit defined as qperand into the stack while all other logical instructions operate on the stack Mathematical operations are executed only if the stack bit is at 1 The following logic operations truth tables are provided for the user s convenience logical AND operations logical OR operations The relative inverted ANDN and ORN operations follow the same logic except they use the inverted value of the specified bit There are 8 bits with save facility from b90 8 to b90 15 reserved for the PLC a further 8 bits from b91 8 to b91 15 are available for the PLC these are not stored and are always at zero at drive power up Also 10 word parameters are reserved specifically from Pr80 to Pr89 with save facility and option fo
99. v M T00ms Chi OV 28 Mar 1996 08 40 26 Fig 1 The graph shows system response to a square wave speed reference Channel 1 Ch1 is speed and channel 2 Ch2 is motor current The channel 1 oscilloscope probe is connected to terminal 9 of X2 and channel 2 to terminal 7 of X2 The V div scale and the timebase are not mentioned as they may vary considerably CALCULATING Pr16 The value of Pr16 should be calculated before enabling the drive Pr16 defines system gain convert Pr16 into degrees for rated torque use the formula _ P r3 where ac is the stiffness Pr16 angle Obviously before the formula can be used Pr33 must be set to motor rated current To evaluate ac correctly we shall consider that if the driven machine transmission is rigid not flexible and there is no transmission backlash the optimal stiffness angle could be around 4 degrees If the transmission is not sufficiently rigid it may be necessary to reduce gain If motor torque has been selected to achieve steep acceleration ramps while dynamic torque changes in normal operation are minimal stiffness angles of 20 30 or 40 degrees are acceptable without negatively affecting performance If you encounter difficulty in choosing the most appropriate stiffness angle start from 10 degrees which is the default value when using a motor with the same rated current as the drive Now enter the calculated value for Pr16 and start the motor with a square wave reference signal
100. with b42 5 1 the encoder signal is counted on all A and B signal switching fronts The motor position counter increases by 4096 steps each revolution The ratio between master and slave can be entered using parameters Pr51 and Pr53 You can also select the ramp to utilise during catch or release cycles Pr52 add slip speed Pr58 and limit speed demands of the proportional part of the loop Pr50 Further information available master and slave locked and servo error Using Pr52 the main ramps and the internal PLC makes it possible to program various 49 Parker Hannifin S p A Divisione S B C HPD User s Manual different catch and release modes with or without phase recuperation Refer to Frequency input connection chapter for connection diagrams PARAMETERS FOR OPERATING MODE 10 Pr50 Pr51 Pr52 Pr53 Pr54 Pr55 Pr56 Pr57 Pr58 Pr59 Maximum speed Unit rpm default 200 range 0 9000 This parameter makes it possible to limit maximum speed of the motor it can be used to limit speed during a catch on fly cycle or during sudden speed changes see Pr58 Reference multiplication factor Default 1 range 32000 32000 This parameter together with Pr53 makes it possible to set the required ratio for the input reference frequency Acceleration deceleration ramp Unitzs krpm default2500 range 0 30000 resolution 1 thousandth of a second The acceleration deceleration demanded of the motor can be restricte
101. ymbols for all these blocks Binary parameters are shown as switches and the position depicted is the default value 52 Parker Hannifin S p A Divisione S B C HPD User s Manual A B D E F 53 Read write parameter PrX value of PrX Read write parameter PrX B value according to values of A and PrX Read only parameter PrX is value of A can also be binary Read write bit parameter switch position shows bx y 0 Value of bit parameter bx y sets the switch If A is smaller than B C 1 true otherwise C 0 false The value of G is the lower value among A B C D E and F 1 only when 1 and 1 otherwise 0 If Aor Bare 1 1 otherwise C 0 values from hardware values to hardware Value of A is converted to B E g if the triangle symbol contains A D the analogue value of A is converted into the digital value B Maximum value of A is PrX Parker Hannifin S p A Divisione S B C offset full scale ref 1 full scale ref 2 max fq ref reserved reference b40 12 main ref 40 0 e Param Pr25 Pr 26 Pr27 Pr28 Pr 29 Pr 30 Pr 31 Pr 32 Pr 36 Pr 37 Pr 20 Pr 39 Pr 34 B42 0 B42 1 B42 2 B42 5 41 14 41 15 41 6 B40 1 B40 10 DESCRIPTION SOFTWARE RELEASE BAUD RATE SERIAL LINK ADDRESS SHAFT POSITION MOTOR POLES RES PHASE SHIFT OPERATING MODE RATED SPEED 12 ACCUMOLATOR BRAKE RESISTOR USE DC BUS VOLTAGE PHASE ADVA

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