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User's manual rev. 8.5 November 2004 software rel. 41

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1. e C 2 OOO Dispaly i p O O 00000 0 Modbus protocol TES Engage electric shaft with the line with phase recovery Ability to program n formats For each process you can program o number of consecutive pieces o return speed in rapid mode Jog back and forward Ability to connect a display to program the system directly 115 Parker Hannifin S p A S B C Division HPD N User s Manual e serial connection to CO is 000 monitoring system a E HPD EC4 expansione board Photoelectric cell Heat sealer On the fly correction of bag size Serial control of motion parameters 116 Parker Hannifin S p A S B C Division HPD N User s Manual 22 Appendix M external bracking TECHNICAL CHARACTERISTICS Resistance value RFE1 40 ohm RFE2 27 ohm IP protection 20 Max power dissipated 1000 W Max ambient temperature 45 C Delta T 90 C Weight 2 5 Kg Ventilation power supply 24 V INSTALLATION The RFEI or 2 breaking module must be installed vertically as shown A four pole 4mm cable must be used for the connection The 24v power supply used for the ventilator can cause disturbances It is therefore a good idea not to use the same power line for electronic devices The cable should not be longer than 4m For the connection to the drive see the related chapter in the converter manual
2. eene 44 4 6 4 Maintenance and cormmisslOfImg ains a eode tas UA SIR rene reen o a Sae Retos esae b edes 45 4 6 5 POSTION Bee eit cael fi st bs tad a tdin anum ONES Mau Lact i Lees 46 4 6 6 Digital LOCKING E 48 4 6 7 Stepper motor emulation sc ios s cis chan oni idee ede ages SR Pc eo tad UR FAND EM Gare ees 49 4 6 8 Spimdle OrientatlGlh sooo iiit tear oe se ecl se Seale Rene Ole pecia ad eres 51 Acts Blk WIA CT ANNs a sedeo eb eut E E que e ede 51 4 8 Digital input and output programming esses enne enne nennen 58 4 8 1 jg dg e A 58 4 8 2 Examples and applications conis Cer pex Reto fesi std ise ia enes niti etia epe Abriss 63 G Prosramming with PCBEUSDILSS cedes coo a e koi n sad organi daae bed 80 5 SERIAL INTERFACE sj sussie ser rss aE rE TE SENTI A E AEEA ANIE aE SA 8l Parker Hannifin S p A S B C Division HPD N User s Manual 5 1 Communication pEOLOCOL 4 iii reete eset ee eter ERAN RR SALE te BYR UAR sa Qa V e RACE Na SuSE eU ee ua 8l 32 Serial addresses and parameter lengths se ni eese e sor eei debe ee dada e pa ER US 87 6 Appendix A HPD drive mechanical dimensions esee 89 7 Appendix B hardware characteristics esses siens nennen eene ettet tenete nnne 90 8 Appendix C DC bus voltage thresholds user tetto tne ende PHA ES REST ccsiassenctendedes 91 9 Appendix D Standard Settings 291 0 sees o t
3. 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 Pcbrush 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 I O status file 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 UL 422 Xd HPV personal computer 17 Sr TY OX fu ER n EN ix 15 o ro 3 SSR OQ Ire rcx 14 o 2 I t 12 0 1307 OV ly o X X lo 4 I 1 I i I i5 O p p 7 07 17 o Lo g 5 5 2 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 po
4. 86 60 88 728352 31 3131 72 72 70 728152 72 60 64 717531 91 12 31 0 wo wo wo Vi lt Q N gt v v DINIc ola N N N N N o ge o 7 m N N I a 31 o iw m o Om 4 LD SET RST LD SET AND SET SET ADD LD ANDN RST LD ANDN SET SET LD AND AND SET SUB AND ADD RST AND SUB ADD ADD ADD ADD SET ADD SET LDN AND ANDN AND SUB ADD ADD ADD ADD SET ADD RST END HPD N 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 91 10 31 1 91 10 91 1 94 0 86 60 88 89 15 72 83 52 70 8 41 2 31 31 31 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 ex
5. 19 Parker Hannifin S p A S B C Division HPD N User s Manual 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 OE MOTION CONTROLLER REF Reference out pgr Encoder in Output Enable 34 Wee ea UE TO EARTH BAR HPD X2 Reference in lor i X7 Encoder out NOOR WND ee eS BR aci ee ee H1 i X3 Inputs i Pas X2 Outputs pee LLL LLL Ts The frequency input RS 422 type in X6 can be software configured in two different ways the first default to accept two quadrature signals for example from encoders the second is frequency direction type see chapter Basic parameters bit b42 5 20 Parker Hannifin S p A S B C Division HPD N User s Manual In the first case the scheme to use 1s the follow HPD FwoOND O OD OO Ul w gt ov Pa Med Mea nii P ATEN RN x lt Oo In 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 the group In the second case there are two possible solution for to control the drive with input signal from X6 frequency direction type by PLC Line driver
6. 90 1 70 8 94 5 91 10 70 8 SV 4 S9 91 1 SET 94 0 85 15 88 62 84 84 83 84 72 84 05 86 62 84 SUB 55 72 05 84 55 83 FIN LD AND SET SET LD AND SET SUB AND ADD RST RST SET SUB SET DIV SET LD SET SUB SET DIV ADD AND ADD SET SUB RST RST RST LD ANDN SET LD ANDN RST LD ANDN SET SET RST LDN SET END 8 1 90 1 70 8 94 5 91 1 91 10 70 8 94 0 86 62 84 85 15 55 72 05 40 2 70 8 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 91 1 94 5 91 10 91 12 40 2 90 2 91 10 40 2 90 3 91 10 70 10 91 10 94 5 91 10 94 5 HPD N User s Manual Fast input for digital lock trigger if the axis is 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 remaining space force double word operation calculate ramp speed and write in internal reference if speed is zero reset position refe
7. After setting the default values set up the required operating mode Pr31 xx b99 11 1 b40 2 1 and any other settings required and then set 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 X3 pulse command execute homing Terminal 14 on X3 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 91 10 40 2 LD 90 2 If homing command not ANDN 91 10 executed disables operating RST 40 2 mode 91 10 40 2 ser 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 91 10 SET 70 10 sets homing executed flag SET 91 10 SET 65 Parker Hannifin S p A S B C Division HPD N User s Manual 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 After setting default values set up operating mode 9 Pr31 9 b99 11 1 b40 2 0 b40 12 1 and a
8. data of new series drive HPD20N and HPD24N adjournment sketch of filters appendix L M N O examples for some applications motion adjournment sketch of serial connection rs485 rs422 revision history of the manual rev 8 3 February 2004 correction to resolver cable low voltage procedure external braking resistance external braking module adjournment by addendum EC4 expansion board Profibus connector Canbus connector Digital I O Encoder and serial link Alarms Examples of application Adjournment tables and drawings Pr37 removed Adjournment sketch RS485 RS422 Filters and motors appendixes removed Rev8 4 March 2004 correction to Pr34 Rev8 5 November 2004 declaration of conformity note about restricted sales Adjournment sketch braking resistor Connection diagrams for frequency direction signals For other information log into website www sbcelettronica com Arranges to the manual data can be made by the manufacturer without advance notice The data shown in the manual correspond to the specifications relating to the revision date 121 EUROPE BELGIUM LUXEMBURG PROCOTEC BVBA Lieven Bauwensstraat 25A 8200 Brugge Industriezone Waggelwater Tel 32 50 320611 Fax 32 50 320688 www procotec be info procotec be DENMARK SERVOTECH AS Ulvehavevej 42 46 7100 VEJLE Tel 45 7942 8080 Fax 45 7942 8081 www servotech dk servotech servotech dk FRANCE TRA
9. 110 ADDR LUN PAR D0 D1 CHK In this case LUN 2 two bytes are transmitted for the data the first byte is the mask containing 0 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 1 and 0 in the other positions The address PAR corresponds to the parameter 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 b0 b7 PAR 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 transmitted The only exception is message type 7 with which
10. 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 for 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 PrOZPr80 then b81 0 1 if PrO lt Pr80 then b81 1 1 if PrO lt gt Pr80 then b81 2 1 if PrO gt Pr80 then b81 3 1 if PrO gt Pr80 then b81 4 1 if PrO lt Pr80 then b81 5 1 Parker Hannifin S p A S B C Division HPD N User s Manual Example 6 filter 600 msec for reading the value of a parameter 99 13 35 60 6U 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 60 60 60 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 TS 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
11. BACK UP LOW VOLTAGE FUNCTION H ENCODER OUT PARALLEL BUS INTERNAL PLC H MOTOR COILS LI SERIAL LINE HO AMPLIFIER CONTROLLED BY MAKE MODEL NUMERICALCONTROL TS SSS me SINGLE AXIS CARD SSCS SSCS MASTER SLAVE CARD ___i 2 pe 119 Parker Hannifin S p A S B C Division HPD N User s Manual AMPLIFIER PROGRAMMING Pr value Pr value Pr value Pr value IF YOU USE AN INTERNAL PLC PROGRAM OTHER THAN THE DEFAULT PROGRAM PLEASE ENCLOSE THE LISTING pig ndr io9 Ig pind Jj Int8 In34 J in5O ping mig In35 in ST ping Jjin20 fn Pn ST pind fmm 37 Pn ping In22 fn Bn SK n7 fn nn SST ping Jjin24 nT ST Pino fn 25m a nS pinto fm 26 fin in SB dndi In27 In43 In59 ndo In28 amp in44 60 Int8 In29 fn 45 ln6i In t d In30 in46 J ln62 dnis fmt In47 in63 120 Parker Hannifin S p A S B C Division HPD N User s Manual 24 Rervision history of the User s Manual Rev 8 2 January 2004 Sizing resistance of braking sketch of connection procedure low tension given adjournment from the addendum appendix on form of external braking from 1kW adjournment charts graphic notes and name of the group
12. EMC 5805 ss product standard including specific test methods Ottobre 2000 Sicurezza del macchinario Equipaggiamento elettrico delle macchine Parte 1 Regole Generali 3a 4455 Safety of machinery Electrical equipment of machines Part Aprile 1998 sass tse cS cB SS EEE oe Noto notes NORS 7 MOLES I prodotti devono essere installati seguendo scrupolosamente le indicazioni riportate nel manuale d uso e manutenzione These products must be installed scrupulously following the instructions written on the handbook i prodotti inclusi sono conformi ai requisiti della Direttiva 73 23 CEE modificata dalia 93 68 CEE e alia Direttiva 89 336 CEE These products are corresponding to the 73 23 CEE requirements guideline modified by 93 68 CEE and 89 336 CEE guidelines Cinisello Balsamo 05 06 2003 Ottorino SALVALAI Direttore Generale Genera Manager 20092 Cinisello Balsamo MI italy Via Gounod 1 Tel 02 66012459 Fax 02 66012808 SEDE LEGALE 20094 Corsico MI Italy Via Privata Archimede 1 Tel 02 45192 1 Fax 02 4479340 internet www parker com it E mail italy parker gparker com Iscr R I Mi N 125728 R E A Mi N 682188 Cap Soc Euro 1 230 000 P I C F VAT IT 00817430150 Banca Regionale Europea S p A Ag 14 Parker Hannifin S p A S B C Division HPD N User s Manual WARNING HIGH VOLTAGE Certain circuits in the HPD drive
13. PISA CDWwOaxisexitac lobster dies eset ie utes dat lai Jak asiento Galles 112 21 5 Vertical TObOU iis es tr er EUR ATA CERE NNSAR SAQUE NUNT ARR TR S EEA ede UP Een 113 21 6 Cont ndous DEESS 45 peo ito te toes leute toc is quted isi e a utei revo Ebr ease v RO Rv EU EET 114 2I SON AIG T GUI HE ie Maced tas reer dese t Una Ren Le Ete el 115 2S ebeat SE ALCL hon Sts oni dob teMOiitussta odes em edit i e 116 22 Appendix M external bracking modul eee tbe heater re hene REESE EUREN Ue Vane adus 117 23 Appendix N application description form sessesseseeeeeeeeeeeee enne nennen 119 24 Rervision history of the User s Manual 55 sas dama esa dox ges qe ome ora duced eden de ewe 121 Parker Hannifin S p A S B C Division HPD N User s Manual 1 INTRODUCTION This manual describes operations required for the installation and commissioning of the HPD High Performance drive drive for brushless motors Read all chapters of the manual carefully before using the drive Peerlessness with previous versions if you wire together the DC BUSes the drive must be of the same family HPD with HPD HPD N with HPD N not HPD with HPD N Pay attention when ordering a spare part Except the above situation the HPD N can replace a HPD drive When using the backup feature DO NOT change the HPD N with the HPD the circuitry is different and the HPD requires the external relay The HPD drive is a digital frequency converter for dr
14. 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 overlaid speed control Simplified maintenance and start up mode Internal PLC for advanced input output programming functions Immunity EN50082 1 EN61000 6 2 Basic immunity specifications IEC1000 4 2 ex IEC 801 2 level 3 Electrostatic discharge immunity IEC1000 4 3 ex IEC 801 3 level 3 Electromagnetic field immunity IEC1000 4 4 ex IEC 801 4 level 4 Fast transient burst conducted immunity Compatibility EN5008 1 1 EN61000 6 4 Basic radio interference specifications EN55011 group 1 class A Measurement limits for radio interference EN55011 group 1 class B Measurement limits for radio interference Safety standard EN60065 Low voltage Directive 73 23 CEE amended by 93 68 CEE Applied standard EN60204 1 Available with markcULus ULS508C Conformity for use in domestic or industrial surroundings depends on the nature of the installation This is a product of the restricted sales distribution class according to EN61800 3 In a domestic environment this product may cause radio interference in that case the user must use the
15. and use a 30A thermo magnetic switch Terminal pins REF1 resistance 117 HPD N User s Manual Parker Hannifin S p A S B C Division E Fu g C co i Ceol RAE 05 2 me Hi T HR T r ld I IJ 118 Parker Hannifin S p A S B C Division HPD N User s Manual 23 Appendix N 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 Cs Contact name p eessssee III JA t eh noob ENEUES Pat gt SS lll ccc nc MNT MODEL SERIAL NUMBER gt MOTOR MODEL 200587 0 Oi A i ALLG MOTOR SERIAL NUMBER 2nazsssssesseeeeeeenens OPERATING VOLTAGE 0M FIRST HPD APPLICATION YES E nog MACHINE TYRE ssccsatnclotum asta Drm bonc mt Ebo on ER RS TASK PERFORMED BY AMPLIFIER s FUNCTIONS USED EXTERNAL BRAKING MAINS FILTERS ENCODER IN
16. b70 5 is set to 1 Pr57 Position control loop proportional gain Default 100 range 0 32000 Pr58 Reserved Pr59 Reserved b70 5 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 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 symbols for all these blocks Binary parameters are shown as switches and the position depicted is the default value 51 Parker Hannifin S p A S B C Division moov A A Pr X 3 x a bXy Em 2 A B C C 52 HPD N User s Manual Read write parameter PrX A 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 e 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 C 1 only when A 1 and B 1 otherwise C 0 If Aor Bare 1 C 1 otherwise C 0 C A B values from hardware values to hardware Value of A is converted to B E g if the tri
17. b99 10 Displayed during wiring test b70 3 It s displayed when a writing error is detected storing the pico PLC instructions b99 14 or while saving parameters b99 15 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 prj M InD 100 2 27 Parker Hannifin S p A S B C Division HPD N User s Manual where InM is rated motor current at zero rpm in Ampere InD is rated drive current in Ampere The maximum value of Pr33 is 50 0 except for HPD20N because the limit is 31 Pr19 calculation peak current Pr19 Pr33 3 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 Pr32 calculation rated speed If Pb 42 620 Pr32 Vmax 1 12 a N If Pb 42 6 1 Pr32 4 83 MOT where o 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 c
18. motor over temp power stage over temp external trip lt gt aux trip output short circuit PLC check sum PAR check sum trip code present hardware enable lt gt torque demand torque demand analog out software enable b40 9 Pr 38 Vout aux drive enabled 53 Parker Hannifin S p A S B C Division HPD N User s Manual REFERENCE SELECTION offset main ref ramps values full scale ref 2 max fq ref oa gt h internal reference reserved reference TORQUE CONTROL OPERATING MODE reserved reference main ref reserved current limit 54 Parker Hannifin S p A main S B C Division HPD N User s Manual ACCELERATION CONTROL OPERATING MODE reserved reference ref MAINTENANCE amp COMMISSIONING manual speed 1 LI Pr 50 M aa OPERATING MODE 1 b70 2 profile generator AEN e V T i reserved A I reference wiring test selector pos b70 3 Pr 57 i 0 I ig error code 1 dad A i 3 i start stop motor poles 2 resolver phase 3 Valle reference input 4 Pr 51 Pr 52 Pr 53 Pr 54 aux analog input 5 Pr 56 digital input status 1 6 err std dev testspeed teststroke starting point delay digital input status 2 5 encoder i
19. 5D SFD 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 5 A A 7 5A 8F which corresponds to the acquisition of the following instructions LD 90 1 ORN 90 10 86 Parker Hannifin S p A S B C Division HPD N User s Manual Parameter Address Length Meaning Pro 038h 2 motor speed in rpm Pri 034h 2 analogue reference Pr2 03Ah 2 full scale 1 Pr3 03Ch 2 full scale 2 Pr4 036h 2 frequency full scale Pr5 03Eh 2 internal reference Pr6 040h 2 reserved reference Pr7 042h 2 chosen reference Pr8 OAEh 2 positive acceleration in seconds Pr9 OBOh 2 positive deceleration in seconds Pr10 0B2h 2 negative acceleration in seconds Pril OB4h 2 negative deceleration in seconds Pr12 OB6h 2 limit switch deceleration Pr13 OB8h 2 overspeed threshold Pri4 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 constant Pr19 OBEh 2 user current limi
20. B sm r 91 Parker Hannifin S p A S B C Division HPD N User s Manual 10 Appendix E Software timers Task running Torque vector generation Speed loop sd Fast operating mode manager Torque limit evaluation Speed reference manager Brake resistor manager Fast input Slow operating mode Motor thermal image algorithm Ss Digital input PLC instruction scan Digital output 40 152 ms Speed windows manager 02 Parker Hannifin S p A S B C Division 90 1 40 4 UD 90 10 90 2 40 5 D 90 10 90 3 40 6 D 90 10 90 4 40 0 en oa 90 5 05 05 05 SUB 41 0 91 0 41 2 91 2 ns SE 41 3 91 3 gt 41 4 91 6 E GR 41 11 91 4 a A 90 11 99 0 92 78 92 05 71 05 90 5 40 12 90 11 LD ORN OUTN LD ORN OUTN LD ORN OUTN LD OUT LD SUB LD OUT LD OUT LD OUT LD OUT LD OUT LD OUT LD AND ADD MUL 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 HPD N User s Manual 11 Appendix F pico PLC default program 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 c
21. ER EV ER PROFIBUS DP ENCODER SERIAL LINK Parker Hannifin S p A S B C Division HPD N User s Manual ATTENTION HIGH VOLTAGE Before installing the EC 4 board make surue that no wires are connected to the HPD converter Remove the lower panel Insert the EC 4 board Screw the EC 4 panel in to the body of the HPD 101 Parker Hannifin S p A S B C Division HPD N User s Manual 16 Profibus DP connector The Profibus DP connector is a 9 pin female connector PROFIBUS DP CONNECTOR c pO RxD TxD P CNTR P Controll signal for ripetitor 6 JVP Terminal supply 00 HD GNES S o 8 RxD TxD N j Lineofcommuniation 9 qme 0 e o oe hoo ooo oos o o o a o E The Profibus DP interface is optional and must therefore be expressly requested when ordering the EC 4 board The Profibus interface implemented is based on the ASIC LSPM2 The EC 4 is seen by the profibus master as a remote I O module with 16 inputs and 16 outputs Obviously the I Os are virtual Interpretation of the meaning of the I Os will be defined by the program installed on the EC 4 board The configuration file SBCOEC4 GSD is provided to configure the EC 4 as a slave Profibus DP 102 Parker Hannifin S p A S B C Division HPD N User s Manual 17 Can Bus Connector The Can bus connector is a 9 pin male connector CAN BUS CONNECTOR Description Line of communication low cle UEM Shield Line of co
22. 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 Pr51 Reference multiplication factor Default 1 range 32000 432000 This parameter together with Pr53 makes it possible to set the required ratio for the input reference frequency Pr52 Acceleration deceleration ramp Unit s krpm default 500 range 0 30000 resolution 1 thousandth of a second The acceleration deceleration demanded of the motor can be restricted 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 Pr53 Reference division factor Default l range 32000 32000 This parameter together with Pr51 makes it possible to set the required ratio for the input reference frequency Pr54 Reserved Pr55 Required speed Unit rpm Read only parameter Shows the input reference frequency converted into rpm Pr56 JServo 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 Pr57 Position controller proportional gain Default 100 range 0 32000 Pr58 Slip speed 48 Parker Hannifin S p A S B C Division HPD N User s Manual Pr59 Reserved Pr60 61 Position controller reference Unit steps Pr62 63 Motor pos
23. be an externally fed encoder or the simulated encoder output on another drive The signal from the master encoder must be differential type 5V 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 22 Parker Hannifin S p A S B C Division HPD N User s Manual 3 11 1 Encoder emulation On connector X7 there are signals of encoder emulation phase 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 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 Q 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 23 Parker Hannifin S p A S B C Division HPD N User s Manual HPD drives are equipped with an integrated braking resistor 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 th
24. be configured as frequency direction or quadrature signal using b42 5 Parker Hannifin S p A S B C Division HPD N User s Manual b40 14 Serial communication enable Default 0 Set this parameter to 1 to enable serial comms b40 15 Reserved Must remain on zero b41 0 Overspeed When the absolute motor speed value exceeds the value set in Pr13 b41 0 is on 1 otherwise it is on O b41 1 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 b41 2 Zero speed If motor speed Pr0 is zero rpm b41 2 1 otherwise b41 2 0 b41 3 Forward If motor speed Pr0 is positive b41 3 1 otherwise b41 3 0 b41 4 Drive Healthy If 21 no alarms are present otherwise 0 b41 5 Hardware enable status 1 when hardware enable is set b41 6 Temperature pre alarm 10 degrees before reaching the maximum temperature of the power stage b41 6 is set to 1 b41 7 External alarm Alarm for user s equipment b41 8 Auxiliary alarm Second alarm for user s equipment b41 9 Calibration failed b41 9 1 indicates that initial calibration of current offsets has terminated incorrectly b41 10 Speed control saturation b41 10 1 when the speed control loop is delivering maximum current b41 11 IT active Indicates that Pr36 has reached 100 0 and therefore
25. current example EC 4 digital output connection N B All inputs can be configured to capture values All outputs can be configured to provide value comparison outputs 105 Parker Hannifin S p A S B C Division HPD N User s Manual 19 Encoder and serial link The encoder connector and serial link is a 25 pin female connector The pins of the encoder connector and serial link change meaning as a function of the connection and the drive software installed The following tables present the typical configurations DEBUG MODE CONNECTION l l ine TX RS 422 negative ine RX RS 422 positive line RX RS 422 negative With the DEBUG MODE connection and using an RS 422 RS 232 converter you can connect the EC 4 board to a personal computer and using the software installed on the PC test the user program Using the same communication port you can also load software already installed in the flash memory of the EC 4 board line TX RS 422 negative line RX RS 422 positive 16 b w The ModBus connection makes it possible to connect a ModBus configured operator panel to the EC 4 board To manage the ModBus you need to load the drive software that will provide access to the entire parameter area for the operator panel IncrementalEncoder CONNECTION 17 B Phase B negative 106 Parker Hannifin S p A S B C Division HPD N User
26. 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 Programming with Pcbr
27. 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 frequency Pr54 Reserved Pr56 JServo error 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 49 Parker Hannifin S p A S B C Division HPD N User s Manual 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 b70 6 b70 8 b70 9 b70 10 b70 11 b70 12 50 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 Feed forward enable Default 0 If set to 1 feed forward is enabled on the position controller Axi
28. 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 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 is ineffective unless it is installed taking EMC aspects into consideration 10 Parker Hannifin S p A S B C Division HPD N User s Manual 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 Additional measures With the exception of mains cables to the filter all power and control wiring must 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 an
29. motor is stopped according to the ramp set in Pr12 Absolute relative speed window selection Default 0 If set to zero speed windows Pr14 Pr15 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 0 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
30. 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 74 Parker Hannifin S p A S B C Division LD 90 2 ANDN 91 10 RST 40 2 LD 90 3 ANDN 91 10 SET 70 10 SET 91 10 RST 91 0 LD 70 8 OUT 91 1 LD 41 4 ANDN 91 11 SET 40 2 SET 91 11 END HPD N User s Manual If digital input 2 and homing not yet executed executes homing If digital input 3 and homing not yet executed reset mode counters set homing executed flag set digital output 0 to zero copy bit b70 8 to digital output 1 if drive OK enable operating mode at power up 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 75 Parker Hannifin S p A S B C Division HPD N User s Manual Example 12 5 positioning FILE E004 HPD Referring to the figure below a
31. phase power supply Make sure that the line traps if installed and motor are connected correctly Check the voltage on the power supply terminals X4 terminals 1 2 and 3 Check the bridge on X4 between terminals 7 and 8 95 Parker Hannifin S p A S B C Division The HPD s LED display shows decimal points on all characters Motor runaway occurs when the drive is enabled The motor turns slowly when the drive is enabled The motor doesn t move and has no torque The motor turns in the wrong direction 96 Check the keypad connection and make sure it was installed correctly The drive goes in PT mode due to an overload it required more current that was available Check The cables between motor and HPD there should be no inverted phases Take special care with motors with terminals rather than the connector it s easy to make a mistake Adhere strictly to the wiring diagrams Mechanical measurements The most likely cause of this is an incorrect connection between the encoder output of the drive X7 and the encoder input on the axis control Another possibility is an incorrect connection between the terminals of the analogue output of the axes DRV1 and Gnd and the analogue reference input of the HPD X2 terminals 1 and 2 with shielding on terminal 3 Check the wiring of both the analogue reference signal cable and the reaction signal cable encoder If correct invert the analogue input
32. properly measures Parker Hannifin S p A S B C Division HPD N User s Manual 3 INSTALLATION e The HPD drive must be installed in a vertical position power terminal block X4 at the top e Leave at least 190 mm clearance above and below the drive e 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 e The User is responsible for installing fuses on the drive A C power supply e A differential interrupter could not be used on the entry of feeding of the converter The protection against indirect contacts must be realized through other streets for instance through a overcurrent disconnecting switch in accord to the EN 50178 1994 Sez 5 3 2 3 and to the EN 60204 1 Sez 6 3 6 3 1 6 3 2 6 3 3 and however in accord to the laws of the country of installation e Before feed the converter all the components and the motor must be to earth or connected to the points of earth through isolated cables The current of loss toward earth is superior at 3 5mA o clock E therefore application an excellent connection of earth EN 50178 1994 sez 5 12 11 1 e 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
33. tr sanpa turk net NORTH AMERICA CANADA PARS ROBOTICS GROUP INC 441 Esna Park Drive units 11 12 Markham Ontario L3R 1H7 Tel 1 905 4772886 Fax 1 905 4770980 www parsrobotics com pars parsrobotics com UNITED STATES PARKER HANNIFIN CORPORATION COMPUMOTOR DIVISION 5500 Business Park Drive Rohnert Park CA 94928 Tel 1 707 5847558 Fax 1 707 5842446 www compumotor com CMR_Customer_Service parker com CENTRAL AMERICA MEXICO PARKER HANNIFIN DE MEXICO Eje 1 Norte No 100 Parque Ind Toluca 2000 Toluca 50100 Tel 52 722 2754200 Fax 52 722 2799308 www parker com SOUTH AMERICA ARGENTINA CILE PARAGUAY URUGUAY R A INGENIERIA ELECTRONIC IND Y COM Arregui 5382 1408 Buenos Aires Tel 54 11 45675543 Fax 54 11 45662870 www raing com ar ra raing com ar BRAZIL AUTOMOTION LTDA Acesso Jose Sartorelli Km2 1 Parque das Arvores 18550 000 Boituva SP Tel 55 15 33639900 Fax 55 15 33639911 www automotion com br coml automotion com br VENEZUELA TEKNOMAQ C A Avenida Manuel Diaz Rodriguez Edif Milano Local C Santa Monica Caracas Tel 58 212 6335657 Fax 58 212 6330466 teknomaq cantv net ASIA ISRAEL AF ELECTRONICS MOTOR CONTROL PO BOX 741 52322 Ramat Gan Israel Tel 972 3 6745457 Fax 972 3 6776342 afmotor zahav net il MALAYSIA PRESTIGE MACHINERY No 46 Jalan Bateri 34 5 Bukit Kemuning Light Industrial Area 42450 Shah Alam Sengalor D E Te
34. 2 Pr85 84 dimension 3 Pr87 86 dimension 4 Pr89 88 dimension 5 76 Parker Hannifin S p A S B C Division terminal 12 on X3 execute positioning pulse command terminal 13 on X3 execute homing pulse command terminal 14 on X3 PNP axis zero proximity sensor terminal 15 on X3 position selection terminal 16 on X3 position selection terminal 17 on X3 position selection terminal 12 on X2 output high during positioning The following auxiliary bits are utilised b91 10 b91 11 Program LD SET LD ANDN SET LD ANDN SET SET LDN ADD AND ANDN SET ADD AND SET ADD LDN AND ANDN SET ADD AND SET ADD LDN ANDN ANDN AND SET ADD LDN AND AND SET RST SUB AND SET LD OUT END HPD N User s Manual 91 10 40 2 90 2 91 10 40 2 90 3 91 10 70 10 91 10 70 8 72 72 64 90 4 90 5 94 0 80 72 64 90 6 94 0 88 72 64 70 8 90 5 90 6 94 0 82 72 64 90 4 94 0 84 72 64 70 8 90 4 90 5 90 6 94 0 86 72 64 70 8 91 10 90 1 70 8 70 4 64 60 64 99 2 70 4 70 8 91 1 If homing already executed enable operating mode If digital input 2 execute homing if not yet done if digital input 3 and homing not executed reset counters homing exec flag digital output 0 at zero if profile terminated select dimension according to the three digital inputs if profile terminated and input 1 1 execute profile resetting direction bit and calculating dist
35. 200 16 7 38400 12 8 57600 8 9 125000 4 10 57600 8 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 Pr26 10 was developed to allow data communication between two HPD drives Refer to the heading Serial line connection for connection diagrams 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 start bit 8 data bits following one byte between square brackets parity bit even 1 stop bit 81 Parker Hannifin S p A S B C Division HPD N User s Manual The message structure is STX CMD ADDR LUN PAR D0 Dn CHK where 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 first 5 bits from 0
36. 8 auk dPowerconncoton Jay OU san Oboe Maas haue dede tnt Led UEudgs i cages 19 3 9 Signal cable connections 4e rM RARE RAN UENIRE AUSTR NN UR ERR E P EORR NL Ua dI 20 3 10 Signal cable connection TayOut eese eoe e ri Dee tes ea bey ue io ego inen in vete ag etse 20 Sb Bequency mput connections epulae aede dpa sad e ease waives 20 odds Encoder emulation saesae eel a isisereti nc prr Med Li ME TE 23 312 Serial Ime conneettonimst ue ood ea euet Gees RERURSNEMUN URSI RUD E A OA Abd sae dul v Edo a URN TRIS TUN 23 3 15 Braking resistor uei eee eene x Ue INSURERS VA AA EA RE SNR RIA SNA EUN NR SRL NN e ed ad 24 ovd vB AC MMII a cess cece eon res e nueve e vbt uen ome e 24 4 PARAMETERS AND PROGRAMMING eese enne nnne eene nhn rennen nennen nens 23 4l Using the Keypad ieu coe enairt RR ERU SERRE ENS STENT REC IARE erne 26 42 Commissioning the HPD drive siis pae OR POUR REY cons ki EASDEM saa ener renerne 27 4 37 Basic parameters ci a sir she teenies ah Rede de eae aie Jes idk nega Sok a nsten kk 30 Qu Basie commands o oce era ea Ea are ce e 36 4 5 Calibrating speed IoOp iesen est Htec te etes ta gere Bs lore ti es Rig 37 Ba XJperating modes rede e E Rosse EE E E na ED E 43 4 6 1 ARCS COLTON Annae ves coto dite man Dv di DERE DERE suba o ENE ESSENS SEE raf e 43 4 6 2 Acceleration COBTEO D o6 soucis tte e leis a E Pots ocu Sd inb odis ku se lotus tu bU 43 4 6 3 Low voltage procedure rel Sw 41 or more
37. 9 88 The master encoder mounted to the conveyor shaft provides the drive with a position reference during the digital locking phase 67 Parker Hannifin S p A S B C Division HPD N User s Manual Qe BLADE PROX SENSOR SLAVE MOTOR EL e SENSOR 5 MASTER ENCODER When you have set the default values set the following parameters Pr5 10 homing speed Pr31 10 b99 11 1 b40 2 1 b40 12 1 Pr52 0 b70 3 1 Pr87 86 modulus 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 the 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 68 Parker Hannifin S p A S B C Division
38. NSTECHNIK SERVOMECANISMES S A Z A Ahuy Suzon 17 Rue Des Grandes Varennes 21121 Ahuy Tel 33 380 550000 Fax 33 380 539363 www transtechnik fr infos transtechnik fr GREAT BRITAIN AMIR POWER TRASMISSION LTD Amir House Maxted Road Hemel Hempstead Hertfordshire HP2 7DX Tel 44 1442 212671 Fax 44 1442 246640 www amirpower co uk apt amirpower co uk QUIN SYSTEMS LIMITED Oakland Business Centre Oakland Park Wokingham Berkshire RG41 2FD U K Tel 44 118 9771077 Fax 44 118 9776728 www quin co uk sales quin co uk HOLLAND VARIODRIVE AANDRIJF EN BESTURINGSTECHNIEK B V A van Leeuwenhoekstraat 22 3261 LT Oud Beijerland Tel 31 186 622301 Fax 31 186 615228 www variodrive nl sales variodrive nl PORTUGAL SIEPI LDA Parque Industrial do Arneiro Lote 46 Sao Juli o do Tojal 2660 456 Loures Tel 351 21 9737330 Fax 351 21 9737339 www gruposiepi com Siepi mail Telepac Pt Divisione S B C Worldwide distribution SPAIN INTRA AUTOMATION SL C ALABAU 20 Horno Alcedo E 46026 Valencia Tel 34 96 3961008 Fax 34 96 3961018 www intraautomationsl com infoGintraautomationsl com SWITZERLAND INDUR ANTRIEBSTECHNIK AG Margarethenstrasse 87 CH 4008 Basel Tel 41 61 2792900 Fax 41 61 2792910 www indur ch info indur ch TURKEY SANPA LTD STI Plaj Yolu Ersoy Apt No 14 D 4 34740 Suadiye Istanbul Tel 90 216 4632520 Fax 90 216 3622727 www sanpaltd com
39. PD5N HPD8N HPD16N HPD 20N HPD24N Product name Il prodotto sopra descritto conforme a The above bidon fs conform to Doc N a Titolo Title pua Anparecchi audio video ed apparecchi elettronici similari i Requisiti di sicurezza 8a 6768 CET EN 60065 Audio video and similar electronic apparatus Safety Gennaio 2003 L OR requirements Meum nte ERE a i Apparecchiature elettroniche da utilizzare negli impianti di 1a 5080 CEI EN 50178 potenza Electronic equipment for use in power installations E oz Marzo 1993 M Compatibilit elettromagnetica Parte 6 2 Norme Generiche Immunit per gli ambienti industriali 2a 6671 CEI EN 61000 6 2 Electromagnetic compatibility 6 2 Generic Standards Ott 2002 a immunity for industrial environments EN j Compatibilit elettromagnetica Parte 6 4 Norme generiche i Emissioni per gli ambienti industriali la 6673 i CEI EN 61000 6 4 Electromagnetic compatibility 6 4 Generic Standards Emission Ott 2002 I Standard for industrial environments REM REIR 1 i Azionamenti elettrici a velocit variabile Parte 3 Norma di 1a 2861 CEI EN 61800 3 e prodotto relativa alla compatibilit elettromagnetica ed ai Settembre 1996 li metodi di prova specifici i A11 Adjustable speed electrical power drive systems Part 3
40. Pr 57 porc WP reserved reference Pr 50 Pr 63 Pr62 max regulator speed motor position servo error window JA target position reset 1 b70 10 target position motor position 0 b70 11 gt target position motor position shaft position reset 2 b70 12 target position motor position reset 3 SPINDLE ORIENTATION OPERATING MODE DU pr proportional gain oriented window not oriented target position reserved reference max regulator Speed shaft position motor speed 57 Parker Hannifin S p A S B C Division HPD N User s Manual 4 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 Main features of the PLC Program steps 64
41. S p A S B C Division HPD N User s Manual 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 mounted on insulated fixings The adjacent table shows minimum dimensions according to length Length m width mm 0 5 l L5 Li EARTH STUD MAIN L SCREW s 13 9 Cil PE pT EMG iter Tt i E Umm mmm emen TmmmmmTmemm TT lta LN Le E 2 B Lal CH g T T J cH C GN I N REC a e e a A mn E FERRITE CORE Je H TOROIDAL L COIL a MOTOR 1 k Re ee ee EE NES A am a SSS E A La B LLLI T ICQ C lYl llllllll E IL LLLILLLLLLILLOI M BB rael S 3 7 U4 y V 9 ES E A D RE SEP NERE EET 1d RESOLVER NS xi Ea SERVOMOTOR MB EL m DRIVE HPD FERRITE COIL MOTOR FILTER OR NOT PROTECTION ACCORDING TO CHOSEN CONFIGURATION ATTENTION respect suitable connections meticulously with particular attention to the shield for a correct operation system N B the protection of the resolver cable in general must be all connected to the clamp 9 of X1 Side motor the protection of the connected duplex cable to j k must be connected to H the general protection to G the other protections must not be connected
42. SBC Drive EC4 expansione board INN UWS Positioning value control on external incremental encoder SSI encoder or resolver Management of the control signals for the unloading line Management of the control signals for the extractor device Programmable feed and unload times Ability to program n formats For each process you can program o feed and unload levels o rapid approach values for extraction o Speed and acceleration of loaded extractor o Speed and acceleration of empty extractor Jog back and forward Ability to connect a display to program the system directly 112 Parker Hannifin S p A S B C Division HPD N User s Manual Vertical Robot SBC Driver EC4 expansion board ni VIDT 00000 oO CAN BUS line oo 0O Oo Interconnection of seven axes by SBC CAN BUS with ring management of space within control 113 Parker Hannifin S p A S B C Division HPD N User s Manual Serial connection and 5 monitorin system O00 HPD EC4 expansion board q 4 q press roller On the fly correction of press module synchronism Serial control of motion parameters 114 Parker Hannifin S p A S B C Division HPD N User s Manual F wy 7 Encoder z 7 SBC Motor SBC Drive EC4 expansion board
43. 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 u CARRIAGE SENSOR e 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 b91 12 Program see on next page 70 Parker Hannifin S p A S B C Division 70 8 40 2 94 0
44. WER INPUT POWER OUTPUT 3XAC90 480V XXA 3XAC90 480 XXA 50 60 Hz 0 500 Hz READINSTALLATION USE COPPER WIRE RATED INSTRUCTION MANUAL BEFORE 60 75 C INSTALLING Another yellow warning label is placed on the right side of the HPD N drive N WARNING DEVICE IS LIVE UP TO 60s AFTER REMOVING FROM MAIN VOLTAGE GROUND PE MUST ALWAYS BE CONNECTED N ATTENTION L APPAREIL EST SOUS TENSION PENDANT 60s APRES LA COUPURE DE LA TENSION RESEAU TERRE PE DOIT ETRE TOU OURS CONNECTE SUITABLE FOR USE ON A CIRCUIT CAPABLE OF DELIVERING NOT MORE THAN 5000 rms SYMMETRICAL AMPERES 480 V MAXIMUM Parker Hannifin S p A S B C Division HPD N User s Manual 2 Technical data 2 1 Main hardware specifications 0000000000000 The maximum voltage value is 480Vac instead of former 460Vac Ensure that the maximum voltage across terminals L1 L2 L3 does not exceed more than 10 the 480Vac even in the worst case see EN60204 1 standard section 4 3 1 An excessive voltage may damage the drive The following table describes the new ratings Unit m o Yc ms emm ean n Radeuem A 3 3 8 15 39 25 Powersugedispaion w 25 60 39 158 200 246 Enviromental temperatur Powerstage switching frequency KHz 8 MEE se Digital Inputs 24V Dieta Otten AV Oa ENE j Nen 00 00880000 3 y Serial link Parker Hannifin S p A S B C Division HPD N User s Manual
45. WM 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 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
46. 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 b99 15 83 Parker Hannifin S p A S B C Division HPD N User s Manual 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 code length bytes LD Pa y 0 2 LDN Pay 1 2 OUT Pay 2 2 OUTN Pa y 3 2 AND Pay 4 2 ANDN Pa y 5 2 OR Pa y 6 2 ORN Pay 7 2 ADD Pa Pb Pc 8 4 SUB Pa Pb Pc 9 4 MUL Pa Pb Pc 10 4 DIV Pa Pb Pc 11 4 SET Pa y 12 2 RES Pa y 13 2 FIN Pb40 y Pb70 y 14 2 END 15 2 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 instructions in the table LD ORN and the SET and RES instruction
47. al 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 including 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 whic
48. al voltage useable from 90 to 480V low voltage from 48 to 90V so that the top speed of the axes is also lowered e Setting the drive 1 Store b40 10 1 2 Autoreset under voltage excluded b99 8 0 Caution The low voltage movement mode is potentially hazardous to the drive when going from low voltage to nominal operating voltage This passage must always be done with the drive disabled and it is necessary to follow these instructions step by step o Low voltage to nominal operating voltage sequence a Disable the drive Wait 100ms b Change the voltage from low to nominal c Wait Isec d Enable the drive The drive will be enabled after about 120ms The display will say RUN and the axis is ready to be checked Nominal operating voltage to low voltage sequence Disable the drive Wait 100ms Change the voltage from nominal to low Wait Isec Enable the drive The drive will be enabled after about 120ms The display will say RUN and the axis is ready to be checked eogcPo If during these sequences the display shows the error message ERR2 send the reset command b99 10 1 In the previous releases this procedure only works if there is no backup and you must wait for the drive to shut off in the passage from low voltage to nominal voltage and vice versa 44 Parker Hannifin S p A S B C Division HPD N User s Manual 4 6 4 Maintenance and commissioning This operating mode is designed to assist technic
49. ance with respect to current motor position if negative sign set b70 4 1 digital output 2 indicates profile on program end 11 Parker Hannifin S p A S B C Division Example 13 reading 4 digit controller FILE E005 HPD HPD N User s Manual You wish to change the value of parameter Pr83 using a 4 digit controller Four digital inputs and four digital outputs are used for this block 12 of X2 output to select the first digit least significant of the controller block 13 of X2 output to select the second digit of the controller block 14 of X2 output to select the third digit of the controller block 15 of X2 output to select the fourth digit of the controller blocks 12 15 of X3 inputs to read digits in BCD block 12 is the least significant bit the connection 78 diagram is shown on the following page 91 2 91 4 99 13 91 4 80 73 81 MUL 80 75 81 MUL 80 76 81 MUL 80 77 81 MUL 81 82 82 ADD 82 72 83 82 82 82 LD OUT LD OUT LD OUT LD OUT LD MUL LD MUL LD MUL LD MUL LD ADD LD ADD SUB LD OUT LD OUT LD OUT LDN ANDN ANDN OUT END 90 1 80 0 90 2 80 1 90 3 80 2 90 4 80 3 91 1 80 73 81 91 2 80 75 81 91 3 80 76 81 91 4 80 77 81 99 13 81 82 82 91 4 82 72 83 82 82 82 91 3 91 4 91 2 91 3 91 1 91 2 91 2 91 3 91 4 91 1 Copy bit 0 digit BCD copy bit 1 digit BCD copy bit 2 digit BCD cop
50. angle 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 S B C Division V offset Pr 1 ull scale ref 1 main ref Pr 2 Q PES Pr 3 ull scale ref 2 max fq ref left sw right sw stop S H Pr 4 internal reference Pr 5 reserved reference DESCRIPTION R W SOFTWARE RELEASE BAUD RATE SERIAL LINK ADDRESS SHAFT POSITION MOTOR POLES RES PHASE SHIFT OPERATING MODE RATED SPEED 12T ACCUMOLATOR BRAKE RESISTOR USE DC BUS VOLTAGE PHASE ADVANCE GAIN FOR TACHO us ae d lt b40 13 b40 7 b40 4 b40 5 b40 6 ramps values ramp Vale Q HPD N User s Manual HIGH PERFORMANCE DRIVE MAIN BLOCK DIAGRAM motor speed over Pr 13 high Pr 14 lt zzz lt lt lt lt z lt lt z ENCODER OUT RESOL Y QUADRATURE FD Y EXTERNAL OPM N FLAGS PRE ALARM N VIBRATION STOP Y LOW VOLTAGE OP Y v low Pr 15 zero speed 2 forward over speed max 9 at speed Pr33 rated current Speed control user current limit band width limitator Pr 19 d thermal image limit b40 8 e aux reference over voltage under voltage over current resolver break
51. anual At the completion of each mathematical operation 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 b99 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 Pr81 96 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 512us 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 instruction copies
52. ated 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 value Volt is PrO Pr34 iis fao DETTE Lif Pr32 lt 875 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 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 33 Parker Hannifin S p A S B C Division HPD N User s Manual BINARY PARAMETERS Binary parameter Pb40 can be read written and saved B
53. 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 6 Short memory parameters are Pro Real speed of motor shaft in rpm Prl Analogue reference offset terminals 1 and 2 of terminal board X2 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 Pr17 Speed control loop damping Pr19 Peak current delivered to drive expressed as a percentage of the peak rated value of the drive Pr29 Number of motor poles Pr32 Rated speed rpm 29 Parker Hannifin S p A S B C Division HPD N User s Manual Pr33 Pr35 b99 Rated current that can be delivered by the drive can be maintained indefinitely expressed in percent of the peak rated current of the drive Instantaneous current requested by the motor expressed as a percentage of drive peak rated current Bit parameter for the fundamental orders Using extended menu you can manage all parameters and pico PLC instructions Rest
54. be 21 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 Integral gain of speed control loop Range 0 32767 default 120 Speed control loop damping Range 0 32767 default 2000 If Pr16 is set to zero Pr17 sets the value for proportional gain of the speed control loop Bandwidth limiter Unit 512us 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 31 Parker Hannifin S p A S B C Division HPD N User s Manual Pr19 Pr20 Pr21 Pr22 Pr23 Pr24 Pr25 Pr26 Pr27 Pr28 Pr29 Pr30 Pr31 Pr32 32 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 La
55. ble 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 61 Parker Hannifin S p A S B C Division HPD N User s M
56. cal Dealer Nn Parker Hannifin S p A S B C Division HPD N User s Manual 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 14 107 Vrete watt only HPD2 Pmax 27 107 Vrete2 watt only HPD5 and HPD8 Not applicable HPD16 HPD20 HPD24 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 the drive off before switching it on again The HPD N has 2 5 seconds circa of power on time Previously it was nearly 10 seconds HPD drives are available in 6 models HPD2N HPD5N HPD8N HPDI6N HPD20N and HPD25N The number that follows HPD is the value of drive rated current in amperes Parker Hannifin S p A Divisione S B C Via Gounod 1 20092 Cinisello B Milano Italy PO
57. 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 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 S B C Division 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 S B C Division on request The quoted performance of the HPD drive is quaranteed only when used with series MB s
58. d dynamically during the execution of the profile itself More than one position profile can be active at the same time Electrical shaft Used to carry out the electrical shaft function The master slave relationship and the engage disengage mode are programmable It is possible to engage without phase recovery With phase recovery post and pre trigger functions are also available Disengaging can be on command automatic by module or on command and by module Electronic cam Provides the functions of an electronic cam The cam profile can be open or closed continuous or by individual module The cam profile can also be changed dynamically The cam is described with a table of any length and more than one cam profile can exist The cam profile can also be described in polynomial form and between point pairs a cubic spline interpolation can be done Each profile generator can be summed with another or used as input of another resulting in a series of virtual axes 108 Parker Hannifin S p A S B C Division HPD N User s Manual 21 Examples of applications Presses Encoder Plate Dispaly C Do Modbus protocol OOO0O0000 SBC Drive EC4 expansion board Positioning value control on external encoder or resolver Press control Rollers closed signal Sheet signal 99 process types For each process you can program level operating speed and acceleration Jog back and forward Connection with displa
59. d 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 dispersion 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 filte
60. e jumper between terminals 9 and 10 of terminal board X4 connect one end of the resistor to terminal 9 and the other to terminal 11on X4 The external resistor value must be 40 ohm for HPD2N HPD5N HPD8N and HPD16N 27 ohm for HPD20N and HPD24N 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 short as possible and in any event no longer than 3 metres Terminal Board X4 for HPD Internal Resistance External Resistance LR Zo N z T I if IP oooooooo oo looooooooo o obo J 4 W AB BB EB B B B LD Mee 1x V W AB BB EB IB B B Precaution for simulation encoder Use an external 24Vdc 2A regulated power supply with protected output Set the parameter b99 8 1 the automatic reset of the undervoltage alarm when the mains voltage is restored Now the backup function does not need the external relay Furthermore is not required to write in the pico PLC the programme described in the example 11 Examples and applications chapter 24 Parker Hannifin S p A S B C Division HPD N User s Manual 4 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 descriptio
61. ec 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 71 Parker Hannifin S p A S B C Division HPD N User s Manual Example 10 Inter Drive Communication IDC Inter Drive Communication refers to a specific configuration of the serial port 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 Pr26 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 Pr81 Pr80 Pr80 Pr81 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 ente
62. eed 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 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 Deceleration ramp for stroke end and 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 Pr14 and greater than Pr15 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 Pr14 and greater than Pr15 b41 1 will
63. ency direction signal if b42 5 1 Pr7 Fin Pr4 500000 quadrature signal where Fin is the frequency on the encoder input Parker Hannifin S p A S B C Division HPD N User s Manual Pr5 Pr6 Pr7 Pr8 Pr9 Pr10 Pr11 Pr12 Pr13 Pr14 Pr15 Pr16 Pr17 Pr18 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 sp
64. ent YY can be 10 or 20 and represents the motor filter rated current drive rated current must not exceed that of the filter PMM 8010 MHz dBuV 90 60 80 Limit C22 B QP Title DEFINI12 Date 06 25 1995 15 Parker Hannifin S p A S B C Division HPD N User s Manual Resolver Analog signals and digitaloutputs 16 T T irp iji ol BE i oF lom J S L o x AD LOE HR oF a led HE oe sell 8 ME i ed P S o o o o o o o o o o o o o o o o o o o o CODER IN ODER OU ENG Serial interface Encoder IN c Encoder OUT c Control voltages and digital inputs Parker Hannifin S p A S B C Division Terminal board X1 ov O 0 lt Terminal board X2 6 JOV 0 y O SOV ES 1 9 tacho output 11 digital out 0 17 18 24 Vdc OUT 200 mA D DB9 female type I2JA oo JB 4B ll 6 BRB 8 BRB 9 BRA FE HPD N User s Manual Terminal board X4 EET es S Ea 000 000 ES 6 8 9 10 IB W PHASE AB o BBO EB HB Ae L1 L2 L3 AB BB EB Terminal board X3 1 4 10 V 10 mA max 1 20 20 OV se y 10 V 10 mA max OV drive enable DB9 male type X7 PHA PHB PHB uv as
65. erefore Pc Pa Pb END program end END m m FIN y 0 1 fast scanning input Parker Hannifin S p A S B C Division HPD N 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 operand 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 result 0 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 for use as 5 dou
66. f this section of the manual an alternative although less accurate method 37 Parker Hannifin S p A S B C Division HPD N User s Manual BEFORE STARTING Before starting observe figure 1 Tek Run 500 S s Hi Res Trig WH 2 00V Cn2 5 00 VM 100ms Chi 7 OV 28 Mar 1996 08 40 26 Fig 1 The graph shows system response to a square wave speed reference Channel 1 Chl 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 To convert Pr16 into degrees for rated torque use the formula 4 Pr35 og where ac is Pr16 the stiffness 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 diff
67. gth 128 bytes addresses 00h to 7Fh 88 Parker Hannifin S p A S B C Division HPD N User s Manual 6 Appendix A HPD drive mechanical dimensions Ss drivetype _ A B Jweightkg HPD5N HPD8N HPDI6N 377 364 5 5 HPD20N HPD24N 89 Parker Hannifin S p A S B C Division HPD N User s Manual 7 Appendix B hardware characteristics digital output type collector VH using internal suppl 20 26 IO for single output A IT current for all outputs using internal 200 mA suppl 24 VIN out 6 B 6B differential Kohm Kohm dB 90 Parker Hannifin S p A S B C Division HPD N User s Manual 8 Appendix C DC bus voltage thresholds 1024 870 OVER VOLTAGE 805 Brake high treshold 780 Brake low treshold NS normal operation area 120 in rush control excluded 56 UNDER VOLTAGE 40 in rush control included The modification of the above thresholds makes otentially dangerous to wire together the DC BUSes of HPD N drives with HPD drives 9 Appendix D Standard settings Reference Positive Shaft moving motor shaft view gt Torque monitor Positive R D Counter UP Encoder out A a Fk B jr LEES acho signal positive Iu torque e sin 9 V z torque e sin 9 3 N AUX positive Pr22 positive Pr38 positive OUT AUX Positive Encoder In A SY Mr Counter Up
68. h 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 b70 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 During 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 Pr58 Reserved Pr59 Reserved 45 Parker Hannifin S p A S B C Division HPD N User s Manual Pr60 61 Reserved Pr62 63 Reserved Pr64 65 Reserved 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 a
69. he frequency input Reset type 1 Resets motor and reference position This command is only accepted when no profile is in execution 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 47 Parker Hannifin S p A S B C Division HPD N User s Manual 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 4 6 6 Digital locking Operating mode 10 is a tracking function referred to a frequency input signal connector X6 set as an encoder signal 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 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 Maximum speed Unit rpm default 200 range 0 9000
70. he value of this parameter is 9 assume the drive serial address is 0 The message to transmit is 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 is 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 Case 4 writing a 2 byte parameter Assume you intend to set rated current at 25 396 Pr 33 assume also that the drive serial address is 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 85 Parker Hannifin S p A S B C Division HPD N User s Manual 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
71. iculty 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 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 Pr17 is altered Lowering Pr17 will allow you to approach system response as shown in figure 2 38 Parker Hannifin S p A S B C Division HPD N User s Manual Tek Run 500 S s Hi Res Trig E T SHE 2 00V cn 00v OM ooms Ch FOV 28 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 Trig F T TI OV 28 Mar 1996 08 43 22 Fig 3 The optimal value of Pr17 can be considered when system response is as shown in figure 4 39 Parker Hannifin S p A S B C Division HPD N User s Manual Tek Run 500 S s Hi Res Trig I T mE 2 00V OV 28 Mar 1996 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 procedu
72. ie te qe edat qe ee iu dope stessa edulda need 9 10 Appendix Bi Software mets eee eo ea aue tus adole o e Dacus oue de eee 92 11 Appendix F pico PLC default program esses ennen renen renerne enes 93 12 Appendix G flash information re leet ed e need n SIRAC SES Re HH SR nerne 94 13 Appendix HAS su rails earn enn erne E O TGSS 95 14 Appendix options neninn ea E E E eres ERE s 97 15 Appendix Lt EGA m aaSa 98 15 1 Product descriptos a n a a ae oa eaa eaan 98 5s OMRIEOBaPACIO EE SUO Sache PUn a ds E EEE E EE t E 98 13 34 ECA plock Gaeta uou oeste dito tros oho Io Iu eee EA S 99 15 4 Product and connectors identification essen 100 15235 HCA Sire ento 101 16 ProtbD s DP ConnmbeloE uos ie aes vro tli ipe b tas aes tis e a AN qute e sucess een eae 102 17 Can BUS TNT CUM ec eos aid BR cath deba e enu tasa UAE M eu eM E 103 18 ISTE 104 19 Encoder and serial ker oss to Geo sense M to dut a Mtv dux Flo de denas 106 20 Motion f nctons CONCEP US ieren edel desta edat Vat etu Mte mundus a eM eU 108 21 Ex amplesof APPLIC dHODsi sa ae ra eee lederen 109 Zils Power supply fOFPprESSES encenta Procter oti fecta E aa ii 109 21 2 Electronic Cati ee uo ie ettet iet e edt e Usa oed Sui Eu ae Red ie unio 110 21 3 Positioner with 250 preset Ievelg iu ee e io recette Mna ud na Fo nod Ree RSS 111
73. inary parameter Pb41 provides information regarding system status Parameters Pb42 and Pb99 are read write parameters with save facility b40 0 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 34 Selecting the first or second speed reference full scale value Default 0 If set to 0 Pr2 is used to standardise the analogue reference If set to 1 parameter Pr3 is used 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
74. interface board available to our products by showed below When CLOCK and DIR signals are to 24Vdc execute the connections channel A is dedicated to frequency while channel B to direction e e e e Vo l e e e Cable shielded with 3twisted pairs Connect the resistances near to the terminal of the drive max 5cm For the fixing of the cable shields use the connections shown on the picture beneath 360 connection 21 Parker Hannifin S p A S B C Division HPD N User s Manual When CLOCK and DIR signals are to 5Vdc execute the connections SS a x gt PS e yE zs AN 5 e e DE e Na M i X Z F T it Cable shielded with 3twisted pairs Connect the resistances near to the terminal of the drive max 5cm For the fixing of the cable shields use the connections shown on the picture beneath HPD connection with digital locking X7 HPD master X6 HPD X6 HPD NA NE o A c TO 1 ie TE EDE E CEMI MEE EN E 30 B o o 3 HERUM a Ea 7 0 pu o 7 GND TRO y ti 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 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
75. ion of 1 rpm Should greater precision be required in place of the test b41 2 set a sufficient delay to ensure that the motor shaft has stopped 66 Parker Hannifin S p A S B C Division HPD N 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 conveyor 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 Pr8
76. ition Unit steps 4096 steps per revolution Pr64 65 Reserved Pr66 67 Reserved Pr68 69 Reserved b70 2 Digital locking engaged During locking with ramp Pr52 other than zero this bit indicates the termination of the transitional phase b70 3 Enable position Default 0 During unlocking b70 3 1 enable position with Pr61 60 b70 5 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 b70 6 Feed forward Default 1 If set to 1 feed forward is enabled on the position controller b70 8 Axis lock release With this bit you can lock 21 or release 0 the axis from the input encoder reference b70 9 Reserved b70 10 Reset type 1 Resets motor and reference position Implemented only with b70 8 0 b70 15 Reserved 4 6 7 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
77. ity of servo error indication and the possibility of using space control 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 46 Parker Hannifin S p A S B C Division HPD N User s Manual PARAMETERS FOR OPERATING MODE 9 Pr50 Pr51 Pr52 Pr53 Pr54 Pr55 Pr56 Pr57 Pr58 Pr59 Pulse input multiplication factor K Default 1 If b70 9 1 frequency 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 Acceleration time Unit s krpm range 0 002 30 000 resolution 0 001 sec default 0 002 S Acceleration ramp for positioning profile Rpm at speed Unit rpm default 1000 Steady state speed used during generation of the positioning profile Reserved Reserved Reserved 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 e
78. iving 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 with 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 S B C Division directly or your lo
79. 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 no active alarms the message IdLE drive disabled or run drive enabled is displayed this is also the position of parameter Pro 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 FE UU m HPD keypad M EJ a4 Y fM m 01 my XXXXX a e M la coe CN M mm 02 Mj XXXXX B ae 2 M uA xm CJC gt gt M 4 Pb 40 my b40 XX 9 Ml xx CU so ee Te 2 tt Gor Pb 99 M b99 XX M XX Cone M I p po ro ww In 00 gt Mj PLC inst M 1st oper Mj 2nd oper M 3rd oper M 7 e af i e In XX 26 Parker Hannifin S p A S B C Division HPD N User s Ma
80. kgm2 Nmypea 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 Pr18 017 gt Pr16 If the resulting calibration is unsatisfactory repeat the procedure with lower values for Pr16 If the risult is 1 Pr18 must be 1 42 Parker Hannifin S p A S B C Division HPD N User s Manual Operating modes are selected by means of parameter Pr31 whose default value is 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 4 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 Pr2 1000 10 V 100 0 torque b40 0 0 amp b40 12 0 b40 2 1 to program the reserved reference Pr31 1 to enable the operati
81. l 60 3 5880 9851 Fax 60 3 5880 8364 presmach maxis net my TAIWAN AUTO ACCURACY CO LTD No 18 35RD Taichung Industrial Park Taichung City Tel 886 42 3594847 Fax 886 42 3591083 www autoaccuracy com tw autoautoGms2 hinet net OCEANIA AUSTRALIA NEW ZEALAND MOTION SOLUTIONS AUSTRALIA PTY LTD Factory 2 21 29 Railway Avenue Huntingdale 3166 Melbourne Victoria Tel 613 9563 0115 Fax 613 9568 4667 www motion solutions com au sales motion solutions com au Parker Hannifin S p A Electromechanical Automation Via Gounod 1 20092 Cinisello Balsamo MI Italia Tel 39 0266012459 Fax 39 0266012808 www sbcelettronica com sales sbc parker com Robert Bosch Str 22 Tel 49 0 781 509 0 www parker emd com Parker Hannifin GmbH Electromechanical Automation D 77656 Offenburg Germania Fax 49 0 781 509 98 258 sales hauser parker com Parker Hannifin pic Electromechanical Automation 21 Balena Close Poole Dorset BH17 7DX UK Tel 44 0 1202 50 6200 Fax 44 0 1202 69 5750 www parker emd com sales digiplan parker com
82. lines and mains power lines must never be parallel All power conductors must be sufficiently sized refer to table in heading 2 7 in all cases compliance with IEC227 2 must be guaranteed e Conductors connected to the system by means of the terminal strip must not be soldered EN60065 art 15 3 5 e Make sure drive and motor and properly earthed e 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 e Do not detach electrical connections when the drive is connected to the power supply e 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 circuit Qualified technical personnel must preside when the power panel is powered up for the first time Parker Hannifin S p A S B C Division HPD N User s Manual Because of the high speed voltage wavefronts in P
83. ling 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 also 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 S B C Division HPD N User s Manual 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 condi
84. lockwise 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 disabled if b90 11 1 start stop program end 93 Parker Hannifin S p A S B C Division HPD N User s Manual 12 Appendix G flash information 94 USE b99 15 TO SAVE PARAMETERS USE b99 14 TO SAVE PLC PROGRAM TO CHANGE PLC INSTRUCTIONS b99 13 MUST BEAT 0 WHEN CHANGING OPERATING MODE USE b99 1 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 599 720 IF b99 720 THE PARAMETERS ARE PROBABLY MANAGED BY THE PLC PROGRAM Parker Hannifin S p A S B C Division HPD N User s Manual 13 Appendix H Alarms If problems are encountered with the drive or the contr
85. lters of different manufacture can also be utilised In this case Parker Hannifin S B C division 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 Protection degree IP20 Temperature 25 50 C Rated voltage 480 V 50 C 50 60 Hz S B C FILTERS typo current enclosure A 40 C SBC3RD7M mains 8 SBC3RDIOM mains 18 SSBC3RD30M mains 34 13 Parker Hannifin S p A S B C Division HPD N User s Manual Configuration 1 Class A convertitori filtro rete RETE SBC3RDXX HPD Where HPD rating is between 2 and 16 A The sum of the rated current values must not exceedthe XX mains filter rted current PMM 8010 MHz dBuV Limit C22_A_QP Title DEFINIT4 Date 06 25 1995 14 Parker Hannifin S p A S B C Division HPD N User s Manual Configuration 2 Class B drivesi mains filter motor filter MAINS SBC3RDX HPD SBC3MYY HPD SBC3MYY M HPD SBC3MYY M HPD SBC3MYY Where HPD rating is between 2 and 16 A The sum of drive rated current values must not exceed the XX mains filter rated curr
86. mmunication high Two application layers are available for the Can interface The first is SBCCAN which enables master slave communication as well as slave slave communication It includes synchronism telegrams transmissions to slave groups and cyclic acyclic and interrupt transmissions There is also a subset of SBCCAN which allows for simple data exchange between SBC drives IDC inter drive communication The second is DeviceNet With the DeviceNet interface implemented the EC 4 is seen by the master as a remote I O module with 256 inputs and 256 outputs Obviously the I Os are virtual Interpretation of the meaning of the I Os will be defined by the program installed on the EC 4 board 103 Parker Hannifin S p A S B C Division HPD N User s Manual 18 Digital I O The Digital I O connector is a 25 pin male connector i DOUT 4 COMMON IN COMMON IN COMMON IN mpedence input OK 104 Parker Hannifin S p A S B C Division HPD N User s Manual The output that guides an input of the EC 4 board must be a PNP type and have the OV signal connected to one of the pins from 22 to 25 example EC 4 digital input connection 24V pin 1 AL OV EC 4 PLC The outputs are PNP type The common of the outputs of pins 9 13 must be connected to an external 24V power supply The characteristics of the outputs are digital outputs type PNP open collector VO Fora single output Maximum total
87. mo S B C HPD N HPD2N HPD5N HPD8N HPD16N HPD20N HPD24N 2 User s manual r A gei Pg Pn mak xd rev 8 5 November 2004 software rel 41 HPD HIGH PERFORMANCE DRIVE Q q x5 x1 qx 10 q x7 1 1 x2 x3 s SOFTWARE amp HARDWARE EXPANSION RS 485 or 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 TIN EXTENDED VOLTAGE RANGE DIGITAL LOCK VARIABLE RATIO at E AA POSITIONER e N STEP MOTOR SIMULATION i EASY MAINTENANCE o TORQUE CONTROL A N am ACCELERATION CONTROL SPINDLE ORIENTATION FOR TOOL CHANGING BUILT IN P L C everywhere for any application Parker Hannifin S p A COMPANY CN NE d WITH QUALITY SYSTEM Divisione S B C CERTIFIED BY DNY Via Gounod 1 Tei 02 66012459 1850 9001 2000 20092 Cinisello Balsamo MI Italy AUTRES DICHIARAZIONE DI CONFORMIT CE CE DECLARATION OF CONFORMITY Dichiarazione N DC007 R 0 0 Declaration N Costruttore PARKER HANNIFIN S p A Divisione S B C Manufacturer Indirizzo Via Gounod 1 Adaress 20092 Cinisello Balsamo MI ITALIA Prodotto Azionamento Product Drive Nome del Prodotto HPD2N H
88. n counter 8 bus voltage offset compensation U m offset compensation V 55 Parker Hannifin S p A S B C Division HPD N User s Manual TRAPEZOIDAL POSITIONER OPERATING MODE in progress a b70 6 feed profile generator forward servo error V window fN proportional reserved gain reference Pr 61 Pr60 Pr 57 C lt pre gt Pr 51 Pr 52 ramps steady time target position speed p709 Pr 63 Pr62 reverse forward profile on reset 1 b70 4 motor position b70 10 target position motor position 0 ulses b70 11 target position motor position shaft position P get p P p Pr 65 Pr 64 Pr 50 O reset 2 incremental position steps for pulse b70 12 EDT target position motor position reset 3 b70 2 FEER incremental position Pr 65 Pr 64 0 reset 4 DIGITAL LOCK OPERATING MODE master speed encoder master b70 6 proportional gain Pr 61 Pr60 target position reserved reference max regulator speed Pr 63 Pr62 motor position reset 1 b70 10 target position motor position 0 servo error window cond servo error 56 Parker Hannifin S p A S B C Division HPD N User s Manual STEPPER LIKE OPERATING MODE feed forward Bm A dt b70 6 b70 5 LOL k mul Servo error 1 pulses input O proportional gain Pr 61 Pr60 PE
89. n too In the figure below it is described the general block diagram of the drive s functions that you can configure by parameters analogue b40 2 TORQUE DEMAND digital REFERENCE LIMIT SWITCH SPEED ND amp internal MANAGER REGULATOR PES OPERATING TORQUE LIMIT MISCELLANEOUS MODE MANAGER SPEED TRIPS WINDOWS MANAGER Pr31 TORQUE ACCEL MAINT posmo DIGITAL stepper SPINDLE EXTERN MODE MODE MODE MODE LOCK MODE ORIENT NODE MODE MODE 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 Parameters are divided as follows from PrO to Pb42 from Pr50 to Pb70 from Pr71 to Pb99 pico PLC parameters from InO to In63 pico PLC instructions 25 Parker Hannifin S p A S B C Division HPD N User s Manual The principal parameter units and resolutions are parameter resolution revolutions per minute ene 1 seconds 1000 rpm 0 001 4096 steps revolution 1 4096 revolution of the drive peak current 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
90. nction the parameter must be 1 and in this case the undervoltage alarm is automatically reset 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 To transmit the following commands b99 7 must be on 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 36 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 Prl 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 on X4 you must wait 10 seconds before transmitting the undervoltage alarm reset command and enab
91. nd 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 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 4 6 5 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 availabil
92. ng in mind that one revolution of the motor shaft is equivalent to 4096 steps 73 Parker Hannifin S p A S B C Division HPD N User s Manual 1 Pr81 80 ETE Ce 97593 Pr83 82 E ML I i 3 Pr85 84 Eu SE A E GF a Pr89 88 other combinations 0 axiszero If you want to set the dimension from the keypad press F3 and the display will show the message dimension xx yyyy 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 xx If you wish to acquire the required position by moving the carriage press F1 the display will show the message manual dimension xx Fl selects the xx dimension to be programmed while and are used to move the carriage The key provides the motor start stop in the positive direction while 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 S 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
93. ng 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 4 6 2 Acceleration control Instead of performing closed loop acceleration control this mode 2 uses main 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 Pr55 Acceleration deceleration ramp read only parameter Unit s krpm range 2 30000 resolution 1 thousandth of a second 43 Parker Hannifin S p A S B C Division HPD N User s Manual Pr60 61 Reserved Pr62 63 Reserved Pr66 67 Reserved 4 6 3 Low voltage procedure rel Sw 41 or more This procedure is for those situations in which the operator needs to work in close proximity to the machine in a situation which could be potentially hazardous In these conditions the operator must move the axes with a lower voltage than the nominal motor voltage nomin
94. nual In addition to the parameter values and the pico PLC instructions the display may show the following messages r XX IdLE run Er xx dcbuS Prxx Pb xx bxx yy In xx donE rESet tESt rEtrY At the time of power up this message indicates the software version installed 2 seconds approx At power up and in correspondence with PrO this message shows that no alarms are present and the system is disabled 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 In 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 is detected the display automatically switches to parameter PrO and shows the alarm code In 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 b41 4 0 Indication of parameter xx value displayed by pressing M Indication of bit parameter xx Indication of bit yy of parameter xx press M to display bit status Indication of instruction xx of PLC program Displayed for approximately 1 second each time a command is entered Displayed for approximately 1 second each time an alarm reset command is entered
95. ny 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 type 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 If homing command is given LD 90 2 90 2 91 9 se ANDN 91 9 and not yet executed disables RST RST 40 2 operating mode the motor runs at speed set in Pr5 90 3 91 0 91 9 LD 90 3 a SET ANDN 91 0 when proximity sensor SET 91 9 operates alignment is enabled 40 2 SET 40 2 on the resolver zero position LD 91 9 porii tri AND 41 2 ximity sensor trip is ANDN 91 8 followed by _ trapezoidal SUB 79 28 64 profile to align with resolver SET 708 zero position SET 91 8 LD 91 8 ANDN 70 8 if alignment with resolver ANDN 91 0 zero is terminated sets axis SET 91 0 Zero terminated output 41 4 91 11 40 2 LD 41 4 QOEM ANDN 91 11 if drive is OK operating mode SET SET 40 2 is enabled 91 11 SET 91 11 The precision of the positioning on the zero resolver depends on the stability of the motor in the moment in which the trapezoidal profile is calculated for final alignment You must therefore make sure that the motor shaft has stopped before this calculation In the example above the halted motor test is done with bit b41 2 In this case the imprecision is due to the fact that this bit has a precis
96. ol system use the following table to identify the fault and take the recommended corrective action To cancel the error on the drive first remedy the cause and then set Pb99 10 1 reset Error Code HPD 1 Error Code HPD 2 Error Code HPD 3 Error Code HPD 4 Error Code HPD 5 Error Code HPD 6 On start up the display doesn t read IDLE or RUN or it stays off Over Voltage on the D C Link Check the three phase power line max 460 V Check the break circuit and the braking resistor Under Voltage on the D C Link Check the three phase power line minimum voltage 90 V Over current Check for any mechanical blockage and make sure the motor is the appropriate size for its current use Check the motor connections and for any phase phase or phase ground short circuits Check the machine speed and the service cycle Make sure a line trap isn t connected to the motor Resolver Check the connections of the resolver and the connectors on both sides drive motor Motor Over Temperature Check the connection of the PTC motor on terminals 1 and 2 of XI Check the settings of parameters Pr33 Inom and Pr19 Ipicco Drive Over Temperature Check the cooling fans and for any restrictions to air flow Check the breaking cycle Check the environmental temperature of the electrical control panel where the drive is installed as well as the external room temperature Check the external fuses on the three
97. on the HPD X2 terminals 1 and 2 See below if the motor now rotates in the wrong direction The drive isn t under the control of the axis controller Check the cable connecting the encoder output X7 and the axis controller Check the analogue reference cable connecting the drive X2 terminals 1 2 and 3 and the axis controller Make sure the analogue output of the axis controller is putting out a current Make sure the display shows RUN when the drive is enabled If not check the connection between X3 terminals 11 and 19 Recheck the programming of the HPD and the wiring Check the I O signals for the axis controller Invert the encoder signals A amp A and the analogue reference inputs on the HPD X2 terminals 1 and 2 HPD N User s Manual Parker Hannifin S p A S B C Division HPD N User s Manual 14 Appendix I options For the HPD converters the following options are also available Operator Interfaces Field bus interfaces profibus dp EC 4 Device Net EC 4 CanBus EC 4 ModBus EC 4 Sercos EC 4 Absolut encoder interfaces SSI EC 4 Hiperface EC 4 I O expansions EC 4 I O BOX High performance axis controls EC 4 Preparation for the expansion boards If you wish to use expansion boards such as the EC 4 or the EC 5 the converter must be ordered with the code HPD x NEO where x is the nominal current 97 Parker Hannifin S p A S B C Division HPD N User s Manual 15 Appendix L ECA EC 4 i
98. oring 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 and b99 13 to zero enter command b99 12 save your changes with b99 14 and b99 15 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 Pro Prl Pr2 Pr3 Pr4 30 Motor speed this is a 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 are 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 X6 Unit rpm range 32767 default 3000 If b40 12 1 and b40 13 1 Pr7 will have the following value if b42 5 0 Pr7 Fin Pr4 2000000 frequ
99. put X status If X is greater than 7 parameter with save facility at user s disposal b90 0 drive enable 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 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 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 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 Disables the first fast input b94 5 0 Set to zero at power up Disables the second fast input b94 6 0 Set to zero at power up Disables the third fast input b94 7 0 Set to zero at power up First timer status At 1 if Pr92 20 Second timer status At 1 if Pr93 0 At I if the result of the last PLC operation is negative At I if the result of the last PLC operation is zero 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 59 Parker Hannifin S p A S B C Division HPD N User s Man
100. r 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 mm 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 11 Parker Hannifin S p A S B C Division HPD N User s Manual All 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 Cubicle interior or mounting plate POWER CONTROL 12 Parker Hannifin S p A S B C Division HPD N User s Manual S B C has developed 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 Parker Hannifin S B C division filters provide both mains and motor output filter functions Fi
101. red on only one of the drives both drives must have parameter Pr26 10 to enable the IDC function 72 Parker Hannifin S p A S B C Division HPD N User s Manual Example 11 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 Mg 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 at 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 Pr80 Pr89 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 beari
102. rence 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 69 Parker Hannifin S p A S B C Division HPD N 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 distance 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
103. res 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 response 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 S s Sample DEE E JM EET aor TE soom cn 00v M Toms Chi TV 28 Mar 1996 08 46 27 Fig 5 40 Parker Hannifin S p A S B C Division HPD N User s Manual Tek Run 500 S s Hi Res 9 a 300mv H2 00V M Tooms Chi 7 3 OV 28 Mar 1996 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 pu n TV 28 Mar 1996 08 50 13 Fig 7 41 Parker Hannifin S p A S B C Division HPD N 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 Pr17 1488 135 41 Pr16 J o Nm peak where Js is total inertia motor load in
104. s 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 Pr 40 b4 1 refers to Pr 70 the sixth bit b5 of the first byte is used for negative logic if required b5 0 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 84 Parker Hannifin S p A S B C Division HPD N User s Manual 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 t
105. s Manual Using the incremental encoder connection you can connect an RS 422 5V differential auxiliary encoder On the same connector the voltage of the encoder itself is also available To program the voltage see the relative table Encoder SSI CONNECTION Description Line data trasmission positive Line data trasmission negative Line clock positive Line clock negative Using the SSI encoder connection you can connect an absolute auxiliary encoder based on the SSI standard On the same connector the voltage of the encoder itself is also available To program the voltage see the relative table Eu ARE e 12V I5V 15V 9 10 22 23 By short circuiting the pins of the connector as shown in the table you will have a V out able to put out 250mA which can be used to power the auxiliary encoder N B A 220 ohm receiver side resistor must be installeld on all differential signals 107 Parker Hannifin S p A S B C Division HPD N User s Manual 20 Motion functions concepts This is a series of software functions for the EC 4 board that can meet all modern application needs The main characteristics are shown below Speed mode Used to generate a position profile that allows you to control the speed of the motor with the programmed acceleration limits More than one position profile can be active at the same time Positioner Enables incremental or absolute positioning where all positioning parameters can be change
106. s an expansion board for HPD series converters which significantly improves performance Basically the code EC 4 identifies a hardware product To use the EC 4 you need to install the software required The main characteristics of the EC 4 are shown in the table below Europe 1 measurements 100 x 160 mm Degree of protection IP 00 Field bus Profibus DP Up to 12 Mb CAN bus DeviceNet SBCCan RS 422 ModBus for operator panel Feedback used for the Resolver directly via HPD position loop Incremental encoder 5V RS 422 SSI absolute encoder Hyperface absolute encoder programmable voltage 5V 8V 12V 15V encoders 250mA protected 8 PNP type 8 PNP type 100mA with short circuit protection ATTENTION EC 4 is only for drive HPD x N EO EC 4 can only be installed on drives with a certain software version or higher 98 Parker Hannifin S p A S B C Division HPD N User s Manual ModBus link HPD bus Can driver a rs 485 driver LSPM 2 idt 7233 profibus dp 2K x 16 dp ram SSI E Hiperface encoders lO interface controller incremental i AM 29F100 2x TC 551001 E 64K x 16 flash 128K x 16 ram 8 input 8 output 99 Parker Hannifin S p A S B C Division HPD N User s Manual The SW field on the label of the EC 4 panel must be filled in using indelible ink by the person 100 who installed the software P N EC4 Exx E zy m S N XXXXXXXXx MOTOVARIATORI SW EC 4 DIGITAL I O EV
107. s lock release With this bit you can lock 1 or release 0 the axis from the input encoder reference Reserved Reset type 1 This command resets motor and reference position Reset type 2 Sets motor and reference position equal to the absolute shaft position Reset type 3 Sets the reference equal to the motor position Parker Hannifin S p A S B C Division HPD N User s Manual 4 6 8 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 position loop is closed PARAMETERS FOR OPERATING MODE 12 Pr50 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 Pr51 Reserved Pr52 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 Pr53 Reserved Pr54 Motor shaft position for spindle orientation Unit steps default 0 range 0 4095 One revolution of the motor shaft corresponds to 4096 steps Pr56 Servo error window Unit steps default 100 If the absolute position error is greater than the value set in Pr56
108. 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 Pr74 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 Free 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 58 Parker Hannifin S p A S B C Division HPD N User s Manual b90 X b91 Y Pr92 Pr93 b94 0 b94 5 b94 6 b94 7 b99 0 b99 1 b99 2 b99 3 b99 13 Digital in
109. ssume you need to move the carriage to 5 different positions selected by means of three digital signals MOTOR PROXIMITY SENSOR Mg 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 point and position 1 is set in steps bearing in mind that one revolution of the motor shaft corresponds to 4096 steps L9 3p 9 11 e q s prado 390 4 p M vie sor Wr c s re 82 pl olo qe qu c qud po 3 0 05 P8786 Eu ge sq ER SR other combinations 0 axiszero 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
110. st alarm This parameter stores the last alarm Pr24 is reset when the alarm reset command is entered b99 10 0 naam 1 fovewolage O 2 undervoltage 3 poverument O drive overheating 10 1 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 Parker Hannifin S p A S B C Division HPD N User s Manual Pr33 Pr34 where Pr35 Pr36 Pr37 Pr38 Pr39 Motor rated current Unit of peak current range 10 0 50 0 resolution 0 1 default 50 0 Enter motor r
111. t Pr20 04Ah 2 DC bus voltage Pr21 04Ch 2 reserved torque limit Pr22 04Eh 2 auxiliary reference Pr23 051h 1 current alarm code Pr24 052h 1 previous alarm code Pr25 053h 1 software version code Pr26 OSEh 1 baud rate Pr27 O5Fh 1 serial address Pr28 OCOh 2 shaft position 0 4095 Pr29 061h 1 motor poles Pr30 0C2h 2 resolver offset Pr31 054h 1 operating mode Pr32 OC4h 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 0CCh 2 K for phase advance Pb40 05Ch 2 flags used by main block 87 Parker Hannifin S p A S B C Division HPD N User s Manual Pb41 056h 2 flags used by main block Pb42 060h 1 flags used by main block Pr50 064h 2 Pr51 066h 2 Pr52 068h 2 Pr53 06Ah 2 Pr54 06Ch 2 Pr55 O06Eh 2 Pr56 070h 2 Pr57 072h 2 Pr58 074h 2 Pr59 076h 2 Pr60 078h 2 Pr61 07Ah 2 Pr62 07Ch 2 Pr63 07Eh 2 Pr64 080h 2 Pr65 082h 2 Pr66 084h 2 Pr67 086h 2 Pr68 088h 2 Pr69 08Ah 2 Pb70 062h 2 flags used by operating mode Pr80 OCEh 2 Pr81 ODOh 2 Pr82 0D2h 2 Pr83 O0D4h 2 Pr84 OD6h 2 Pr85 OD8h 2 Pr86 ODAh 2 Pr87 ODCh 2 Pr88 ODEh 2 Pr89 OEOh 2 Pb90 OE2h 2 inputs Pb91 08Ch 2 outputs Pr92 O8Eh 2 timer 1 Pr93 090h 2 timer 2 Pb94 032h 1 flags used by PLC Pb99 092h 2 flags used for PLC and commands PLC area len
112. the drive is restricting current to the rated value b41 12 Drive enabled b41 13 Keypad fault b41 12 1 if communication between keypad and drive has failed b41 14 External operating mode If set to 1 an external operating mode is installed b41 15 External operating mode time slot If set to 1 indicates that the external operating mode is controlled at 2 ms intervals otherwise at 512us b42 0 Selector to configure encoder emulation b42 1 Selector to configure encoder emulation b42 2 Selector to configure encoder emulation Pr32 up to 9000 rpm Pr32 up to 3500 rpm Pr32 up to 875 rpm ENCODER OUT 16384 8192 4096 2048 1024 512 256 128 b42 2 the double line indicates encoder resolutions available in the various speed ranges Default value is 1024 b42 4 24V over current Digital output trip b42 5 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 0 it is enabled to receive a frequency direction type input 35 Parker Hannifin S p A S B C Division HPD N User s Manual b42 6 b42 7 b99 6 b99 7 B99 8 b99 13 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 Automatic reset undervoltage Default 0 if used the backup fu
113. tions To perform this task the drive must be informed of various characteristics of the motor and the mechanical system to which the motor is coupled this type of information is set in the CALIBRATION PARAMETERS ERROR the error refers to the difference between 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 o
114. 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 bit7 bit6 message type drive response read PLC instruction write PLC instruction write parameter bit change broadcast parameters to all drives 0 1 1 0 read parameter 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 DO Dn datum transmitted CHK 256 modulus sum of all fields except STX checksum Message types CMD1 drive response to data request format STX 001 ADDR LUN PAR D0 Dn CHK 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 CHK CMD3 write message of PLC area instruction format STX 011 ADDR LUN PAR DO Dn CHK 82 Parker Hannifin S p A S B C Division HPD N User s Manual CMD4 parameter read message format STX 100 ADDR LUN PAR CHK CMD5 parameter write message format STX 101 ADDR LUN PAR D0 Dn CHK CMD6 byte parameter bit change message format STX
115. ual PLC INSTRUCTIONS Pay I I LD Pa y load bit y of parameter Pa in the stack Pa y L LDN Pay load inverted bit y of parameter Pa in the stack Pa y C OUT Pay set bit y of parameter Pa to the value loaded in the stack Pa y Qn OUTN Pa y set bit y of parameter Pa to the stack value and invert it Pa y ser SET Pa y if stack 1s at 1 set bit y of parameter Pa to 1 Pay RES Pay if stack is at 1 set bit y of parameter Pa to zero rst AND Pa y the bit loaded into the stack assumes the result of the Pay logical AND operation between itself and bit y of parameter Pa Pay ANDN Pa y the stack bit assumes the result of the logical AND between itself and inverted bit y of parameter Pa Pay OR Pa y the bit loaded into the stack assumes the result of the OR between itself and bit y of parameter Pa Pay ORN Pa y the stack bit assumes the result of the OR between itself A and inverted bit y of parameter Pa ADD Pa Pb Pc if stack bit is at 1 parameter sum operation is executed therefore Pc Pa Pb SUB Pa Pb Pc if stack bit is at 1 subtraction operation is executed on parameters therefore Pc Pa Pb MUL Pa Pb Pc if stack bit is at 1 multiplication operation is executed on U w U o U eo E E v jol o c l o UO viU V e e mut parameters therefore Pc Pa Pb Pa Pb Pc DIV Pa Pb Pc if stack bit is at 1 division operation is executed on the piv parameters th
116. urrents 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 28 Parker Hannifin S p A S B C Division HPD N User s Manual The drive is preset with default values designed to meet the requirements of the 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 motor thermal image active i t CUM MM terminal A drive read terminal B n c contact emergency stop n c o e e ie The functions on terminals 12 13 and 14 must be 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
117. ush 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 both 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 In07 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 b99 13 0 62 Parker Hannifin S p A S B C Division HPD N User s Manual 4 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 is designed principally to manage the drive s digital inputs and outputs In addition to a concise description of the application the examples sho
118. w PHC av T Q EE Ee ee a cd 17 Parker Hannifin S p A S B C Division HPD N User s Manual 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 m note that conductor conductor capacitance must not exceed 8 nF If cable length exceeds 35 m install a triple inductance between drive and motor with rated current identical to HPD rated current Minimum conductor size is 1 5mm for HPD2N and HPDSN 2 5mm for HPD8N and 4mm for HPD16N HPD20N and HPD24N For the mains power cable Power cables must not be shielded Minimum conductor size is 1 5mm2 for HPD2 and HPD5 2 5mm2 for HPD8 and 4mm2 for HPD16 HPD20N and HPD24N Input fuses must be rated as follows MODEL Slow blow fuses A 6 HPD2N HPD5N HPD8N HPD20N HPD24N HPD16N 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 nF wire size must be no less than 0 35mm2 Maximum length is 100 m See the section resolver connections EMI filter connection The connection between filter and drive must never exceed 30 cm If the distance is less than 15 cm unshielded cables are possible otherwise a shielded cable must be used 18 Parker Hannifin
119. w 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 91 2 LD 90 1 digital input 1 sets bit b91 2 to on OR 91 2 digital input 2 sets bit b91 2 to off 91 2 ANDN 90 2 OUT 91 2 Example 2 changing a parameter value with the up down keys 90 1 99 0 05 73 05 LD 09 1 digital input 1 in high status increases AND 99 0 parameter Pr5 by one unit every 614 92 76 92 ADD 05 73 05 msec ADD 92 76 92 90 2 99 0 05 71 05 LD 90 2 digital input 2 in high status decreases _ AND 99 0 parameter Pr5 by one unit every 614 ear ADD 05 71 05 msec ADD 92 76 92 Example 3 command on positive front of a digital input 90 1 90 10 70 8 LD 90 1 digital input 1 sets bit b70 8 just once SET ANDN 90 10 when the signal changes from low to SET 70 8 high 90 1 90 10 LD 90 1 gt OUT 90 10 63 Parker Hannifin S p A S B C Division HPD N User s Manual Example 4 filtered digital input at G0 msec 72 75 92 LD ADD ANDN ADD m RST RST 72 75 92 LDN AND 99 0 ADD RST RST LD 90 10 OUT L O wu AND A i 90 11 SET SET LDN AND 90 11 RST RST LD SUB LD OUT LD OUT LDN OUT LDN ANDN OUT LDN OUT LD OR OUT 64 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
120. wered laptop i e not connected to ground use the following connection layout personal computer X5 HPD DB9 DB25 i To rr iE css Bd I i I i O 2 To install Pcbrush open WINDOWS insert the diskette in drive A select the File menu in Program Manager and then the Run option Now run Setup exe on A 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 e 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 80 Parker Hannifin S p A S B C Division HPD N User s Manual 5 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 0 600 512 1 1200 256 2 2400 128 3 4800 64 4 9600 32 5 9600 32 6 19
121. xample by the PLC program Position controller proportional gain Default 100 range 0 32000 Reserved 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 b70 4 b70 5 b70 6 b70 7 b70 8 b70 9 b70 10 b70 11 Reset incremental position Resets Pr64 65 This command is useful when the incremental value is programmed on the frequency input 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 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 Feed forward enable Default 0 If set to 1 feed forward is enabled on the position controller Profile in execution B70 7 1 indicates that the drive is executing a positioning profile Start profile To start positioning Enable frequency input Default 0 If set to 1 Pr64 65 can be set on t
122. y bit 3 digit BCD if first digit calculate units if second digit calculate tens places if third digit calculate hundreds if fourth digit calculate thousands sum the digitd calculated in the auxiliary parameter Pr81 if last digit most significant copy the final value in Pr83 set parameter Pr82 to zero updates the outputs so as to enable the reading of the next digit if the last digit has already been read restart the scan of the digits starting from the units end of program Parker Hannifin S p A S B C Division HPD N User s Manual CONNECTION OF 4 DIGIT PRESELECTOR Example 14 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 is used as an auxiliary memory area The required pico PLC program is as follows 99 13 07 72 89 LD ADD ADD 89 15 89 71 89 LD MUL MUL 99 13 89 88 72 LD TOS S 99 2 40 6 AND O OUT 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 lt 0 invert Pr89 to obtain the modulus calculate difference between Pr89 and Pr88 if negative set drive to stop 79 Parker Hannifin S p A S B C Division HPD N User s Manual
123. y to program the system directly 109 Parker Hannifin S p A S B C Division HPD N User s Manual Dispaly hill Wbbblll CO gs 0000000 Min Onn CI SBC Driver EC4 expansion board Slave 270 7 0 90 180 270 360 Master Homing function Electronic cam which can be stored on the EC 4 board Hold function to disengage and reengage the cam at a given master position An external device can be connected using Profibus DB DeviceNet or RS 422 serial interface in order change cam points in real time 110 Parker Hannifin S p A S B C Division HPD N User s Manual SBC Motor Vertical axe A SBC Motor Horizontal axe COD 6 Lief 00000 0 Ul Display Profibus DP connection 2 to control device 250 preset levels incremental or absolute Encoder Ye gt Positioning value control on incremental or absolute SSI encoder or resolver 250 levels can be stored Jog back and forward A display can be connected to program and monitor the positioner Profibus DP interface to manage the system 111 Parker Hannifin S p A S B C Division HPD N User s Manual Extraction Teaching axe Teaching axe motor ll i cc O ALE
124. ynchronous motors manufactured by Parker Hannifin S p A S B C Division ISBN041 1291630 Parker Hannifin S p A S B C Division HPD N User s Manual CONTENTS 1 INTRODUCTION usse e a RE CR DIU ROUMANIE 5 kls ASCHEPALAMIORMIAUION ics eei essc od euius N e E E E adeaus 5 Productdescription sas rare edt dete i stad A E A 5 1 3 Direct mains connections reise reste erir rar erne rn ERS FEE AEE UR Rea a eR pd 6 L Ideni fICaltQU os faeces reri doled ibus aea cor dius teet edavist ex Rn easet is DI Rav eU be 6 LA lechmcaldata Pet C RTT 7 2 1 Main hardware Specifications scs qoe t eo EDEN qubd emi mf fociaid fessis 7 CNET DIES MCN 8 23 Compliance with EMC standards iiie tre te Ee en nerne reen een renerne Sea OU eS 8 UT MEN v cC TT NE 8 Je INSTALLATION a it Mastodtethts nan ema em aide ceti ta Mood Etat ie M CC 9 AL Safety Instructions ouis decade eee OR OO EUR HUI ETE Y UPS o ride even dodede keen 9 3 2 Interference suppressiOm binis ode needs b qeu i shit PARI AMI eee 10 3 3 Mains filter installation mstructlOnsccad sehe exeo tro iaeh Pe tes renerne eed que ie oad 10 3 4 Control cubicle layout example tuse aetates pedites ee aee Sie dde ee renerne renee 12 3 5 SHPDu ive mains DUEGES uo odore ale tosobe rie ote e desit navies aiet 13 3 6 Terminal assignments se eate te OX RDU A EU EROR TA UA ETE EUN Hd COUR Sd ER EE ander 16 Bele UPOWOECOBMICOUODSU scence uciuacss cocssttatuc ot aa reso E ie eluted een 1

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